Master-slave satellite antenna device and linkage tracking method and system thereof

Abstract

The embodiment of the specification discloses a master-slave satellite antenna device and a linkage tracking method and system thereof, wherein the linkage tracking method comprises the following steps: driving the master antenna and the slave antenna to lock a reference satellite to obtain actual satellite pointing angle data of the master antenna and the slave antenna corresponding to the reference satellite; driving the master antenna to track a target satellite to obtain actual satellite pointing angle data of the master antenna corresponding to the target satellite; acquiring theoretical satellite pointing angle data of the target satellite based on the actual satellite pointing angle data of the master antenna corresponding to the target satellite and the reference satellite; and acquiring predicted satellite pointing angle data of the slave antenna corresponding to the target satellite based on the actual satellite pointing angle data of the slave antenna corresponding to the reference satellite and the theoretical satellite pointing angle data of the target satellite, so as to drive the slave antenna to move to track the target satellite. Through linkage control technology combined with advance calibration, high-precision satellite pointing of large antennas such as gateway station antennas is realized, and the problems of gear wear and slow scanning speed of large antennas are avoided.

Description

Technical Field

[0001] Several embodiments in this specification relate to the field of satellite communication technology, specifically to the optimization of high-precision tracking methods for large antennas. Background Technology

[0002] In satellite communication systems, the large antennas at gateway stations, due to their enormous physical size and extremely narrow beamwidth, impose extremely stringent requirements on pointing accuracy. To achieve high-precision pointing control, the azimuth and elevation angle transmission mechanisms of the antenna typically employ high-rigidity, low-backlash precision gearboxes paired with high-torque motors to ensure sufficient output torque and positioning resolution, while overcoming interference from external forces such as wind loads and inertia.

[0003] To achieve accurate acquisition and continuous tracking of satellite signals, current gateway stations generally employ two mainstream technical solutions. The first is monopulse tracking technology, which generates sum and difference beams simultaneously through a specially designed feed network. It directly calculates the direction and magnitude of the satellite's deviation from the axis using the magnitude and polarity of the error voltage, thereby driving closed-loop antenna correction. This technology offers high tracking accuracy and eliminates the need for mechanical scanning. The second is conical scanning tracking technology. This technology controls the periodic rotation of the antenna feed or sub-surface around a parabolic axis, causing the beam center to move in a conical shape. By detecting the periodic modulation components of the received signal strength, the satellite's azimuth is determined, and the antenna is driven to move in the direction of signal enhancement until the modulation disappears, ultimately completing satellite alignment.

[0004] However, single-pulse tracking systems are extremely complex and costly to manufacture due to their feed network and back-end processing circuitry, limiting their application to high-end scenarios. While conical scanning technology is relatively cheaper, the mechanical moving parts (such as motors and gears) necessary for scanning operate at high frequencies for extended periods, leading to significant mechanical wear and significantly impacting the lifespan of the transmission system and the consistency of long-term pointing accuracy. Furthermore, the inherent large mechanical inertia of large antennas results in slow dynamic response and tracking lag when tracking high-speed, non-geostationary orbit satellites, making it difficult to simultaneously meet the requirements of high precision and rapid tracking. Summary of the Invention

[0005] This specification provides a master-slave satellite antenna device and its linkage tracking method and system. Through linkage control technology and conical scanning method, combined with pre-calibration, high-precision satellite alignment of large antennas such as gateway antenna stations is achieved, while avoiding the problems of gear wear and slow scanning speed of large antennas.

[0006] The technical solution is as follows:

[0007] In a first aspect, embodiments of this specification provide a master-slave satellite antenna linkage tracking method, wherein the master-slave satellite antenna includes a large antenna as a slave antenna and a small antenna as a master antenna; the linkage tracking method includes the following steps:

[0008] The main antenna and the slave antenna are driven by the conical scanning method to lock onto the reference satellite, so as to obtain the actual star angle data of the main antenna and the slave antenna corresponding to the reference satellite, wherein the reference satellite is a geostationary orbit satellite;

[0009] The main antenna is driven to track the target satellite using the conical scanning method to obtain the actual star angle data of the main antenna corresponding to the target satellite;

[0010] The theoretical star angle data of the target satellite is obtained based on the actual star angle data of the main antenna corresponding to the target satellite and the actual star angle data of the main antenna corresponding to the reference satellite;

[0011] Based on the actual star angle data of the antenna corresponding to the reference satellite and the theoretical star angle data of the target satellite, the predicted star angle data of the antenna corresponding to the target satellite is obtained, and the antenna is driven to move to track the target satellite based on the predicted star angle data of the antenna corresponding to the target satellite.

