Forbidden zone avoidance method for shipborne communication-in-motion antenna of medium orbit satellite and antenna

Abstract

The invention relates to a forbidden zone avoidance method for a shipborne communication-in-motion antenna of a medium orbit satellite and the antenna. The method comprises the following steps: determining a safety angular distance corresponding to a forbidden area based on the transmitting power of a communication-in-moving antenna on a ship, the minimum space distance between the forbidden area and the communication-in-moving antenna, and a preset power density threshold and a preset graph gain function corresponding to the forbidden area; by taking the safety angular distance as a reference, performing external expansion on the spherical polygonal area corresponding to the forbidden area in the normal direction to obtain a forbidden area projection corresponding to the forbidden area; if the satellite direction of the medium orbit satellite falls into the forbidden zone projection, generating a reference attitude trajectory of the communication-in-moving antenna by taking a target point as a base point; the target point is a point which has the minimum angle distance with the satellite direction on the spherical surface in the boundary of the projection of the forbidden zone. By adopting the method, the electromagnetic exposure can be controlled within a safety threshold value while the communication continuity and the link quality are ensured.

Description

Technical Field

[0001] This application relates to the field of satellite communication and antenna control technology, and in particular to a restricted area avoidance method and antenna for a shipborne mobile mid-course communication antenna for medium-orbit satellites. Background Technology

[0002] Medium-Earth orbit (MEO) satellites have lower latency and more reconfigurable coverage compared to high-Earth orbit (GEO) satellites, and they move rapidly relative to the ground. Therefore, shipborne antennas are required to have rapid satellite acquisition and high-precision tracking capabilities. However, ships often have "no-beam zones" such as the bridge, funnel, mast, and personnel activity areas. When the signal from the shipborne antenna is pointed at these no-beam zones, it may cause excessive exposure to personnel.

[0003] Traditional technologies for controlling mobile communication on shipboard antennas often employ fixed geographical restricted areas or mechanical restrictions. However, these traditional methods can negatively impact communication continuity and link quality. Summary of the Invention

[0004] Therefore, it is necessary to provide a restricted area avoidance method and antenna for shipborne mobile communication antennas for medium-orbit satellites that can control electromagnetic exposure within a safe threshold while ensuring communication continuity and link quality.

[0005] Firstly, this application provides a method for avoiding restricted areas for a shipborne mobile mid-course antenna for a medium-Earth orbit satellite, including:

[0006] Based on the transmit power of the onboard antenna on the ship, the minimum spatial distance between the restricted area and the onboard antenna, the preset power density threshold and preset gain function corresponding to the restricted area, the safe angular distance corresponding to the restricted area is determined.

[0007] Using the safety angular distance as a reference, the spherical polygonal region corresponding to the restricted area is expanded outward along the normal direction to obtain the restricted area projection corresponding to the restricted area; the spherical polygonal region corresponding to the restricted area is obtained by normalizing the vertices of the restricted area with the phase center of the moving antenna as the origin;

[0008] If the satellite orientation of the medium-orbit satellite falls into the restricted area projection, the reference attitude trajectory of the moving-through antenna is generated based on the target point as the base point, the projection of the satellite orientation on the tangent plane of the target point, the geometric feature vector of the spherical polygon region, the safety angular distance, and the preset geometric transformation formula; the target point is the point on the sphere with the smallest angular distance from the satellite orientation on the boundary of the restricted area projection.

[0009] In one of the embodiments, the geometric feature vector comprises a tangent vector and a normal vector; and the generating the reference attitude trajectory of the moving satellite antenna based on the projection of the satellite direction on the tangent plane of the target point, the geometric feature vector of the spherical polygon region, the safety angle distance and a preset geometric transformation formula comprises:

[0010] calculating the tangent vector and the normal vector of the spherical polygon region along the boundary of the forbidden region projection based on the target point;

[0011] determining the pointing direction of the moving satellite antenna on the boundary of the forbidden region projection based on the tangent vector and the projection of the satellite direction on the tangent plane of the target point;

[0012] calculating the pointing direction of the moving satellite antenna after rotation on the boundary of the forbidden region based on the pointing direction of the moving satellite antenna on the boundary of the forbidden region projection, the normal vector, the safety angle distance and the preset geometric transformation formula;

[0013] generating the reference attitude trajectory in time based on the pointing direction of the moving satellite antenna after rotation on the boundary of the forbidden region using a spherical spline.

