A method and system for tracking signal transmission without GNSS assistance

Abstract

The application provides a GNSS-aided satellite tracking signal transmission method and system, and relates to the technical field of signal transmission. The method comprises: collecting acceleration information of a target satellite tracking system based on a gyroscope to perform disturbance compensation, including pitch compensation and roll compensation; receiving a satellite pointing instruction, calculating initial alignment parameters of the target satellite tracking system, and controlling a satellite pointing execution component to point to the initial alignment parameters; controlling the satellite pointing execution component to rotate at a preset angular velocity, and synchronously collecting a signal-to-noise ratio value fed back by a signal receiver to obtain a time sequence signal-to-noise ratio set; according to the time sequence signal-to-noise ratio set, the azimuth angle at the maximum value of the signal-to-noise ratio value is a theoretical azimuth angle, alignment control and signal feedback transmission are performed based on the theoretical azimuth angle, and zero offset compensation is performed on the gyroscope in combination with a preset compensation period. The technical problem that the antenna tracking deviation is large and the communication link is unstable due to the loss of GNSS signal locking or the decrease in precision of the satellite tracking system in the prior art under a complex scene is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of signal transmission, in particular to a GNSS-aided-free tracking signal transmission method and system for moving target communication. BACKGROUND

[0002] Moving target communication refers to a mobile satellite communication system, which is commonly used in vehicle, ship and aircraft scenarios. The application requirement is to achieve continuous and accurate tracking of target satellites and stable signal transmission during the continuous movement of the carrier, so as to ensure uninterrupted communication.

[0003] However, the traditional moving target usually relies on the carrier positioning data and attitude information provided by GNSS (Global Navigation Satellite System) to calibrate the antenna pointing and maintain tracking accuracy. However, in complex scenarios such as urban high-rise dense shielding, tunnel passing and strong electromagnetic interference, GNSS signals are prone to lose lock, drift or have a significant decrease in accuracy, which in turn leads to increased antenna tracking deviation, unstable communication link or even interruption.

[0004] Therefore, there is an urgent need for a technical solution that does not rely on GNSS signals and can still maintain accurate tracking of satellites to solve the application limitations caused by GNSS dependence. SUMMARY

[0005] The present application provides a GNSS-aided-free tracking signal transmission method and system for moving target communication to solve the technical problems that the existing technology is prone to lose lock or have a decrease in accuracy in complex scenarios, resulting in large antenna tracking deviation and unstable communication link.

[0006] The technical solution of the present application to solve the above technical problems is as follows:

[0007] In a first aspect, the present application provides a GNSS-aided-free tracking signal transmission method for moving target communication, comprising: performing disturbance compensation of a star pointing execution component based on acceleration information of a target moving target collected by a gyroscope, including pitch compensation and roll compensation; receiving a star pointing instruction, calculating initial alignment parameters according to the latitude and longitude of the initial position of the target moving target and the satellite orbit model, and controlling the star pointing execution component to point to the initial alignment parameters, wherein the initial alignment parameters include a direction angle and a pitch angle; controlling the star pointing execution component to rotate at a preset angular velocity, and synchronously collecting the signal-to-noise ratio value fed back by the signal receiver to obtain a time sequence signal-to-noise ratio set; determining the azimuth angle at the maximum signal-to-noise ratio value as the theoretical azimuth angle according to the time sequence signal-to-noise ratio set, performing alignment control and signal feedback transmission based on the theoretical azimuth angle, and combining the preset compensation period to perform zero offset compensation on the gyroscope.

[0008] In a second aspect, the application provides a non-GNSS-assisted tracking and signal transmission system for moving targets, comprising: a disturbance compensation module configured to compensate for disturbances of a star pointing assembly based on acceleration information of a target moving target collected by a gyroscope, including pitch compensation and roll compensation; an alignment parameter calculation module configured to receive a star pointing instruction, calculate initial alignment parameters according to the latitude and longitude of the initial position of the target moving target and a satellite orbit model, and control the star pointing assembly to point to the initial alignment parameters, wherein the initial alignment parameters include a direction angle and a pitch angle; a signal-to-noise ratio acquisition module configured to control the star pointing assembly to rotate at a preset angular velocity, and synchronously acquire signal-to-noise ratio values fed back by a signal receiver to obtain a time sequence signal-to-noise ratio set; and a zero offset compensation module configured to determine an azimuth angle at which a signal-to-noise ratio value is maximum as a theoretical azimuth angle according to the time sequence signal-to-noise ratio set, perform alignment control and signal feedback transmission based on the theoretical azimuth angle, and perform zero offset compensation on the gyroscope in combination with a preset compensation period.

[0009] The application has the following beneficial effects:

[0010] Compared with the prior art, the application first compensates for disturbances of a star pointing assembly based on acceleration information of a target moving target collected by a gyroscope, including pitch compensation and roll compensation, to eliminate motion interference on antenna tracking. Second, a star pointing instruction is received, initial alignment parameters are calculated according to the latitude and longitude of the initial position and a satellite orbit model, and the star pointing assembly is controlled to point to the initial alignment parameters. In the absence of GNSS assistance, the initial alignment of the antenna to the satellite is realized by calculating the direction angle and the pitch angle and controlling the star pointing assembly to point, providing a basis for subsequent accurate tracking. Third, the star pointing assembly is controlled to rotate at a preset angular velocity, and signal-to-noise ratio values fed back by a signal receiver are synchronously acquired to obtain a time sequence signal-to-noise ratio set. On the basis of the initial alignment parameters in the absence of GNSS assistance, the time sequence signal-to-noise ratio set is formed, providing key data support for subsequent locking of the accurate azimuth angle of the satellite and correction of the pointing deviation of the antenna. Finally, according to the time sequence signal-to-noise ratio set, the azimuth angle at which the signal-to-noise ratio value is maximum is the theoretical azimuth angle, alignment control and signal feedback transmission are performed based on the theoretical azimuth angle, and zero offset compensation is performed on the gyroscope in combination with a preset compensation period. The theoretical azimuth angle close to the real azimuth of the satellite can be determined, and the gyroscope is zero offset compensated, thereby ensuring long-term tracking accuracy of the moving target.

[0011] Through the above technical solutions, the application realizes the tracking and transmission function of the moving target without relying on GNSS signals, improves the tracking stability and communication reliability in complex scenarios such as GNSS signal loss and accuracy degradation, enhances the environmental adaptability of the moving target, and effectively solves the application limitations caused by the traditional GNSS dependence. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1A flowchart of a no-GNSS-assisted tracking signal transmission method of the application is provided as follows;

[0013] Figure 2 A structure diagram of a no-GNSS-assisted tracking signal transmission system of the application is provided as follows.

[0014] In the drawings, the components represented by various reference numerals are as follows:

[0015] The disturbance compensation module 11, the alignment parameter calculation module 12, the signal-to-noise ratio acquisition module 13, and the zero offset compensation module 14. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person skilled in the art without creative work fall within the protection scope of the application.

[0017] In the description of the application, the terms "first", "second", "third", etc. are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0018] In the description of the application, the term "for example" is used to indicate "as an example, illustration or description". Any embodiment described as "for example" in the application is not necessarily interpreted as more preferred or more advantageous than other embodiments. In order to enable any person skilled in the art to implement and use the application, the following description is given. In the following description, details are listed for the purpose of explanation. It should be understood that a person skilled in the art can realize the application without using these specific details. In other examples, well-known structures and processes will not be described in detail to avoid unnecessary details making the description of the application obscure. Therefore, the application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope in accordance with the principles and characteristics disclosed in the application.