[0012] As a preferred embodiment, the main antenna performs continuous scanning at a preset scanning period; the step of driving the main antenna to track the target satellite based on the conical scanning method to obtain the actual azimuth data of the main antenna corresponding to the target satellite includes:

[0013] Acquire the signal strength timing data of the main antenna;

[0014] Within any scanning period, the actual star angle data of the main antenna corresponding to the target satellite for that scanning period is obtained based on the signal strength time series data;

[0015] The next scan will be performed based on the actual star angle data of the target satellite corresponding to the main antenna in the current scan cycle.

[0016] As a preferred embodiment, the step of obtaining predicted star angle data from the antenna corresponding to the target satellite based on the actual star angle data from the antenna corresponding to the reference satellite and the theoretical star angle data from the target satellite includes:

[0017] Based on the actual star angle data of the antenna corresponding to the reference satellite, and the theoretical star angle data of the target satellite corresponding to each of the current and recent preset number of preset scanning periods, the predicted star angle data of the antenna corresponding to the target satellite is obtained.

[0018] As a preferred embodiment, the theoretical star angle data of the target satellite includes time information; the step of obtaining the predicted star angle data of the target satellite from the antenna based on the actual star angle data of the antenna corresponding to the reference satellite and the theoretical star angle data of the target satellite includes:

[0019] Based on the latest theory of target satellites, the data interruption time is obtained by acquiring the time information corresponding to the star angle data;

[0020] When the data interruption time is longer than the first preset time, the historical data of the star angle data based on the target satellite theory is obtained from the antenna corresponding to the predicted star angle data of the target satellite.

[0021] As a preferred embodiment, the acquisition of historical star angle data based on the target satellite's theoretical data from the predicted star angle data corresponding to the target satellite includes:

[0022] When the target satellite is a geostationary satellite, the star angle data is obtained from the predicted star angle data corresponding to the target satellite at the same time the previous day, based on the theory of the target satellite at the current time;

[0023] When the target satellite is a non-geostationary orbit satellite, the theoretical star angle prediction trajectory of the target satellite is obtained based on the historical data of the target satellite's theoretical star angle prediction trajectory, and the predicted star angle data corresponding to the target satellite from the antenna is obtained based on the theoretical star angle prediction trajectory.

[0024] As a preferred embodiment, the method involves obtaining the theoretical star angle prediction trajectory of the target satellite from historical data of the target satellite's theoretical star angle prediction, and obtaining the predicted star angle data from the antenna corresponding to the target satellite based on the theoretical star angle prediction trajectory, followed by:

[0025] When the data interruption time is longer than the second preset time, acquire ephemeris data representing the target satellite's orbital trajectory, and acquire the predicted star angle data from the antenna corresponding to the target satellite based on the ephemeris data;

[0026] The second preset time is longer than the first preset time.

[0027] Secondly, embodiments of this specification provide a master-slave satellite antenna linkage tracking system, wherein the master-slave satellite antenna includes a large antenna as a slave antenna and a small antenna as a master antenna; the linkage tracking system includes an error calibration unit, an active tracking unit, a trajectory restoration unit, and a linkage tracking unit.

[0028] The error calibration unit drives the main antenna and the slave antenna to lock onto the reference satellite based on the conical scanning method, so as to obtain the actual star angle data of the main antenna and the slave antenna corresponding to the reference satellite, wherein the reference satellite is a geostationary orbit satellite;

[0029] The active tracking unit drives the main antenna to track the target satellite based on the conical scanning method, so as to obtain the actual star angle data of the main antenna corresponding to the target satellite;

[0030] The trajectory reconstruction unit acquires the theoretical star angle data of the target satellite based on the actual star angle data of the main antenna corresponding to the target satellite and the actual star angle data of the main antenna corresponding to the reference satellite.

[0031] The linkage tracking unit acquires predicted star angle data of the antenna corresponding to the target satellite based on the actual star angle data of the antenna corresponding to the reference satellite and the theoretical star angle data of the target satellite, and drives the antenna to move to track the target satellite based on the predicted star angle data of the antenna corresponding to the target satellite.