[0014] In one of the embodiments, the preset geometric transformation formula is: , wherein, represents the pointing direction of the moving satellite antenna after rotation on the boundary of the forbidden region, represents the pointing direction of the moving satellite antenna on the boundary of the forbidden region projection, represents the normal vector, represents the safety angle distance.

[0015] In one of the embodiments, the determining the pointing direction of the moving satellite antenna on the boundary of the forbidden region projection based on the tangent vector and the projection of the satellite direction on the tangent plane of the target point comprises:

[0016] calculating the dot product of the tangent vector and the projection of the satellite direction on the tangent plane of the target point;

[0017] if the dot product is greater than a preset value, determining that the pointing direction of the moving satellite antenna on the boundary of the forbidden region projection is along the positive direction of the tangent vector;

[0018] if the dot product is less than the preset value, determining that the pointing direction of the moving satellite antenna on the boundary of the forbidden region projection is along the negative direction of the tangent vector.

[0019] In one of the embodiments, the safety angular distance corresponding to the forbidden zone region is determined based on the transmitting power of the ship-borne moving target indication and warning (MTI&W) antenna, the minimum spatial distance between the forbidden zone region and the MTI&W antenna, a preset power density threshold corresponding to the forbidden zone region, and a preset pattern gain function, and the safety angular distance is determined according to the following formula:

[0020]

[0021] In one of the embodiments, the method further comprises:

[0022] controlling a planning layer of the MTI&W antenna to generate a reference attitude trajectory of the MTI&W antenna;

[0023] controlling an execution layer of the MTI&W antenna to transmit signals in a normal tracking mode when the satellite direction of the medium earth orbit (MEO) satellite does not fall into the forbidden zone projection, and controlling the execution layer of the MTI&W antenna to transmit signals according to the reference attitude trajectory when the satellite direction of the MEO satellite falls into the forbidden zone projection.

[0024] In a second aspect, the application further provides a forbidden zone avoidance device for a ship-borne MTI&W antenna of a MEO satellite, comprising:

[0025] a first determining module configured to determine a safety angular distance corresponding to a forbidden zone region based on the transmitting power of a ship-borne MTI&W antenna, the minimum spatial distance between the forbidden zone region and the MTI&W antenna, a preset power density threshold corresponding to the forbidden zone region, and a preset pattern gain function;

[0026] a second determining module configured to perform outer inflation on a spherical polygon region corresponding to the forbidden zone region in a normal direction to obtain a forbidden zone projection corresponding to the forbidden zone region, with the safety angular distance as a reference; the spherical polygon region corresponding to the forbidden zone region is obtained by performing normalization on the vertices of the forbidden zone region with the phase center of the MTI&W antenna as the origin;

[0027] ​​​​​​​​​The generating module is configured to, if a satellite direction of a medium-orbit satellite falls into the forbidden zone projection, generate a reference attitude trajectory of the moving satellite antenna based on a projection of the satellite direction on a tangent plane of a target point, a geometric feature vector of the spherical polygonal region, the safety angle distance, and a preset geometric transformation formula, the target point being a point on a boundary of the forbidden zone projection that is closest to the satellite direction on a sphere.

[0028] In a third aspect, the present application further provides a moving satellite antenna, comprising a parabolic antenna, a feed system, a radio frequency link system, and an antenna control system, wherein the antenna control system comprises a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0029] Based on a transmission power of the moving satellite antenna on the ship, a minimum spatial distance between the forbidden zone region and the moving satellite antenna, a preset power density threshold corresponding to the forbidden zone region, and a preset pattern gain function, a safety angle distance corresponding to the forbidden zone region is determined.