[0019] Embodiment one, as shown in the application, provides a no-GNSS-assisted tracking signal transmission method, which includes the following contents. Figure 1

[0020] ​S10: disturbance compensation of the star pointing execution assembly based on the acceleration information of the target moving satellite communication terminal collected by the gyroscope, including pitch compensation and roll compensation.

[0021] In a communication system of a mobile carrier such as a vehicle or a ship, keeping the stable pointing of the antenna to the satellite is the core prerequisite to ensure the signal transmission quality. However, the carrier will inevitably be disturbed in the process of movement, for example, the up and down fluctuation of the vehicle when driving on a bumpy road, and the left and right tilt of the ship in the sea waves. These disturbances will directly cause the attitude of the antenna to deviate from the ideal alignment angle, resulting in signal attenuation or even interruption.

[0022] To solve the above problems, the present application performs disturbance compensation of the star pointing execution assembly based on the acceleration information of the target moving satellite communication terminal collected by the gyroscope, including pitch compensation and roll compensation.

[0023] Specifically, step S10 in the method includes: in the embodiment of the present application, disturbance compensation of the star pointing execution assembly based on the acceleration information of the target moving satellite communication terminal collected by the gyroscope, including pitch compensation and roll compensation. Wherein, the gyroscope as an inertial measurement sensor can capture the acceleration information generated by the moving satellite communication terminal in real time, including linear acceleration and angular acceleration. These information, like a motion fingerprint, can accurately reflect the strength and direction of the carrier attitude change: when the moving satellite communication terminal is disturbed in the pitch direction, such as the forward inclination when the vehicle climbs a slope, the backward inclination when the vehicle descends a slope, etc., the gyroscope will detect the angular acceleration around the lateral axis; when the moving satellite communication terminal is disturbed in the roll direction, such as the ship tilting to one side, the vehicle tilting when turning, etc., the gyroscope will trigger the angular acceleration around the longitudinal axis. By integrating these acceleration information, the specific deviation angle of the moving satellite communication terminal in the pitch and roll directions can be further quantified, that is, the difference between the current attitude of the antenna and the ideal attitude of pointing to the satellite, providing accurate adjustment basis for subsequent compensation.

[0024] Exemplarily, pitch compensation and roll compensation are respectively performed for disturbances in different directions. The pitch compensation mainly deals with the attitude change of the moving satellite communication terminal around the lateral axis, for example, when the gyroscope detects that the carrier is tilted down (i.e. the pitch angle is too small) due to the bumps, the pitch axis execution mechanism of the antenna, such as a servo motor, controls the antenna to rotate upward by a corresponding angle to offset the pointing deviation caused by the tilt down; on the contrary, when the gyroscope detects that the moving satellite communication terminal is tilted up (i.e. the pitch angle is too large), the antenna is controlled to adjust downward. The roll compensation mainly deals with the tilt of the moving satellite communication terminal around the longitudinal axis, when the moving satellite communication terminal tilts to the right (i.e. the roll angle is too large), the roll axis mechanism is driven to make the antenna rotate to the left to correct; on the contrary, when the moving satellite communication terminal tilts to the left, the roll axis mechanism is driven to make the antenna rotate to the right to correct. In this way, the antenna can always lock the satellite direction and is not affected by the motion disturbance of the moving satellite communication terminal.

[0025] The role of disturbance compensation by acceleration information collected by the gyroscope is particularly prominent in the GNSS-aided scene. When the GNSS signal is blocked or interfered and fails, the traditional attitude correction method relying on positioning information cannot work, and the disturbance compensation based on the acceleration information of the gyroscope can realize the attitude stability by sensing the motion of the carrier.

[0026] In summary, compared with the prior art, the application performs disturbance compensation on the star pointing assembly based on the acceleration information of the target moving transponder collected by the gyroscope, including pitch compensation and roll compensation. In this way, the pitch and roll disturbances generated by the moving transponder can be offset, the antenna attitude can be stabilized, and the mobile carrier can be continuously aligned with the satellite.

[0027] S20: receiving a star pointing instruction, calculating initial alignment parameters according to the latitude and longitude of the initial position of the target moving transponder and the satellite orbit model, and controlling the star pointing assembly to point to the initial alignment parameters, wherein the initial alignment parameters include a direction angle and a pitch angle.

[0028] When the star pointing instruction is received, the antenna capture and alignment process with the satellite is triggered. Since GNSS does not provide real-time positioning information, the known initial position latitude and longitude and satellite orbit model are used to determine the approximate pointing direction of the antenna through geometric calculation.

[0029] For example, after receiving the star pointing instruction, the initial position information of the moving transponder is called to determine that the latitude of the moving transponder is 30 degrees north latitude and the longitude is 110 degrees east longitude, and the initial position of the moving transponder provides a reliable data basis for subsequent calculation of the direction angle and the pitch angle.

[0030] To solve the above problems, the application receives a star pointing instruction, calculates initial alignment parameters according to the latitude and longitude of the initial position of the target moving transponder and the satellite orbit model, and controls the star pointing assembly to point to the initial alignment parameters, wherein the initial alignment parameters include a direction angle and a pitch angle.

[0031] Specifically, step S20 in the method includes: based on the satellite orbit model, obtaining the satellite altitude and the satellite longitude; calculating the longitude difference, and combining the longitude difference and the latitude of the moving transponder to calculate the direction angle; based on the satellite altitude, the satellite longitude, the longitude difference, the latitude of the moving transponder and the earth radius, calculating the pitch angle.

[0032] In the embodiments of the present application, firstly, the satellite altitude and the satellite longitude are acquired based on a satellite orbit model. The satellite orbit model is a mathematical model describing the law of satellite movement, and contains core orbit parameters of satellite movement, such as orbit inclination, running period, etc. Through these parameters, the satellite altitude and the satellite longitude at a specific time can be calculated in real time. The satellite altitude refers to the vertical distance between the satellite and the earth's surface, and directly reflects the spatial position of the satellite in the vertical direction. The satellite longitude refers to the longitude corresponding to the projection point of the satellite on the earth's equatorial plane, and is used to determine the position of the satellite in the horizontal direction. The satellite altitude and the satellite longitude are equivalent to the coordinate labels of the satellite, and are the basic data for subsequent calculation of the antenna pointing angle.

[0033] Exemplarily, based on the satellite orbit model, according to the current UTC timestamp and the orbit reference parameters corrected in real time, the satellite instantaneous orbit position is iteratively solved through the built-in core orbit parameters such as the orbit semi-major axis, eccentricity, orbit inclination, and combined with the celestial mechanics formula, the satellite altitude of 35800 kilometers and the satellite longitude of 120 degrees east are calculated, which together constitute the spatial position identifier of the satellite.

[0034] It should be noted that the satellite orbit model belongs to the prior art, and its principle and implementation manner are well known to those skilled in the related art. The process of calculating the satellite altitude and the satellite longitude is a mature and public prior art, and will not be described here.