[0032] Thirdly, embodiments of this specification provide a master-slave satellite antenna device, including a small antenna serving as the master antenna and employing synchronous belt drive, and a large antenna serving as the slave antenna and employing gear drive, as well as a master-slave satellite antenna linkage tracking system as described in the second aspect, respectively connecting the small antenna and the large antenna.

[0033] Fourthly, embodiments of this specification provide an electronic device, including a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to perform the steps described in the first aspect of the above embodiments.

[0034] Fifthly, embodiments of this specification provide a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the steps described in the first aspect of the above embodiments.

[0035] The beneficial effects of the technical solutions provided in some embodiments of this specification include at least the following:

[0036] This invention utilizes linkage control technology and a conical scanning method to achieve high-precision tracking of a target star in real time by using the calibration information of the main antenna, without relying on the antenna's own angle sensor. This solves the problems of gear wear and slow scanning speed in large antennas. The solution offers advantages such as low cost, high precision, and long lifespan. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating a master-slave satellite antenna linkage tracking method provided in the embodiments of this specification.

[0039] Figure 2 This is a schematic diagram of a master-slave satellite antenna linkage tracking system provided in the embodiments of this specification.

[0040] Figure 3 This is a schematic diagram of the architecture of a master-slave satellite antenna device provided in the embodiments of this specification.

[0041] Figure 4 This is a schematic diagram of the structure of an electronic device provided in the embodiments of this specification. Detailed Implementation

[0042] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings.

[0043] The terms "first," "second," "third," etc., in the description, claims, and accompanying drawings are used to distinguish different objects, not to describe a specific order. 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 includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0044] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0045] Reference Figure 1 As shown, Figure 1It is a schematic flowchart of a master-slave satellite antenna linkage tracking method provided by an embodiment of this specification. The master-slave satellite antenna includes a large antenna as the slave antenna and a small antenna as the master antenna. The linkage tracking method may at least include the following steps:

[0046] Step 102: Drive the master antenna and the slave antenna to lock the reference satellite based on the conical scanning method to obtain the actual satellite-pointing angle data of the master antenna and the slave antenna corresponding to the reference satellite respectively. The reference satellite is a geostationary satellite.

[0047] Step 104: Drive the master antenna to track the target satellite based on the conical scanning method to obtain the actual satellite-pointing angle data of the master antenna corresponding to the target satellite.

[0048] Step 106: Obtain the theoretical satellite-pointing angle data of the target satellite based on the actual satellite-pointing angle data of the master antenna corresponding to the target satellite and the actual satellite-pointing angle data of the master antenna corresponding to the reference satellite.

[0049] Step 108: Obtain the predicted satellite-pointing angle data of the slave antenna corresponding to the target satellite based on the actual satellite-pointing angle data of the slave antenna corresponding to the reference satellite and the theoretical satellite-pointing angle data of the target satellite, and drive the slave antenna to move to track the target satellite based on the predicted satellite-pointing angle data of the slave antenna corresponding to the target satellite.

[0050] Explanatory, first select a geostationary satellite with known orbital parameters and stable signals as the reference satellite, and control the master antenna and the slave antenna to respectively search for and lock the signals of this reference satellite, so that the beam centers of the master antenna and the slave antenna are accurately aligned with the reference satellite for satellite-pointing calibration. Thus, the actual angles of the antennas pointing to the reference satellite are obtained by their respective motor encoders, including the azimuth angle Master_az(0) and elevation angle Master_el(0) of the master antenna, and the azimuth angle Slave_az(0) and elevation angle Slave_el(0) of the slave antenna. Thus, the differences between their respective theoretical values and actual values and the angular relationship between the master and slave antennas when pointing to the same target are determined, and the initial calibration of the master antenna and the slave antenna is completed, eliminating the inherent systematic errors such as the mechanical installation and zero-point positioning of the master antenna and the slave antenna itself, and providing an accurate and reliable benchmark for subsequent linkage control.

[0051] Illustrative, when performing satellite-pointing calibration, calculate the theoretical azimuth angle Target_az(0) and elevation angle Target_el(0) of the reference satellite according to the local longitude and latitude of the master-slave satellite antenna and the longitude of the geostationary satellite.