[0030] Based on the safety angle distance, the spherical polygonal region corresponding to the forbidden zone region is outwardly inflated along a normal direction to obtain a forbidden zone projection corresponding to the forbidden zone region, and the spherical polygonal region corresponding to the forbidden zone region is obtained by normalizing vertices of the forbidden zone region with the phase center of the moving satellite antenna as an origin.

[0031] If a satellite direction of a medium-orbit satellite falls into the forbidden zone projection, a reference attitude trajectory of the moving satellite antenna is generated based on a projection of the satellite direction on a tangent plane of a target point, a geometric feature vector of the spherical polygonal region, the safety angle distance, and a preset geometric transformation formula, the target point being a point on a boundary of the forbidden zone projection that is closest to the satellite direction on a sphere.

[0032] In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the following steps:

[0033] Based on a transmission power of the moving satellite antenna on the ship, a minimum spatial distance between the forbidden zone region and the moving satellite antenna, a preset power density threshold corresponding to the forbidden zone region, and a preset pattern gain function, a safety angle distance corresponding to the forbidden zone region is determined.

[0034] Based on the safety angle distance, the spherical polygonal region corresponding to the forbidden zone region is outwardly inflated along a normal direction to obtain a forbidden zone projection corresponding to the forbidden zone region, and the spherical polygonal region corresponding to the forbidden zone region is obtained by normalizing vertices of the forbidden zone region with the phase center of the moving satellite antenna as an origin.

[0035] If the satellite orientation of the medium-orbit satellite falls into the restricted area projection, the reference attitude trajectory of the moving-through antenna is generated based on the target point as the base point, the projection of the satellite orientation on the tangent plane of the target point, the geometric feature vector of the spherical polygon region, the safety angular distance, and the preset geometric transformation formula; the target point is the point on the sphere with the smallest angular distance from the satellite orientation on the boundary of the restricted area projection.

[0036] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0037] Based on the transmit power of the onboard antenna on the ship, the minimum spatial distance between the restricted area and the onboard antenna, the preset power density threshold and preset gain function corresponding to the restricted area, the safe angular distance corresponding to the restricted area is determined.

[0038] Using the safety angular distance as a reference, the spherical polygonal region corresponding to the restricted area is expanded outward along the normal direction to obtain the restricted area projection corresponding to the restricted area; the spherical polygonal region corresponding to the restricted area is obtained by normalizing the vertices of the restricted area with the phase center of the moving antenna as the origin;

[0039] If the satellite orientation of the medium-orbit satellite falls into the restricted area projection, the reference attitude trajectory of the moving-through antenna is generated based on the target point as the base point, the projection of the satellite orientation on the tangent plane of the target point, the geometric feature vector of the spherical polygon region, the safety angular distance, and the preset geometric transformation formula; the target point is the point on the sphere with the smallest angular distance from the satellite orientation on the boundary of the restricted area projection.

[0040] The forbidden zone avoidance method and the antenna for the shipborne moving satellite communication antenna of the medium orbit satellite based on the transmitting power of the moving satellite communication antenna on the ship, the minimum spatial distance of the forbidden zone region and the moving satellite communication antenna, the preset power density threshold corresponding to the forbidden zone region and the preset pattern gain function, can determine the safe angular distance corresponding to the forbidden zone region, and then normalize the vertexes of the forbidden zone region with the phase center of the moving satellite communication antenna as the origin, so as to obtain the spherical polygon region corresponding to the forbidden zone region. Thus, the forbidden zone projection corresponding to the forbidden zone region can be obtained by inflating the spherical polygon region corresponding to the forbidden zone region in the normal direction as the reference of the safe angular distance corresponding to the forbidden zone region. If the satellite direction of the medium orbit satellite falls into the forbidden zone projection, the target point with the minimum angular distance on the spherical surface between the satellite direction and the boundary of the forbidden zone projection is taken as the base point, the projection of the satellite direction on the tangent plane of the target point, the geometric feature vector of the spherical polygon region, the safe angular distance corresponding to the forbidden zone region and the preset geometric transformation formula are used to generate the reference attitude trajectory of the moving satellite communication antenna, so that the gap space between the forbidden zone regions can be fully utilized, the communication duration between the medium orbit satellite and the moving satellite communication antenna is prolonged, the number of link interruptions is effectively reduced, and the link availability and stability are improved. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other related drawings can be obtained by those skilled in the art without any creative effort.