[0035] Secondly, the longitude difference is calculated, and the direction angle is calculated by combining the longitude difference and the latitude of the moving transceiver. Specifically, first, based on the longitude and latitude of the initial position, the difference between the satellite longitude and the longitude of the moving transceiver is calculated as the longitude difference, and then the direction angle is calculated by combining the latitude of the moving transceiver and using the spherical geometry principle, such as the trigonometric formula. The direction angle represents the angle that the antenna needs to rotate clockwise from the north direction to point to the satellite direction, for example, if the satellite is east of the moving transceiver, the direction angle is 90 degrees, and if the satellite is south of the moving transceiver, the direction angle is 180 degrees.

[0036] Exemplarily, if the longitude of the moving transceiver at the initial position is 110 degrees east, the latitude is 30 degrees north, and the satellite longitude is 120 degrees east, then the longitude difference = satellite longitude - moving transceiver longitude = 120 degrees - 110 degrees = 10 degrees, which indicates that the satellite is located 10 degrees east of the moving transceiver. By combining the latitude of the moving transceiver at 30 degrees north, the direction angle can be calculated by the spherical geometry formula to be about 95 degrees, which indicates that the antenna of the moving transceiver needs to rotate 95 degrees clockwise from the north direction to point to the position of the satellite in the horizontal plane.

[0037] Finally, based on the satellite altitude, satellite longitude, longitude difference, latitude of the moving transceiver and the radius of the earth, the pitch angle is calculated. For example, based on the satellite altitude, satellite longitude, longitude difference, latitude of the moving transceiver and the radius of the earth, a spatial geometric model of the satellite and the moving transceiver is constructed: taking the center of the earth as the vertex, denoted as O, the initial position of the moving transceiver as the ground endpoint, denoted as A, and the position of the satellite in space as the high-altitude endpoint, denoted as B, forming a triangle OAB, OA being the radius of the earth, OB being the sum of the radius of the earth and the satellite altitude, and AB being the spatial straight-line distance between the moving transceiver and the satellite.

[0038] For example, the radius of the earth is about 6371 kilometers, if the satellite altitude is 35800 kilometers, the latitude of the moving transceiver is 30 degrees north, and the longitude difference is 10 degrees, in the triangle OAB, OA = 6371 km, OB = 6371 + 35800 = 42171 km, ∠AOB is derived from the latitude and longitude difference of the moving transceiver, which is about 10.4 degrees, and AB ≈ 10230 kilometers is obtained, and the vertical height difference between the position A of the moving transceiver and the ground point directly below the satellite is calculated by the trigonometric function (such as the sine theorem), and finally combined with the spatial distance AB, the pitch angle is about 41 degrees, which indicates that the communication antenna of the moving transceiver needs to be lifted 41 degrees upward relative to the horizontal plane to be aligned with the satellite in the vertical direction.

[0039] Further, after the calculation of the direction angle and the pitch angle, the control is performed on the satellite pointing execution component to adjust the attitude according to the two parameters, so that the antenna points to the calculated initial alignment direction. Although there may be some deviation in the alignment at this time, it can still ensure that the antenna roughly locks the spatial region where the satellite is located, avoiding the inefficiency of blind search.

[0040] In summary, compared with the prior art, the present application receives the satellite pointing instruction, calculates the initial alignment parameters according to the latitude and longitude of the initial position of the target moving transceiver and the satellite orbit model, and controls the satellite pointing execution component to point to the initial alignment parameters, wherein the initial alignment parameters include the direction angle and the pitch angle. In this way, without GNSS assistance, the direction angle and the pitch angle are calculated and the satellite pointing execution component is controlled to point to the satellite, thereby realizing the initial alignment of the antenna to the satellite and providing a basis for subsequent accurate tracking.

[0041] S30: control the satellite pointing execution component to rotate at a preset angular velocity, and synchronously collect the signal-to-noise ratio value fed back by the signal receiver to obtain a time sequence signal-to-noise ratio set.

[0042] The initial alignment parameters calculated in the foregoing steps can preliminarily reflect the approximate spatial orientation of the satellite and provide a basic pointing basis for the antenna, but due to factors such as the offset between the actual position of the moving transceiver and the initial position, the simplification error of the satellite orbit model, etc., there is a certain pointing deviation, which cannot ensure that the antenna is completely aligned with the satellite, and at this time the satellite signal strength is usually weak.

[0043] Meanwhile, since the satellite signal strength is directly related to the antenna pointing position, the closer the antenna is to the satellite, the higher the received signal strength and the larger the signal-to-noise ratio value, so on the basis of the approximate direction determined by the initial alignment parameters, the real-time changes in satellite signal strength can be captured through dynamic scanning to gradually reduce the antenna pointing deviation and accurately locate the satellite direction, and finally provide key data support for locking the accurate azimuth angle of the satellite.

[0044] To solve the above problems, the application controls the star alignment execution assembly to rotate at a preset angular velocity, and synchronously collects the signal-to-noise ratio value fed back by the signal receiver to obtain a time sequence signal-to-noise ratio set.

[0045] Specifically, step S30 in the method comprises: obtaining speed information based on a gyroscope; taking the pitch angle as a fixed parameter, combining the preset receiving frequency with the speed information to configure scanning parameters, and obtaining a scanning parameter sequence, wherein the scanning parameter sequence is an angular velocity sequence; taking the scanning parameter sequence as a preset angular velocity, driving the star alignment execution assembly to rotate and scan, and correspondingly collecting the signal-to-noise ratio value of the received signal of the signal receiver; filtering the signal-to-noise ratio value, combining the associated receiving time stamp to arrange in chronological order, and forming the time sequence signal-to-noise ratio set.

[0046] In the embodiment of the application, first, the speed information of the moving transponder is obtained based on a gyroscope. The speed information includes linear speed and angular speed, which is used to offset the interference of the moving transponder on scanning: for example, when the vehicle is driving on the road, if the moving speed is not considered, the range of antenna rotation scanning will shift with the change of vehicle position, and the satellite signal may be missed. Exemplarily, the speed information of the moving transponder is collected by the gyroscope, such as the linear speed of 40km / h and the angular speed of 0.8 degrees / s.

[0047] Secondly, the scan parameter configuration is performed in combination with the preset receiving frequency and speed information, with the pitch angle as a fixed parameter, to obtain a scan parameter sequence, wherein the scan parameter sequence is an angular velocity sequence. The pitch angle is fixed as a fixed parameter because the pitch angle deviation in the vertical direction is small in the S20 step, and fixing the pitch angle can simplify the scan from two-dimensional operation in the horizontal and vertical directions to one-dimensional scan in the horizontal direction only, thereby greatly reducing the scan time and calculation amount. The preset receiving frequency can be determined according to the preset communication frequency band of the target satellite, thereby focusing on the working frequency band of the target satellite, effectively filtering the interference signals of other frequency bands, and ensuring that the signal-to-noise ratio value collected subsequently can truly reflect the alignment degree of the antenna and the target satellite. Exemplarily, the scan parameter configuration is to generate an action instruction for antenna rotation, and the scan parameter configuration is performed in combination with the preset receiving frequency and speed information, for example, first rotating 10 degrees left and right along the initial direction angle at an angular velocity of 0.5 degrees / s, and then fine-tuning in the range of ±2 degrees with a relatively high signal-to-noise ratio at an angular velocity of 0.3 degrees / s, so as to balance the efficiency and alignment accuracy.