[0052] Target_az(0)=180°+arctg[tg(x-z) / sinφ];

[0053] Target_el(0)=arctg{[cosβ-R / (R+h)] / sinβ};

[0054] cosβ = cosφcos(x - z).

[0055] Where z is the longitude of the reference satellite; x is the local longitude of the master-slave satellite antenna; φ is the local latitude of the master-slave satellite antenna; R is the Earth's radius; and h is the altitude of the reference satellite.

[0056] Therefore, the difference between the theoretical and actual values ​​corresponding to the master antenna is Target_az(0)-Master_az(0) and Target_el(0)-Master_el(0); the difference between the theoretical and actual values ​​corresponding to the slave antenna is Target_az(0)-Slave_az(0) and Target_el(0)-Slave_el(0).

[0057] Interpretively, the main antenna searches for the target satellite in advance, and through conical scanning, precisely aligns the beam center with the target satellite to enter tracking mode. This yields the actual alignment angle data of the main antenna with the target satellite, including the actual azimuth angle Master_az(n) and elevation angle Master_el(n), where n takes values ​​from 1 to 2. Using the actual alignment angle data of the main antenna with the target satellite and its own calibration deviation, the theoretical alignment angle data of the target satellite can be reconstructed, i.e.:

[0058] Target_az(n)=Target_az(0)-Master_az(0)+Master_az(n);

[0059] Target_el(n)=Target_el(0)-Master_el(0)+Master_el(n).

[0060] Finally, based on the theoretical star angle data of the target satellite and its own calibration deviation, the predicted star angle data required for the antenna to track the target satellite can be obtained, i.e.:

[0061] Slave_az(n)=Target_az(n)-[Target_az(0)-Slave_az(0)]=Master_az(n)+Slave_az(0)-Master_az(0);

[0062] In the same way, Slave_el(n)=Master_el(n)+Slave_el(0)-Master_el(0).

[0063] For illustrative purposes, during the calculation process, the satellite-related star angle data Target_az(0) and Target_el(0) cancel each other out based on the satellite's theory, and therefore can be ignored.

[0064] The main antenna has a small aperture and moves quickly, leveraging its speed and flexibility to track the target satellite in real time using conical scanning technology, accurately obtaining the target satellite's real-time position. The secondary antenna has a large aperture and moves slowly, handling high-gain communication. It does not need to search for the target itself but directly receives information from the main antenna, guided by the main antenna to achieve high-precision tracking of the target satellite.

[0065] This invention utilizes linkage control technology and a conical scanning method to achieve high-precision tracking of a target star in real time by using the calibration information of the main antenna, without relying on the antenna's own angle sensor. This solves the problems of gear wear and slow scanning speed in large antennas. The solution offers advantages such as low cost, high precision, and long lifespan.

[0066] This scheme achieves master-slave dual-antenna coordinated control through geostationary orbit satellite calibration and main antenna conical scanning guidance. It is particularly suitable for rapid acquisition of low and medium Earth orbit satellites and stable tracking of high-orbit inclined geostationary satellites.

[0067] In one embodiment of this specification, the main antenna performs continuous scanning at a preset scanning period; the main antenna is driven to track the target satellite based on a conical scanning method to obtain the actual azimuth data of the main antenna corresponding to the target satellite, including:

[0068] Acquire the signal strength timing data of the main antenna;

[0069] Within any scanning period, the actual star angle data of the main antenna corresponding to the target satellite for that scanning period is obtained based on the signal strength time series data;

[0070] The next scan will be performed based on the actual star angle data of the target satellite corresponding to the main antenna in the current scan cycle.

[0071] Explanatoryly, the main antenna searches for the target satellite in advance and enters tracking mode. With each rotation, it calculates the signal strength in each direction to determine the location of the maximum signal value and controls the motor to move to that location. This can be further simplified to estimating the location of the maximum signal value from the signal strength in the four directions (up, down, left, and right) to reduce computational load. The main antenna's motor encoder reads the satellite alignment data for the maximum signal value location, including the azimuth angle Master_az(n) and elevation angle Master_el(n), where n is the number of scan cycles (1, 2, ...). The main antenna rapidly updates the satellite alignment data to provide the slave antennas with real-time and accurate control data.

[0072] For example, the preset length of the scanning cycle is 0.1s, that is, a conical scan is performed every 0.1s.