[0042] Figure 1 The flowchart of the forbidden zone avoidance method for the shipborne moving satellite communication antenna of the medium orbit satellite in an embodiment;

[0043] Figure 2 The spherical projection diagram of the forbidden zone region in an embodiment;

[0044] Figure 3 The flowchart of the forbidden zone avoidance method for the shipborne moving satellite communication antenna of the medium orbit satellite in another embodiment;

[0045] Figure 4 The flowchart of the forbidden zone avoidance method for the shipborne moving satellite communication antenna of the medium orbit satellite in another embodiment;

[0046] Figure 5 The control flowchart of the moving satellite communication antenna in an embodiment;

[0047] Figure 6 The comparison diagram of the traditional method and the avoidance method proposed in the present application in an embodiment;

[0048] Figure 7 A comparison diagram showing frequent jumps in the boundary judgment of satellite trajectory caused by ship swaying in one embodiment;

[0049] Figure 8 This is a structural block diagram of a restricted area avoidance device for a shipborne moving mid-channel antenna for a medium-orbit satellite in one embodiment.

[0050] Figure 9 This is a diagram of the internal structure of a moving-channel antenna in one embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] In one embodiment, such as Figure 1 As shown, a method for avoiding restricted areas for shipborne mobile mid-course antennas used in medium-Earth orbit satellites is provided. This embodiment illustrates the application of this method to mobile mid-course antennas, and the method includes the following steps:

[0053] S201, based on the transmit power of the mobile antenna on the ship, the minimum spatial distance between the restricted area and the mobile antenna, the preset power density threshold corresponding to the restricted area, and the preset graph gain function, determine the safe angular distance corresponding to the restricted area.

[0054] The restricted areas can include the bridge, funnel, mast, and personnel activity areas on the ship. When the main lobe or beam of the signal from a mobile antenna is pointed to these restricted areas, it may cause excessive exposure to personnel. It is understood that the restricted areas can also be areas pointed to by signals from other mobile antennas on the ship; this embodiment does not limit the restricted areas on the ship to specific locations.

[0055] It should be noted in the embodiments of this application that different preset power density thresholds can be set for different types of restricted areas, such as personnel exposure areas, electronic equipment areas, fuel tanks, precision optoelectronic instruments, radio sensitive facilities, etc. In other words, the preset power density thresholds corresponding to different restricted areas are different in this application.

[0056] Assuming the on-the-fly antenna can be approximated as a point source, then any point within the restricted area... The instantaneous incident power density can be approximated using a point source radiation model based on free-space energy propagation as follows: In the formula, This indicates the transmit power of the on-the-go antenna. This represents the transmit direction gain function of the on-the-go antenna in this direction. This represents the power density at that distance in that direction. , This represents the position vector of a certain observation point in the restricted area space. The spatial coordinate vector representing the phase center of the on-the-fly antenna. This represents the position vector of the observation point relative to the antenna, and the propagation distance. Indicates the main axis and direction of the moving-through antenna ( - The angle between them.

[0057] Assuming the preset power density threshold for the restricted area is ,Require That is, the minimum safe angular distance is , The distance to the nearest point to the antenna within the restricted area; additionally, the antenna radiation pattern is known. Since the decay is monotonically decreasing before reaching the sidelobe, the preset gain function can be calculated based on this principle, thereby determining the safe angular distance corresponding to the restricted area.

[0058] As an optional implementation method, it can be based on the formula Determine the safe angular distance corresponding to the restricted area, where, Indicates restricted area Safety angle distance, This represents the preset graph gain function. This indicates the minimum spatial distance between the restricted area and the mobile antenna. This indicates the transmit power of the on-the-go antenna. Indicates restricted area The corresponding preset power density threshold.