[0048] Thirdly, the rotation scan is driven on the satellite execution assembly according to the preset angular velocity of the scan parameter sequence, and the signal-to-noise ratio value of the signal received by the signal receiver is correspondingly collected. The satellite execution assembly refers to the execution components such as the antenna servo motor and the transmission mechanism, which are used to receive the instruction of the scan parameter sequence and drive the communication antenna of the moving channel to complete the rotation scan action around the specified shaft. Exemplarily, the rotation scan of the satellite execution assembly is strictly controlled according to the angular velocity sequence to rotate the antenna around the horizontal shaft, for example, first rotating 10 degrees left and then rotating 10 degrees right along the initial direction angle at an angular velocity of 0.5 degrees / s, and while the antenna is rotating, the signal receiver detects the signal strength of the current antenna pointing position in real time, and the signal-to-noise ratio value is collected once every time the antenna rotates a small angle (such as 0.1 degrees). In this way, the accurate association between each scan position and the corresponding signal-to-noise ratio value can be ensured, and data misplacement can be effectively avoided, thereby providing reliable matching data for generating the time sequence signal-to-noise ratio set subsequently.

[0049] Finally, since the signal-to-noise ratio value may be affected by electromagnetic interference and signal fluctuation, noise may exist in the signal-to-noise ratio value, and therefore the signal-to-noise ratio value needs to be filtered, and the time sequence signal-to-noise ratio set is formed in time sequence according to the associated receiving time stamp. Exemplarily, the signal-to-noise ratio value can be filtered by using algorithms such as mean filtering and Kalman filtering, to remove noise interference. Exemplarily, the receiving time stamp can mark the scanning time corresponding to each signal-to-noise ratio value, and after sorting according to the receiving time stamp, the time sequence signal-to-noise ratio set will present a one-to-one correspondence between time and signal-to-noise ratio value, for example, the time sequence signal-to-noise ratio set is: [time 1: 28 dB, time 2: 30 dB, time 3: 35 dB, time 4: 32 dB, …].

[0050] To sum up, compared with the prior art, the application controls the star pointing execution assembly to rotate at a preset angular velocity, and synchronously collects the signal-to-noise ratio value fed back by the signal receiver to obtain a timing signal-to-noise ratio set. In this way, on the basis of the initial alignment parameters without GNSS assistance, the timing signal-to-noise ratio set is formed, which provides key data support for subsequent locking of the precise azimuth of the satellite and correction of the antenna pointing deviation.

[0051] S40: According to the timing signal-to-noise ratio set, the azimuth at the maximum value of the signal-to-noise ratio is determined as a theoretical azimuth, alignment control and signal feedback transmission are performed based on the theoretical azimuth, and the gyro is zero-offset compensated in combination with a preset compensation period.

[0052] Since the satellite signal strength is directly related to the antenna pointing, the closer the antenna is to the satellite, the stronger the received signal is, and the larger the signal-to-noise ratio value is, so the azimuth at the maximum value of the signal-to-noise ratio in the timing signal-to-noise ratio set is selected as the theoretical azimuth, and the theoretical azimuth is the angle closest to the real azimuth of the satellite in the current scanning range. Then, alignment control and signal feedback transmission are performed based on the theoretical azimuth: the star pointing execution assembly is driven to adjust the antenna to the theoretical azimuth, and a stable satellite communication link is established at the theoretical azimuth to complete the reception and transmission of data.

[0053] Meanwhile, the gyro is a core sensor for sensing the attitude (such as the azimuth and the pitch angle) of the moving target indicator, but long-term work will cause zero offset, i.e., false angle output when there is no motion, and integral error, i.e., cumulative deviation when the angle is calculated by acceleration integration, due to the hardware characteristics, so the gyro needs to be zero-offset compensated in combination with a preset compensation period.

[0054] To solve the above problems, according to the timing signal-to-noise ratio set, the application determines the azimuth at the maximum value of the signal-to-noise ratio as a theoretical azimuth, performs alignment control and signal feedback transmission based on the theoretical azimuth, and performs zero-offset compensation on the gyro in combination with a preset compensation period.

[0055] Specifically, the zero-offset compensation on the gyro in combination with a preset compensation period in step S40 in the method includes: acquiring timing acceleration information synchronized with the timing signal-to-noise ratio set; performing motion compensation on the timing signal-to-noise ratio set based on the timing acceleration information, and constructing an equivalent steady-state restored signal field in combination with the motion compensation result; calculating a first ideal steady-state signal field according to the latitude and longitude of the initial position and the satellite orbit model; comparing the equivalent steady-state restored signal field with the first ideal steady-state signal field, and iteratively updating the first ideal steady-state signal field according to the comparison result to obtain an ideal steady-state signal field; extracting the gyro azimuth based on the ideal steady-state signal field; comparing the gyro azimuth with the theoretical azimuth to perform zero-offset compensation on the gyro and eliminate the integral error.

[0056] In the embodiments of the present application, the signal-to-noise ratio value of the moving satellite communication may contain motion interference caused by motion such as shaking and turning, rather than signal fluctuation caused by antenna pointing deviation. Therefore, time-series acceleration information synchronized with the time-series signal-to-noise ratio set needs to be obtained. For example, the time-series acceleration information synchronized with the time-series signal-to-noise ratio set in time is the motion acceleration of the moving satellite communication carrier collected by the gyroscope in real time, including angular acceleration and linear acceleration. For example, when the moving satellite communication is driving on the road, the gyroscope may collect linear acceleration of 0.8 m / s² and angular acceleration of 0.5 degrees / s². The motion acceleration can accurately correspond to the signal-to-noise ratio change at different times.

[0057] Secondly, the time-series signal-to-noise ratio set is compensated for motion based on the time-series acceleration information, and the motion interference is removed. An equivalent steady-state restored signal field is constructed based on the motion compensation result. The equivalent steady-state restored signal field is equivalent to the signal strength spatial distribution when the moving satellite communication is static, and reflects the relationship between the antenna pointing and the signal strength. For example, the time-series signal-to-noise ratio set can be compensated for motion by a filtering algorithm (such as Kalman filtering) based on the time-series acceleration information. For example, when the moving satellite communication is turning, the gyroscope collects angular acceleration of 0.5 degrees / s². At this time, false fluctuations caused by shaking of the vehicle body appear in the time-series signal-to-noise ratio set, such as a sudden drop of 2 dB in signal-to-noise ratio at a certain time. The motion interference amount can be calculated based on the angular acceleration data, and the fluctuations in the time-series signal-to-noise ratio set are removed, so as to obtain the motion compensation result, that is, the signal-to-noise ratio data determined only by the antenna pointing deviation. The equivalent steady-state restored signal field constructed based on the motion compensation result can accurately reflect the real correlation between the antenna pointing and the satellite signal strength, rather than the false distribution affected by the motion interference.

[0058] Thirdly, the satellite signal strength spatial distribution when the moving satellite communication is static at the initial position is calculated based on the latitude and longitude of the initial position and the satellite orbit model, and is taken as the first ideal steady-state signal field. For example, if the initial position of the moving satellite communication is at a latitude of 30 degrees north and a longitude of 110 degrees east, the satellite signal strength spatial distribution presents a certain rule when the moving satellite communication is static at the initial position, and the first ideal steady-state signal field is formed. The first ideal steady-state signal field reflects the initial theoretical relationship that the closer the antenna pointing is to the satellite, the higher the signal strength is.

[0059] Further, since the moving satellite communication may have deviated from the initial position, the equivalent steady-state restored signal field and the first ideal steady-state signal field need to be compared, and the first ideal steady-state signal field is iteratively updated based on the comparison result, so as to obtain a more actual ideal steady-state signal field.