[0073] In one embodiment of this specification, obtaining predicted star angle data from the antenna corresponding to the target satellite based on actual star angle data from the antenna corresponding to the reference satellite and theoretical star angle data from the target satellite includes:

[0074] Based on the actual star angle data of the antenna corresponding to the reference satellite, and the theoretical star angle data of the target satellite corresponding to each of the current and recent preset number of preset scanning periods, the predicted star angle data of the antenna corresponding to the target satellite is obtained.

[0075] Explanatoryly, the master antenna calculates the target satellite's azimuth angle data for the current scan period after its completion. The slave antenna then calculates and adjusts the azimuth angle based on this data. Therefore, this master-slave satellite antenna structure inevitably suffers from tracking delay. This embodiment compensates for the angular error caused by the calculation delay by incorporating historical values ​​of the target satellite's azimuth angle data based on theoretical data.

[0076] Specifically, the compensation amount can be calculated by multiplying the target satellite's operating speed by the delay time. The delay time is the scanning period of the main antenna, i.e., the preset length of the scanning period. The operating speed can be calculated from the theoretical star angle data of the target satellite in the two most recent scanning periods before the current scanning period n, yielding the average operating speed of the target satellite within the scanning period n-1, i.e., v(n-1) = preset length * [Target_az(n-1) - Target_az(n-2)] / preset length = Target_az(n-1) - Target_az(n-2). This is used as an approximation of the target satellite's current operating speed v(n), and the compensation angle is then calculated as [Target_az(n-1) - Target_az(n-2)] / preset length. Furthermore, the operating speed can be calculated based on the theoretical data of the target satellite corresponding to each of the previous scan cycles n, using the star angle data to calculate the average operating speed v(n-1), v(n-2), v(n-3)... of the target satellite in different scan cycles, and from this, the current operating speed v(n) of the target satellite can be deduced, so as to reduce the compensation error caused by the change in satellite operating speed.

[0077] In one embodiment of this specification, the theoretical pair angle data of the target satellite includes time information; obtaining the predicted pair angle data of the target satellite from the antenna corresponding to the reference satellite based on the actual pair angle data from the antenna corresponding to the reference satellite and the theoretical pair angle data of the target satellite includes:

[0078] Based on the latest theory of target satellites, the data interruption time is obtained by acquiring the time information corresponding to the star angle data;

[0079] When the data interruption time is longer than the first preset time, the historical data of the star angle data based on the target satellite theory is obtained from the antenna corresponding to the predicted star angle data of the target satellite.

[0080] For example, the theoretical pair of star point data with time information is as follows:

[0081] 2025.08.01 00:00:0.00, Target_az(1), Target_el(1);

[0082] 2025.08.01 00:00:0.10, Target_az(2), Target_el(2);

[0083] 2025.08.01 00:00:0.20, Target_az(3), Target_el(3);

[0084] ...

[0085] 2025.08.01 23:59:59.90, Target_az(n), Target_el(n).

[0086] Interpretively, while calculating the theoretical alignment data of the target satellite, a timestamp is appended to it, and the validity of the data is determined based on the timestamp corresponding to the latest theoretical alignment data of the target satellite obtained from the antenna. If the current time - the latest timestamp is less than or equal to a first preset time, the slave antenna still uses the latest theoretical alignment data of the target satellite for linkage control; if the current time - the latest timestamp is greater than the first preset time, the latest theoretical alignment data of the target satellite becomes invalid, and the slave antenna will calculate new predicted alignment data based on historical data of theoretical alignment data, thereby preventing linkage control interruptions caused by the main antenna losing target lock due to rain or main antenna malfunction.

[0087] In one embodiment of this specification, the acquisition of historical data of star angle data based on the target satellite's theoretical data from the antenna corresponding to the predicted star angle data of the target satellite includes:

[0088] When the target satellite is a geostationary satellite, the star angle data is obtained from the predicted star angle data corresponding to the target satellite at the same time the previous day, based on the theory of the target satellite at the current time;

[0089] When the target satellite is a non-geostationary orbit satellite, the theoretical star angle prediction trajectory of the target satellite is obtained based on the historical data of the target satellite's theoretical star angle prediction trajectory, and the predicted star angle data corresponding to the target satellite from the antenna is obtained based on the theoretical star angle prediction trajectory.