[0059] S202, using the safe angular distance as a reference, the spherical polygonal region corresponding to the restricted area is expanded outward along the normal direction to obtain the restricted area projection corresponding to the restricted area; the spherical polygonal region corresponding to the restricted area is obtained by normalizing the vertices of the restricted area with the phase center of the moving antenna as the origin.

[0060] In this embodiment, Figure 2 A schematic diagram of a restricted area projected onto a spherical surface is shown, such as... Figure 2 As shown, for the restricted area, the set of vertices of the restricted area can be... Mapped to the set of unit directions : Then, by determining which edges constitute the contour based on the face normals and relative positions of the polyhedron, the contour is represented on the unit sphere as a spherical polygon region composed of a series of great circle arc boundaries. .

[0061] Then, for each spherical polygon Then, with a safe angular distance The angle is expanded outward along the normal direction on the sphere to form the boundary of the outline, thus obtaining the penalty area projection corresponding to the penalty area. .

[0062] S203, if the satellite orientation of the medium-orbit satellite falls into the restricted area projection, the reference attitude trajectory of the moving-at-the-center antenna is generated based on the target point as the base point, the projection of the satellite orientation on the tangent plane of the target point, the geometric feature vector of the spherical polygon region, the safe angular distance, and the preset geometric transformation formula; the target point is the point in the boundary of the restricted area projection with the smallest angular distance from the satellite orientation on the sphere.

[0063] In this embodiment, if the satellite orientation of a medium-orbit satellite falls within the aforementioned restricted area projection, the link is not directly broken or forcibly cut off. Instead, the main axis of the mobile antenna moves along the boundary near the outer edge of the restricted area projection, always maintaining a minimum angular distance from the boundary greater than or equal to... And it stays as close to the satellite's direction as possible on the trajectory to maximize link quality.

[0064] In this embodiment, the spherical geographic angular distance can be defined as... If the satellite's orientation falls within the restricted area's projection, then a point is determined at the boundary of the restricted area to ensure the antenna's orientation is closest to the satellite without crossing the safety boundary. Up to the nearest point : , and then Using the satellite direction as the base point, the direction of the satellite after rotation on the tangent plane of the target point is determined based on the projection of the satellite direction onto the tangent plane of the target point, the geometric feature vector of the spherical polygon region, the aforementioned safety angular distance, and the preset geometric transformation formula. Then, based on the direction of the satellite after rotation on the target boundary, a spherical spline is used to generate a continuous reference attitude trajectory of the satellite in time, constrained by the maximum speed / acceleration of the satellite.

[0065] In the above method for avoiding forbidden zones for a shipborne moving satellite antenna, based on the transmission power of the moving satellite antenna on the ship, the minimum spatial distance between the moving satellite antenna and the forbidden zone region, the preset power density threshold corresponding to the forbidden zone region, and the preset pattern gain function, the safe angular distance corresponding to the forbidden zone region can be determined. Then, taking the phase center of the moving satellite antenna as the origin, the vertices of the forbidden zone region are normalized to obtain the spherical polygon region corresponding to the forbidden zone region. Thus, the spherical polygon region corresponding to the forbidden zone region can be inflated along the normal direction based on the safe angular distance corresponding to the forbidden zone region to obtain the forbidden zone projection corresponding to the forbidden zone region. If the satellite direction of the medium-orbit satellite falls within the forbidden zone projection, the reference attitude trajectory of the moving satellite antenna is generated based on the projection of the satellite direction on the tangent plane at the target point, the geometric feature vector of the spherical polygon region, the safe angular distance corresponding to the forbidden zone region, and the preset geometric transformation formula, taking the target point with the minimum angular distance from the satellite direction on the spherical surface as the base point. As a result, the gap space between the forbidden zone regions can be fully utilized, the communication duration between the medium-orbit satellite and the moving satellite antenna is prolonged, the number of link interruptions is effectively reduced, and the link availability and stability are improved.