[0060] Further, based on the ideal steady-state signal field, the azimuth angle at the maximum signal-to-noise ratio value in the ideal steady-state signal field is taken as the azimuth angle of the gyroscope, representing the real azimuth angle at the actual position.

[0061] Finally, the gyroscopic azimuth angle is compared with the theoretical azimuth angle, the gyroscopic zero offset is compensated, and the integral error is eliminated. Illustratively, the difference between the gyroscopic azimuth angle and the theoretical azimuth angle is calculated to obtain the gyroscopic zero offset and integral error, which is used as a preset compensation period. Accordingly, the measurement value of the gyroscopic is corrected in the opposite direction to realize zero offset compensation and eliminate integral error. For example, if the gyroscopic azimuth angle is 95.0 degrees and the theoretical azimuth angle is 95.3 degrees, there is a 0.3-degree deviation between the two, which is the sum of the gyroscopic zero offset and integral error. This deviation is used as a preset compensation period to correct the measurement reference of the gyroscopic in the opposite direction, i.e., to reduce 0.3 degrees, to complete zero offset compensation. At the same time, the angle error accumulated due to acceleration integration calculation is eliminated, so that the azimuth angle output by the gyroscopic in the subsequent stage can accurately match the real gyroscopic azimuth angle, thereby ensuring the accuracy of the antenna alignment control.

[0062] Specifically, the "comparing the equivalent state restoration signal field with the first ideal state signal field, and iteratively updating the first ideal state signal field according to the comparison result to obtain the ideal state signal field" includes: comparing and calculating the distance residual distribution of multiple equal signal-to-noise ratio lines between the equivalent state restoration signal field and the first ideal state signal field; based on the distance residual distribution, performing position inversion through a numerical simulation model to obtain a position deviation between an initial position and an actual position; calculating and updating the first ideal state signal field according to the position deviation, the latitude and longitude of the initial position, and the satellite orbit model, and iteratively correcting the position according to the position deviation minimization principle; when the iteratively corrected position meets a preset convergence condition, the first ideal state signal field is output as the ideal state signal field.

[0063] In the embodiments of the present application, the distance residual distribution of multiple equal signal-to-noise ratio lines between the equivalent state restoration signal field and the first ideal state signal field is first compared and calculated. Illustratively, from the equivalent state restoration signal field and the first ideal state signal field, multiple groups of equal signal-to-noise ratio lines with the same signal-to-noise ratio value are selected, such as 30 dB, 28 dB, 25 dB, etc. For each group of corresponding equal signal-to-noise ratio lines, the offset distance in the spatial direction is calculated as the distance residual of a single line. For example, the 30 dB equal signal-to-noise ratio line is offset by 1.8 degrees east in the equivalent state restoration signal field than in the first ideal state signal field. Similarly, the 28 dB equal signal-to-noise ratio line is offset by 1.5 degrees east, and the 25 dB equal signal-to-noise ratio line is offset by 1.2 degrees east. The three groups of distance residuals are sorted in descending order according to the corresponding signal-to-noise ratio values to form the distance residual distribution, such as 1.8 degrees, 1.5 degrees, and 1.2 degrees. The greater the distance residual, the greater the probability that the actual position has a difference from the initial position.

[0064] Secondly, based on the distance residual distribution, the position inversion is performed through the numerical simulation model to obtain the position deviation between the initial position and the actual position. Exemplarily, the position inversion can be performed based on the distance residual distribution through a numerical simulation model such as a geometric inversion algorithm, and according to the characteristic of the fixed satellite position, the specific deviation value of the actual position relative to the initial position is calculated in combination with the geometric correlation between the signal field and the position, such as a longitude difference of +0.05 degrees and a latitude difference of 0 degrees, i.e., the actual position is at an east side of the initial position by 0.05 degrees of longitude. In this way, the quantitative conversion from the signal field deviation to the position deviation is realized.

[0065] Thirdly, according to the position deviation, the longitude and latitude of the initial position, and the satellite orbit model, the first ideal steady-state signal field is calculated and updated, and the iterative position correction is performed according to the position deviation minimization principle. Exemplarily, according to the position deviation obtained by the position inversion, the longitude and latitude of the initial position are first corrected, for example, the initial position is at north latitude 30 degrees and east longitude 110 degrees, and after correction, it is at north latitude 30 degrees and east longitude 110.05 degrees. Then, the ideal steady-state signal field is recalculated based on the corrected position in combination with the satellite orbit model. Then, the updated first ideal steady-state signal field is compared with the equivalent steady-state restored signal field again, and the process of calculating the distance residual distribution, inverting the position deviation, and correcting the position and the signal field is repeated. The entire iterative process follows the position deviation minimization principle, and through multiple cycles, the deviation between the first ideal steady-state signal field and the equivalent steady-state restored signal field is gradually reduced, so that the former continuously approaches the latter.

[0066] Finally, when the iterative position correction result meets the preset convergence condition, the first ideal steady-state signal field is output as the ideal steady-state signal field. The preset convergence condition can be set according to the actual application scenario of the moving target indicator and the communication accuracy requirement, and preferably, the convergence condition can be set as: the position deviation change quantity calculated by two consecutive iterations is less than or equal to 0.001 degrees, and the maximum residual in the distance residual distribution obtained by the latest comparison is less than or equal to 0.1 degrees. The convergence condition can be dynamically adjusted by the person skilled in the art in combination with the motion characteristics of the moving target indicator, the accuracy requirement of satellite communication, and other actual situations, so as to balance the calibration efficiency and the tracking accuracy.

[0067] Exemplarily, when the iterative position correction result meets the preset convergence condition, it indicates that the deviation between the current first ideal steady-state signal field and the equivalent steady-state restored signal field is extremely small, and the current first ideal steady-state signal field can accurately reflect the real spatial distribution of the satellite signal. At this time, the iteration is stopped, and the first ideal steady-state signal field is output as the ideal steady-state signal field, which is used as the data reference for subsequent extraction of the gyro azimuth angle and calibration of the gyro zero offset and integral error.

[0068] Specifically, the step S40 in the method further includes: completing attitude updating by integrating acceleration information fed back by the gyroscope, performing conical scanning in combination with a theoretical azimuth angle to obtain signal strengths in four orthogonal directions; calculating an azimuth compensation value and a pitch compensation value through a preset compensation mapping model according to the signal strengths in the four orthogonal directions; taking the azimuth compensation value and the pitch compensation value as attitude error inputs, and performing zero offset compensation on the gyroscope in combination with Kalman filtering, and eliminating integral errors.

[0069] In the embodiment of the application, first, attitude updating is completed by integrating acceleration information fed back by the gyroscope, and conical scanning is performed in combination with a theoretical azimuth angle to obtain signal strengths in four orthogonal directions. Specifically, the gyroscope feeds back acceleration information including angular acceleration and linear acceleration in real time, and the current azimuth angle and pitch angle of the moving channel are calculated through integral operation on the acceleration information, attitude updating is completed, and the attitude state of the moving channel is ensured to be mastered in real time; subsequently, the antenna is driven to perform conical scanning by controlling the star execution assembly with the theoretical azimuth angle as the center to cover a small area around the theoretical azimuth angle. In the scanning process, signal strengths in four orthogonal directions are synchronously collected, that is, four directions perpendicular to each other in the horizontal and vertical directions are collected, for example, the horizontal east direction, the horizontal west direction, the vertical north direction and the vertical south direction, to ensure that the key area around the theoretical azimuth angle is covered and the subtle differences in signal strengths are captured.