[0090] Interpretively, geostationary satellites operate synchronously with the Earth, and their daily trajectories are fixed. Therefore, the theoretical alignment data of the target satellite at the same time the previous day can be used as the theoretical alignment data for the target satellite at the current moment to calculate the predicted alignment data. However, non-geostationary satellites have different trajectories each day, and there are no directly referable historical values. Therefore, it is necessary to fit the theoretical alignment data to historical data to derive the predicted trajectory, and then use this predicted trajectory to guide the antenna tracking of the target satellite.

[0091] In essence, trajectory prediction involves fitting a series of discrete, timestamped historical theoretical angle data points into a continuous time function curve using a mathematical model. Furthermore, Kalman filtering based on dynamic models not only relies on historical angle data but also uses the satellite's orbital dynamics equations as an intrinsic model, continuously and optimally fusing new angle observation data with model predictions to dynamically correct and update estimates of satellite position, velocity, and even acceleration. This method effectively suppresses random noise in the observation data and provides optimal estimates of the satellite's future trajectory. Additionally, time series analysis models exhibit unique advantages for satellites with significant periodic motion characteristics, such as the figure-eight diurnal drift of high-orbit satellites or the periodic overhead movements of low-orbit satellites. Autoregressive Integral Moving Average (ARIMA) models and their seasonal variants can deeply mine the periodic, trend, and random components in historical data, enabling high-precision short-term predictions. In practical engineering, a combined prediction model is often used, establishing separate models for trend, periodic, and random terms. For example, a satellite's trajectory can be decomposed into a long-term trend determined by orbital elements, a periodic component with a 24-hour fundamental frequency, and a random perturbation component. These three components are then fitted separately using historical data and superimposed to construct a complete predicted trajectory. This method offers clear physical meaning and can flexibly adapt to the tracking needs of satellites in different orbits.

[0092] In one embodiment of this specification, the theoretical star angle prediction trajectory of the target satellite is obtained based on historical data of the target satellite's theoretical star angle data, and the predicted star angle data corresponding to the target satellite from the antenna is obtained based on the theoretical star angle prediction trajectory. The method further includes:

[0093] When the data interruption time is longer than the second preset time, acquire ephemeris data representing the target satellite's orbital trajectory, and acquire the predicted star angle data from the antenna corresponding to the target satellite based on the ephemeris data;

[0094] The second preset time is longer than the first preset time.

[0095] It is easy to understand that the deviation between the theoretically predicted trajectory of the star angle and the actual trajectory of the target satellite gradually increases over time, which cannot cope with the situation of long-term interruption of the linkage control of the main antenna. Therefore, if the current time - the latest timestamp > the second preset time, the prediction of the star angle data will be calculated based on the ephemeris data.

[0096] Interpretive: If the first preset time is 10 seconds and the second preset time is 60 seconds, and no new theory is generated for the star angle data after 10 seconds, the antenna control is performed based on the predicted trajectory of the short-term historical data. If no new theory is generated for the star angle data after 60 seconds, the antenna control is performed based on the ephemeris data.

[0097] For illustration, ephemeris TLE data can be downloaded from a satellite website, and then the star angle data corresponding to the location of the master-slave satellite antenna can be calculated according to the SGP4 model algorithm.

[0098] It is important to note that ephemeris data has limited accuracy and is typically used as reference data. It is then corrected using signal detection methods such as conical scanning. Therefore, the antenna can actually track the target satellite autonomously using conical scanning based on the ephemeris data, without requiring master-slave linkage control. However, the inventive concept of this solution stems from the severe gear wear problem inherent in actively signal detection methods using large satellite antennas with gear drives. Therefore, this implementation serves as a remedial solution for temporary failure of the main antenna. Even in the event of temporary main antenna failure, it can still achieve accurate tracking of the target satellite through signal detection methods, albeit at the cost of increased wear, temporarily taking over from linkage control.

[0099] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0100] Please refer to the following. Figure 2 , Figure 2 This is a schematic diagram of a master-slave satellite antenna linkage tracking system provided in the embodiments of this specification. The master-slave satellite antenna includes a large antenna as the slave antenna and a small antenna as the master antenna. The linkage tracking system 200 includes an error calibration unit 201, an active tracking unit 202, a trajectory restoration unit 203, and a linkage tracking unit 204.