[0066] The detailed process of generating the reference attitude trajectory of the moving satellite antenna when the satellite direction of the medium-orbit satellite falls within the forbidden zone projection will be explained below. In an exemplary embodiment, as shown in FIG. 2, S203 includes: Figure 3

[0067] S301, taking the target point as the base point, the tangent vector and the normal vector of the spherical polygon region along the boundary of the forbidden zone projection are calculated.

[0068] S302, based on the tangent vector and the projection of the satellite direction on the tangent plane at the target point, the pointing direction of the moving satellite antenna on the boundary of the forbidden zone projection is determined.

[0069] As an optional implementation, in the present embodiment, based on the dot product of the tangent vector of the spherical polygon region and the projection of the satellite direction on the tangent plane at the target point, if the dot product is greater than a preset value, it is determined that the pointing direction of the moving satellite antenna on the boundary of the forbidden zone projection is along the positive direction of the tangent vector. If the dot product is less than the preset value, it is determined that the pointing direction of the moving satellite antenna on the boundary of the forbidden zone projection is along the negative direction of the tangent vector.

[0070] S303, based on the pointing direction of the moving satellite antenna on the boundary of the forbidden zone projection, the normal vector, the safe angular distance, and the preset geometric transformation formula, the pointing direction of the moving satellite antenna after rotation on the boundary of the forbidden zone region is calculated.

[0071] Exemplarily, the preset geometric transformation formula in the present embodiment is , wherein represents the pointing direction of the moving satellite antenna after rotation on the boundary of the forbidden zone region.​ an orientation of the moving transceivers antenna at the boundary of the forbidden zone projection, a normal vector, a safety angle distance, based on which the orientation of the moving transceivers antenna after rotation at the boundary of the forbidden zone region can be calculated.

[0072] S304, based on the orientation of the moving transceivers antenna after rotation at the boundary of the forbidden zone region, a reference attitude trajectory of the moving transceivers antenna is generated in time by using a spherical spline.

[0073] In this embodiment, based on the orientation of the moving transceivers antenna after rotation at the boundary of the forbidden zone region, a reference attitude trajectory of the moving transceivers antenna is generated in time by using a spherical spline with the maximum speed / acceleration of the moving transceivers antenna as a constraint.

[0074] In this embodiment, if the satellite direction of the medium orbit satellite falls into the forbidden zone projection, the tangent vector and the normal vector of the spherical polygon region corresponding to the forbidden zone region can be calculated along the boundary of the forbidden zone projection by taking the target point on the boundary of the forbidden zone projection with the smallest angular distance with the satellite direction on the spherical surface as a base point, so that the orientation of the moving transceivers antenna at the boundary of the forbidden zone projection can be determined based on the tangent vector of the spherical polygon region and the projection of the satellite direction on the tangent plane at the target point, and then the orientation of the moving transceivers antenna after rotation at the boundary of the forbidden zone region is calculated based on the orientation of the moving transceivers antenna at the boundary of the forbidden zone projection, the normal vector, the safety angle distance and the preset geometric transformation formula, and a reference attitude trajectory of the moving transceivers antenna is generated in time by using a spherical spline based on the orientation of the moving transceivers antenna after rotation at the boundary of the forbidden zone region. The generated reference attitude trajectory can maximize the maintenance of the link while ensuring the safety of personnel exposure, and the smooth and continuous tracking is realized by prediction and kinematic constraints, and the chain breakage and mechanical impact are reduced.

[0075] Since the moving transceivers antenna is deployed on a ship, and the tracking target is a medium orbit satellite, it faces a complex dynamic scene of terminal and satellite motion. Purely relying on ephemeris prediction cannot fully reflect the real-time attitude change of the ship body, and only using inertial navigation data is also difficult to accurately estimate the satellite trajectory. Therefore, the control system of the moving transceivers antenna can adopt a double-layer control architecture to control the moving transceivers antenna. In one embodiment, as shown in Figure 4 the above method further comprises:

[0076] S401, a planning layer of the moving transceivers antenna generates a reference attitude trajectory of the moving transceivers antenna.