[0070] Exemplarily, it is assumed that the moving channel is a communication vehicle, the theoretical azimuth angle is 95 degrees, the conical scanning range is set to ±0.5 degrees, the angular acceleration fed back by the gyroscope is 0.3 degrees / s², and the current attitude azimuth angle updated after integration is 95.2 degrees. In the scanning process, the signal strengths collected in the horizontal east direction, the horizontal west direction, the vertical north direction and the vertical south direction are 32 dB, 28 dB, 30 dB and 26 dB respectively, which are the signal strengths in the four orthogonal directions.

[0071] Secondly, an azimuth compensation value and a pitch compensation value are calculated through a preset compensation mapping model according to the signal strengths in the four orthogonal directions. Specifically, the differences in the signal strengths in the four orthogonal directions directly reflect the deviation of the actual pointing direction of the antenna from the real azimuth of the satellite, and the four sets of signal strengths are substituted into the preset compensation mapping model to calculate the azimuth compensation value and the pitch compensation value as the correction amount in the horizontal direction and the correction amount in the vertical direction.

[0072] Finally, the azimuth compensation value and the pitch compensation value are taken as the attitude error input, and the gyro is compensated for zero offset and the integral error is eliminated by Kalman filtering. The Kalman filtering is an optimal estimation algorithm, which can dynamically estimate the zero offset and the integral error of the gyro according to the real-time error data, and generate a reverse correction amount. For example, according to the output result of the Kalman filtering, the measurement reference of the gyro is corrected. For example, if the azimuth compensation value is +0.2 degrees (0.2 degrees needs to be corrected to the east), the estimated zero offset of the gyro after Kalman filtering is 0.15 degrees, and then a correction amount of -0.15 degrees is input to the gyro to offset the zero offset and eliminate the integral error, such as the accumulated 0.05 degree deviation, so that the attitude data output by the gyro is consistent with the real azimuth of the satellite, and the antenna alignment accuracy is ensured.

[0073] Further, the "compensation mapping model" is represented as: the azimuth compensation value is determined based on the product of the difference between the first direction signal strength and the third direction signal strength and the azimuth compensation coefficient; the pitch compensation value is determined based on the product of the difference between the second direction signal strength and the fourth direction signal strength and the pitch compensation coefficient; wherein the first direction, the second direction, the third direction and the fourth direction are orthogonal four directions.

[0074] In the embodiment of the application, the azimuth compensation value is a correction amount for the horizontal direction (i.e. azimuth angle), which is calculated from the signal strength difference of the horizontal orthogonal opposite directions, such as the first direction east and the third direction west; the pitch compensation value is a correction amount for the vertical direction (i.e. pitch angle), which is calculated from the signal strength difference of the vertical orthogonal opposite directions, such as the second direction north and the fourth direction south.

[0075] Wherein, the azimuth compensation coefficient and the pitch compensation coefficient are fixed constants determined by calibration experiments before the gyro is shipped, such as 0.1 degree / dB, which is related to parameters such as antenna gain and signal frequency band, to ensure that the signal strength difference can be accurately converted into an angular amount.

[0076] For example, if the azimuth compensation coefficient is 0.1 degree / dB and the pitch compensation coefficient is also 0.1 degree / dB, which are determined by calibration experiments before shipment, and the orthogonal four direction signal strengths are: the first direction (east) 32 dB, the third direction (west) 28 dB, the second direction (north) 30 dB, and the fourth direction (south) 26 dB, then the azimuth compensation value = 0.1 degree / dB x (32 dB-28 dB) = 0.4 degrees, indicating that the antenna needs to be corrected by 0.4 degrees to the east to approach the real azimuth of the satellite; the pitch compensation value = 0.1 degree / dB x (30 dB-26 dB) = 0.4 degrees, indicating that the antenna needs to be corrected by 0.4 degrees to the north to eliminate the vertical direction deviation.

[0077] Further, the azimuth angle of the gyro is the azimuth angle at the maximum signal-to-noise ratio value in the ideal steady-state signal field.

[0078] In the embodiments of the present application, the ideal state signal field is a theoretical signal field with a minimum deviation from the equivalent state restoration signal field after multiple iterations of correction. Because the satellite signal strength decreases with the increase of the angle of the antenna deviating from the real azimuth, the maximum signal-to-noise ratio must correspond to the real azimuth of the satellite.

[0079] For example, in a certain scenario, the signal-to-noise distribution of the ideal state signal field is that the signal-to-noise ratio at the azimuth angle of 95.1 degrees is the maximum, which is 45 dB. Therefore, the gyro azimuth angle is 95.1 degrees. The gyro azimuth angle is the reference true value of the calibrated gyro. By comparing it with the actual measured theoretical azimuth angle of the gyro, the zero offset and integral error of the gyro can be calculated.

[0080] In summary, compared with the prior art, according to the set of time sequence signal-to-noise ratios, the present application determines the azimuth angle at the maximum signal-to-noise ratio value as the theoretical azimuth angle, performs alignment control and signal feedback transmission based on the theoretical azimuth angle, and compensates the zero offset of the gyro in combination with the preset compensation period. In this way, the theoretical azimuth angle close to the real azimuth of the satellite can be determined, and the zero offset of the gyro is compensated, thereby ensuring the long-term tracking accuracy of the moving transponder.

[0081] In summary, the embodiments of the present application have at least the following technical effects:

[0082] Compared with the prior art, the present application first compensates the disturbance of the satellite pointing execution assembly based on the acceleration information of the target moving transponder collected by the gyro, including pitch compensation and roll compensation. In this way, the pitch and roll direction disturbances generated by the movement of the moving transponder can be offset, the antenna attitude can be stabilized, and the moving carrier can be continuously aligned with the satellite.

[0083] Secondly, the present application receives the satellite pointing instruction, calculates the initial alignment parameters according to the latitude and longitude of the initial position of the target moving transponder and the satellite orbit model, and controls the satellite pointing execution assembly to point to the initial alignment parameters, wherein the initial alignment parameters include the direction angle and the pitch angle. In this way, without GNSS assistance, the initial alignment of the antenna to the satellite is realized by calculating the direction angle and the pitch angle and controlling the satellite pointing execution assembly to point, thereby providing a basis for subsequent accurate tracking.

[0084] Thirdly, the present application controls the satellite pointing execution assembly to rotate at a preset angular velocity, and synchronously collects the signal-to-noise ratio values fed back by the signal receiver to obtain a set of time sequence signal-to-noise ratios. In this way, based on the initial alignment parameters without GNSS assistance, a set of time sequence signal-to-noise ratios is formed, which provides key data support for subsequent locking of the accurate azimuth angle of the satellite and correction of the pointing deviation of the antenna.

[0085] Finally, based on the aforementioned time-series signal-to-noise ratio set, the azimuth angle at the maximum signal-to-noise ratio value is taken as the theoretical azimuth angle. Alignment control and signal feedback transmission are performed based on the theoretical azimuth angle, and zero-bias compensation is applied to the gyroscope in conjunction with a preset compensation period. In this way, a theoretical azimuth angle close to the true azimuth of the satellite can be determined, and zero-bias compensation is applied to the gyroscope, ensuring long-term tracking accuracy during operation.