[0101] Error calibration unit 201 drives the main antenna and the slave antenna to lock onto the reference satellite based on the conical scanning method, so as to obtain the actual star angle data of the main antenna and the slave antenna corresponding to the reference satellite, which is a geostationary orbit satellite;

[0102] The active tracking unit 202 drives the main antenna to track the target satellite based on the conical scanning method, so as to obtain the actual star angle data of the main antenna corresponding to the target satellite;

[0103] The trajectory reconstruction unit 203 acquires the theoretical star angle data of the target satellite based on the actual star angle data of the main antenna corresponding to the target satellite and the actual star angle data of the main antenna corresponding to the reference satellite.

[0104] The linkage tracking unit 204 acquires the predicted star angle data of the antenna corresponding to the target satellite based on the actual star angle data of the antenna corresponding to the reference satellite and the theoretical star angle data of the target satellite, and drives the antenna to move to track the target satellite based on the predicted star angle data of the antenna corresponding to the target satellite.

[0105] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, the embodiments of the linkage tracking system are basically similar to the embodiments of the linkage tracking method, so the description is relatively simple; relevant parts can be referred to the descriptions of the linkage tracking method embodiments.

[0106] Please see Figure 3 The diagram shown is a schematic representation of the architecture of a master-slave satellite antenna device provided in an embodiment of this specification.

[0107] The master-slave satellite antenna device includes a small antenna as the master antenna and driven by a synchronous belt, a large antenna as the slave antenna and driven by a gear, and the aforementioned antenna linkage tracking system 200 connecting the small antenna and the large antenna respectively.

[0108] Explained, small antennas use synchronous belt drive control, resulting in almost no mechanical wear. Large antennas, such as gateway antennas, allow small antennas to replace large antennas in signal detection, such as conical scanning, to accurately track target satellites, thus avoiding wear and tear on the large antennas.

[0109] Please see Figure 4 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this specification.

[0110] like Figure 4 As shown, the electronic device 400 may include at least one processor 401, at least one network interface 404, a user interface 403, a memory 405, and at least one communication bus 402.

[0111] The communication bus 402 can be used to realize the connection and communication of the above components.

[0112] The user interface 403 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0113] Among them, network interface 404 may include, but is not limited to, Bluetooth module, NFC module, Wi-Fi module, etc.

[0114] The processor 401 may include one or more processing cores. The processor 401 connects to various parts within the electronic device 400 using various interfaces and lines. It executes various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 405, and by calling data stored in the memory 405. Optionally, the processor 401 may be implemented using at least one hardware form of DSP, FPGA, or PLC. The processor 401 may integrate one or more of the following: CPU, GPU, and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 401 and may be implemented as a separate chip.

[0115] The memory 405 may include RAM or ROM. Optionally, the memory 405 may include a non-transitory computer-readable medium. The memory 405 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 405 may also be at least one storage device located remotely from the aforementioned processor 401. As a computer storage medium, the memory 405 may include an operating system, a network communication module, a user interface module, and a linkage tracking application. The processor 401 may be used to call the linkage tracking application stored in the memory 405 and execute the steps of the linkage tracking method mentioned in the foregoing embodiments.

[0116] This specification also provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform one or more steps in the above-described linkage tracking method embodiments. If the constituent modules of the above-described electronic device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.

[0117] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this specification is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0118] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation can be combined arbitrarily.

[0119] The above embodiments are merely preferred embodiments described in this specification and are not intended to limit the scope of this specification. Any modifications and improvements made by those skilled in the art to the technical solutions of this specification without departing from the spirit of this specification should fall within the protection scope defined by the claims of this specification.

Claims

1. A master-slave satellite antenna linkage tracking method, characterized in that, The master-slave satellite antenna includes a large antenna as a slave antenna and a small antenna as a master antenna; the linkage tracking method includes the following steps: The main antenna and the slave antenna are driven by the conical scanning method to lock onto the reference satellite, so as to obtain the actual star angle data of the main antenna and the slave antenna corresponding to the reference satellite, wherein the reference satellite is a geostationary orbit satellite; The main antenna is driven to track the target satellite using a conical scanning method to obtain the actual star angle data of the main antenna corresponding to the target satellite; the main antenna performs continuous scanning at a preset scanning period; The theoretical star angle data of the target satellite is obtained based on the actual star angle data of the main antenna corresponding to the target satellite and the actual star angle data of the main antenna corresponding to the reference satellite; Based on the actual star angle data of the antenna corresponding to the reference satellite, and the theoretical star angle data of the target satellite corresponding to the current and the most recent preset number of preset scan cycles, the predicted star angle data of the antenna corresponding to the target satellite is obtained, and the antenna is driven to move to track the target satellite based on the predicted star angle data of the antenna corresponding to the target satellite.

2. The master-slave satellite antenna linkage tracking method according to claim 1, characterized in that, The method of driving the main antenna to track the target satellite based on the conical scanning method to obtain the actual star angle data of the main antenna corresponding to the target satellite includes: Acquire the signal strength timing data of the main antenna; Within any scanning period, the actual star angle data of the main antenna corresponding to the target satellite for that scanning period is obtained based on the signal strength time series data; The next scan will be performed based on the actual star angle data of the target satellite corresponding to the main antenna in the current scan cycle.

3. The master-slave satellite antenna linkage tracking method according to claim 1, characterized in that, The theoretical star angle data of the target satellite includes time information; the acquisition of predicted star angle data of the target satellite from the antenna, based on the actual star angle data of the antenna corresponding to the reference satellite and the theoretical star angle data of the target satellite, includes: Based on the latest theory of target satellites, the data interruption time is obtained by acquiring the time information corresponding to the star angle data; When the data interruption time is longer than the first preset time, the historical data of the star angle data based on the target satellite theory is obtained from the antenna corresponding to the predicted star angle data of the target satellite.

4. The master-slave satellite antenna linkage tracking method according to claim 3, characterized in that, The acquisition of historical star angle data based on the target satellite's theoretical data, from the antenna corresponding to the predicted star angle data of the target satellite, includes: When the target satellite is a geostationary satellite, the star angle data is obtained from the predicted star angle data corresponding to the target satellite at the same time the previous day, based on the theory of the target satellite at the current time; When the target satellite is a non-geostationary orbit satellite, the theoretical star angle prediction trajectory of the target satellite is obtained based on the historical data of the target satellite's theoretical star angle prediction trajectory, and the predicted star angle data corresponding to the target satellite from the antenna is obtained based on the theoretical star angle prediction trajectory.

5. The master-slave satellite antenna linkage tracking method according to claim 4, characterized in that, The method involves obtaining the theoretical star angle prediction trajectory of the target satellite from historical data of the target satellite's theoretical star angle prediction, and obtaining the predicted star angle data from the antenna corresponding to the target satellite based on the theoretical star angle prediction trajectory. This process further includes: When the data interruption time is longer than the second preset time, acquire ephemeris data representing the target satellite's orbital trajectory, and acquire the predicted star angle data from the antenna corresponding to the target satellite based on the ephemeris data; The second preset time is longer than the first preset time.

6. A master-slave satellite antenna linkage tracking system, characterized in that, The master-slave satellite antenna includes a large antenna as a slave antenna and a small antenna as a master antenna; the linked tracking system includes an error calibration unit, an active tracking unit, a trajectory restoration unit, and a linked tracking unit. The error calibration unit drives the main antenna and the slave antenna to lock onto the reference satellite based on the conical scanning method, so as to obtain the actual star angle data of the main antenna and the slave antenna corresponding to the reference satellite, wherein the reference satellite is a geostationary orbit satellite; The active tracking unit drives the main antenna to track the target satellite based on the conical scanning method, so as to obtain the actual star angle data of the main antenna corresponding to the target satellite; The main antenna performs continuous scanning at a preset scanning period; The trajectory reconstruction unit acquires the theoretical star angle data of the target satellite based on the actual star angle data of the main antenna corresponding to the target satellite and the actual star angle data of the main antenna corresponding to the reference satellite. The linkage tracking unit acquires predicted star angle data of the target satellite corresponding to the antenna based on the actual star angle data of the antenna corresponding to the reference satellite and the theoretical star angle data of the target satellite corresponding to the current and the most recent preset number of preset scanning cycles. Based on the predicted star angle data of the antenna corresponding to the target satellite, the unit drives the antenna to move to track the target satellite.

7. A master-slave satellite antenna device, characterized in that, The system includes a small antenna as the main antenna and driven by a synchronous belt, and a large antenna as the slave antenna and driven by a gear, as described in claim 6, and a master-slave satellite antenna linkage tracking system connected to the small antenna and the large antenna respectively.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, the computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the steps of the method as claimed in any one of claims 1-5.

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