[0086] Through the above technical solution, this application realizes the tracking and transmission function of mobile communication without relying on GNSS signals, improves the tracking stability and communication reliability in complex scenarios such as GNSS signal loss and accuracy degradation, enhances the environmental adaptability of mobile communication, and effectively solves the application limitations caused by traditional GNSS dependence.

[0087] Example 2, as Figure 2 As shown, based on the same application concept as the non-GNSS-assisted mobile tracking signal transmission method provided in Embodiment 1, this application embodiment also provides a non-GNSS-assisted mobile tracking signal transmission system, including the following modules.

[0088] The disturbance compensation module 11 is used to perform disturbance compensation for the satellite execution components based on the acceleration information of the target during movement collected by the gyroscope, including pitch compensation and roll compensation.

[0089] The alignment parameter calculation module 12 is used to receive the satellite alignment command, calculate the initial alignment parameters based on the latitude and longitude of the initial position of the target in motion and the satellite orbit model, and control the satellite alignment execution component to point to the initial alignment parameters, wherein the initial alignment parameters include the azimuth angle and the pitch angle.

[0090] The signal-to-noise ratio (SNR) acquisition module 13 is used to control the satellite tracking execution component to rotate at a preset angular velocity and synchronously acquire the SNR value fed back by the signal receiver to obtain a time-series SNR set.

[0091] The zero-bias compensation module 14 is used to determine the azimuth angle at the maximum value of the signal-to-noise ratio as the theoretical azimuth angle according to the time-series signal-to-noise ratio set, perform alignment control and signal feedback transmission based on the theoretical azimuth angle, and perform zero-bias compensation on the gyroscope in combination with a preset compensation period.

[0092] Specifically, the disturbance compensation module 11 is used to perform disturbance compensation for the satellite execution components based on the acceleration information of the target during movement collected by the gyroscope, including pitch compensation and roll compensation.

[0093] The alignment parameter calculation module 12 is specifically configured to: based on the satellite orbit model, obtain satellite altitude and satellite longitude; calculate a longitude difference, and in combination with the longitude difference and the latitude of the moving-in-motion satellite, calculate and obtain a direction angle; and based on the satellite altitude, the satellite longitude, the longitude difference, the latitude of the moving-in-motion satellite, and the radius of the earth, calculate and obtain a pitch angle.

[0094] The signal-to-noise ratio acquisition module 13 is specifically configured to: based on the gyroscope, obtain speed information; in combination with a preset receiving frequency and the speed information, perform scanning parameter configuration with the pitch angle as a fixed parameter, to obtain a scanning parameter sequence, wherein the scanning parameter sequence is an angular velocity sequence; drive the star alignment execution assembly to rotate and scan, with the scanning parameter sequence as a preset angular velocity, and correspondingly acquire a signal-to-noise ratio value of a signal received by the signal receiver; and perform filtering processing on the signal-to-noise ratio value, and in combination with an associated receiving time stamp, arrange in time sequence to form the time sequence signal-to-noise ratio set.

[0095] The zero offset compensation module 14 is specifically configured to: obtain time sequence acceleration information synchronized with the time sequence signal-to-noise ratio set; based on the time sequence acceleration information, perform motion compensation on the time sequence signal-to-noise ratio set, and in combination with a motion compensation result, construct an equivalent steady-state restored signal field; according to the latitude and longitude of the initial position and the satellite orbit model, calculate and obtain a first ideal steady-state signal field; compare the equivalent steady-state restored signal field with the first ideal steady-state signal field, and according to a comparison result, iteratively update the first ideal steady-state signal field to obtain an ideal steady-state signal field; and based on the ideal steady-state signal field, extract a gyroscope azimuth angle; compare the gyroscope azimuth angle with the theoretical azimuth angle, and perform zero offset compensation on the gyroscope, and eliminate integral errors.

[0096] Specifically, the operation of “comparing the equivalent steady-state restored signal field with the first ideal steady-state signal field, and according to a comparison result, iteratively updating the first ideal steady-state signal field to obtain an ideal steady-state signal field” includes: comparing and calculating distance residual distribution of multiple equal signal-to-noise ratio lines between the equivalent steady-state restored signal field and the first ideal steady-state signal field; based on the distance residual distribution, performing position inversion through a numerical simulation model to obtain a position deviation between an initial position and an actual position; according to the position deviation, the latitude and longitude of the initial position, and the satellite orbit model, calculating and updating the first ideal steady-state signal field, and iteratively correcting the position according to a position deviation minimization principle; and when the iteratively corrected position meets a preset convergence condition, outputting the first ideal steady-state signal field as the ideal steady-state signal field.

[0097] Further, the zero offset compensation module 14 is also specifically configured to: complete attitude updating by integrating the acceleration information fed back by the gyroscope, and perform conical scanning in combination with the theoretical azimuth angle to obtain signal strengths in four orthogonal directions; calculate an azimuth compensation value and a pitch compensation value according to the signal strengths in the four orthogonal directions through a preset compensation mapping model; and input the azimuth compensation value and the pitch compensation value as attitude error, and perform zero offset compensation on the gyroscope in combination with Kalman filtering, and eliminate integral errors.

[0098] Specifically, the compensation mapping model is represented as: the azimuth compensation value is determined based on the product of the difference between the first direction signal strength and the third direction signal strength and the azimuth compensation coefficient; and the pitch compensation value is determined based on the product of the difference between the second direction signal strength and the fourth direction signal strength and the azimuth compensation coefficient; wherein the first direction, the second direction, the third direction and the fourth direction are the four orthogonal directions.

[0099] Further, the gyroscope azimuth angle is the azimuth angle at the maximum signal-to-noise ratio value in the ideal state signal field.

[0100] In summary, the embodiments of the present application have at least the following technical effects:

[0101] Compared with the prior art, the present application first performs disturbance compensation on the acceleration information collected by the gyroscope through the disturbance compensation module, including pitch compensation and roll compensation, to eliminate the motion interference of movement on the antenna tracking. Second, the initial alignment parameters are calculated according to the latitude and longitude of the initial position and the satellite orbit model through the alignment parameter calculation module, and the pointing of the satellite tracking execution assembly is controlled to the initial alignment parameters. In the absence of GNSS assistance, the initial alignment of the antenna to the satellite is realized by calculating the direction angle and the pitch angle and controlling the pointing of the satellite tracking execution assembly, providing a basis for subsequent accurate tracking. Third, the signal-to-noise ratio set is obtained by rotating the satellite tracking execution assembly according to the preset angular velocity and synchronously collecting the signal-to-noise ratio values fed back by the signal receiver through the signal-to-noise ratio collection module. On the basis of the initial alignment parameters in the absence of GNSS assistance, the signal-to-noise ratio set is formed, providing key data support for subsequent locking of the satellite accurate azimuth angle and correction of the antenna pointing deviation. Finally, the theoretical azimuth angle close to the real azimuth of the satellite is determined based on the theoretical azimuth angle, and the gyroscope is zero offset compensated in combination with the preset compensation period through the zero offset compensation module based on the theoretical azimuth angle for alignment control and signal feedback transmission, which guarantees the long-term tracking accuracy of the moving target. In this way, the moving target tracking and transmission function independent of GNSS signals is realized, the tracking stability and communication reliability in complex scenarios such as GNSS signal loss and accuracy decline are improved, the environmental adaptability of the moving target is enhanced, and the application limitations caused by traditional GNSS dependence are effectively solved.

[0102] It should be noted that the descriptions of the various embodiments are each made with reference to the other embodiments, and that the descriptions of the various embodiments are each made with emphasis on certain features of the embodiments.

[0103] Those skilled in the art will understand that embodiments of the present application can be provided as methods, systems, or computer program products. Thus, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0104] The present application is described with reference to the flowchart illustrations and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the present application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the functions specified in the flowchart illustrations and / or block diagrams.

[0105] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the functions specified in the flowchart illustrations and / or block diagrams.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the functions specified in the flowchart illustrations and / or block diagrams.

[0107] While preferred embodiments of the application have been described, modifications and alterations thereto can occur to those skilled in the art upon reading the preceding description. While preferred embodiments of the application have been described, modifications and alterations thereto can occur to those skilled in the art upon reading the preceding description.

[0108] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the application, the application can be practiced otherwise than as specifically set forth herein.

Claims

1. A method for transmitting tracking signals on the move without GNSS assistance, characterized in that, include: Based on the acceleration information of the target being monitored while in motion, the perturbation compensation of the satellite execution components is performed, including pitch compensation and roll compensation. Upon receiving the satellite alignment command, the system calculates the initial alignment parameters based on the latitude and longitude of the target's initial position and the satellite orbit model, and controls the satellite alignment execution component to point to the initial alignment parameters, wherein the initial alignment parameters include the azimuth angle and the pitch angle. The satellite tracking component is controlled to rotate at a preset angular velocity, and the signal-to-noise ratio (SNR) value fed back by the signal receiver is collected synchronously to obtain a time-series SNR set. Based on the time-series signal-to-noise ratio set, the azimuth angle at the maximum signal-to-noise ratio value is determined as the theoretical azimuth angle. Alignment control and signal feedback transmission are performed based on the theoretical azimuth angle, and zero-bias compensation is performed on the gyroscope in combination with the preset compensation period. The satellite tracking component is controlled to rotate at a preset angular velocity, and the signal-to-noise ratio (SNR) value fed back by the signal receiver is acquired synchronously to obtain a timing SNR set, including: Speed ​​information is obtained based on a gyroscope; Using the pitch angle as a fixed parameter, and combining the preset receiving frequency with the velocity information, the scanning parameters are configured to obtain a scanning parameter sequence, wherein the scanning parameter sequence is an angular velocity sequence; Using the scan parameter sequence as a preset angular velocity, the star-tracking execution component is driven to perform a rotational scan, and the signal-to-noise ratio value of the signal received by the signal receiver is collected accordingly. The signal-to-noise ratio (SNR) values ​​are filtered and then arranged in chronological order in conjunction with the associated received timestamps to form the time-series SNR set. Zero-bias compensation of the gyroscope is performed in conjunction with a preset compensation period, including: Acquire temporal acceleration information synchronized with the temporal signal-to-noise ratio set; Motion compensation is performed on the time-series acceleration information to the time-series signal-to-noise ratio set, and an equivalent steady-state restored signal field is constructed by combining the motion compensation results; Based on the latitude and longitude of the initial position and the satellite orbit model, the first ideal steady-state signal field is calculated and obtained; The equivalent stationary state reconstructed signal field is compared with the first ideal stationary state signal field, and the first ideal stationary state signal field is iteratively updated according to the comparison result to obtain the ideal stationary state signal field; Based on the ideal steady-state signal field, the azimuth angle of the gyroscope is extracted; By comparing the azimuth angle of the gyroscope with the theoretical azimuth angle, zero bias compensation is performed on the gyroscope, and integration error is eliminated.

2. The method for transmitting tracking signals on the move without GNSS assistance as described in claim 1, characterized in that, Upon receiving the satellite alignment command, based on the latitude and longitude of the target's initial position and the satellite orbit model, calculate the initial alignment parameters, and control the satellite alignment execution components to point to the initial alignment parameters, including: Based on the satellite orbit model, the satellite altitude and longitude are obtained; Calculate the longitude difference and combine it with the latitude of the moving route to calculate the direction angle; The pitch angle is calculated based on the satellite altitude, satellite longitude, longitude difference, latitude of the moving satellite, and Earth radius.

3. The method for transmitting tracking signals on the move without GNSS assistance as described in claim 1, characterized in that, The process of comparing the equivalent stationary-state reconstructed signal field with the first ideal stationary-state signal field, and iteratively updating the first ideal stationary-state signal field based on the comparison result to obtain the ideal stationary-state signal field, includes: The distance residual distribution between multiple equal signal-to-noise ratio lines between the equivalent stationary state restored signal field and the first ideal stationary state signal field is compared and calculated. Based on the distance residual distribution, position inversion is performed using a numerical simulation model to obtain the position deviation between the initial position and the actual position. Based on the position deviation, the latitude and longitude of the initial position, and the satellite orbit model, the first ideal stationary signal field is calculated and updated, and iterative position correction is performed according to the principle of minimizing position deviation. When the iterative position correction result meets the preset convergence condition, the first ideal steady-state signal field is output as the ideal steady-state signal field.

4. The method for transmitting tracking signals on the move without GNSS assistance as described in claim 1, characterized in that, Zero-bias compensation of the gyroscope, combined with a preset compensation period, also includes: The attitude is updated by integrating the acceleration information fed back by the gyroscope, and a conical scan is performed by combining the theoretical azimuth angle to obtain the signal strength in four orthogonal directions. Based on the signal strength in the four orthogonal directions, the azimuth compensation value and pitch compensation value are calculated using a preset compensation mapping model. Using the azimuth compensation value and pitch compensation value as attitude error inputs, the gyroscope is zero-biased by combining Kalman filtering and the integral error is eliminated.

5. The method for transmitting tracking signals on the move without GNSS assistance as described in claim 4, characterized in that, The compensation mapping model includes: The azimuth compensation value is determined based on the product of the difference between the signal strength in the first direction and the signal strength in the third direction and the azimuth compensation coefficient. The pitch compensation value is determined based on the product of the difference between the signal strength in the second direction and the signal strength in the fourth direction and the azimuth compensation coefficient; Among them, the first direction, the second direction, the third direction, and the fourth direction are orthogonal four directions.

6. The method for transmitting tracking signals on the move without GNSS assistance as described in claim 3, characterized in that, The azimuth angle of the gyroscope is the azimuth angle at the maximum signal-to-noise ratio value in the ideal stationary signal field.

7. A mobile tracking signal transmission system without GNSS assistance, characterized in that, A method for transmitting a tracking signal on the move without GNSS assistance as described in any one of claims 1-6, comprising: The disturbance compensation module is used to perform disturbance compensation for the satellite execution components based on the acceleration information of the target during movement collected by the gyroscope, including pitch compensation and roll compensation. The alignment parameter calculation module is used to receive the satellite alignment command, calculate the initial alignment parameters based on the latitude and longitude of the initial position of the target in motion and the satellite orbit model, and control the satellite alignment execution component to point to the initial alignment parameters, wherein the initial alignment parameters include the heading angle and the pitch angle. The signal-to-noise ratio (SNR) acquisition module is used to control the satellite tracking component to rotate at a preset angular velocity and synchronously acquire the SNR value fed back by the signal receiver to obtain a time-series SNR set. The zero-bias compensation module is used to determine the azimuth angle at the maximum value of the signal-to-noise ratio based on the time-series signal-to-noise ratio set as the theoretical azimuth angle, perform alignment control and signal feedback transmission based on the theoretical azimuth angle, and perform zero-bias compensation on the gyroscope in combination with a preset compensation period.

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