[0077] In this embodiment, the reference attitude trajectory of the moving transceivers antenna can be generated by controlling the planning layer of the moving transceivers antenna, and the reference attitude trajectory of the moving transceivers antenna is planned in advance, which can ensure safety and feasibility, run at a low frequency, and ensure that the main shaft of the moving transceivers antenna does not enter any forbidden zone, that is, the reference attitude trajectory does not belong to any forbidden zone region, and satisfies the minimum angle distance threshold , minimize the pointing error and control energy consumption, make the antenna motion smooth and efficient.

[0078] As an optional implementation, the planning layer can use the model predictive control (MPC) method, set the state variable as the angle / angle speed, use the linearized constraint quadratic programming at each step, realize the effect of error minimization, control smoothing and safety constraint. The objective function is the tracking error term + control quantity penalty term + safety constraint penalty term:

[0079] Tracking error term: ensure that the output is as close to the reference target as possible , by minimizing the angle error , force the system to track the target as much as possible, and let the antenna accurately point to the satellite in the antenna trajectory, is the weight of this error, the greater the tracking accuracy priority.

[0080] Control quantity penalty term: penalize large or violent control actions to ensure smooth trajectories, more moderate control actions, and low energy consumption.

[0081] Safety constraint penalty term: penalize situations where the forbidden zone is too close to avoid the main lobe of the antenna entering the forbidden zone and ensure safety. Constraints: , , , MPC solves and outputs the first step control in the rolling window, taking into account the prediction and avoiding local minimum.

[0082] S402, in the case where the satellite direction of the medium orbit satellite does not fall into the forbidden zone projection, the execution layer of the moving channel antenna transmits signals in the conventional tracking mode, and in the case where the satellite direction of the medium orbit satellite falls into the forbidden zone projection, the execution layer of the moving channel antenna transmits signals according to the reference attitude trajectory.

[0083] Figure 5 A control flow diagram of a moving channel antenna is shown, as Figure 5 shown, in this embodiment, the execution layer of the moving channel antenna performs high-frequency control, steps the motor or servo motor through attitude level PID- feedforward control, real-time compensates for ship body transient disturbance, uses IMU / gyroscope / encoder for closed loop, and accepts the reference of the planning layer. Gain scheduling / adaptive control is performed on fast-changing disturbances.

[0084] In this embodiment, the reference attitude trajectory of the moving target indication antenna is generated by controlling the planning layer of the moving target indication antenna. In the case where the satellite direction of the medium earth orbit satellite does not fall into the projection of the forbidden zone, the execution layer of the moving target indication antenna transmits signals in the conventional tracking mode. In the case where the satellite direction of the medium earth orbit satellite falls into the projection of the forbidden zone, the execution layer of the moving target indication antenna transmits signals according to the reference attitude trajectory. The double-layer control architecture enables the moving target indication antenna to simultaneously consider tracking safety, motion smoothness and constraint satisfaction in a dynamic environment.

[0085] The method for avoiding forbidden zones of a shipborne moving target indication antenna of a medium earth orbit satellite proposed in the application will be explained and described below by taking two specific examples.

[0086] In the first embodiment, the satellite passes through a fine continuous tracking scene in multiple forbidden zones. In this scene, the motion trajectory of a medium earth orbit satellite needs to pass through multiple ground-preset communication forbidden zones in sequence. These forbidden zones are usually defined by complex electromagnetic environments or sensitive areas on the ground, forming several discontinuous communication blind zones on the projection path of the satellite trajectory. There is usually a certain safety gap between multiple forbidden zones, which can be fully utilized to extend the effective communication time without violating the safety constraints. For example, as shown in FIG. 1, the projection of the satellite trajectory S on the sphere is divided into three forbidden zones ZK1, ZK2 and ZK3. The satellite trajectory S is divided into S11, S12, S21, S22, S31, S32 and S51. The communication link can be established only in S11 and S51 outside the maximum forbidden zone space Z1 formed by the overall external connection of the three forbidden zones. The communication link cannot be established in the large range of Z1. Figure 6 Figure 6 FIG. 2 shows a comparison diagram of the conventional method and the avoidance method proposed in the application. In this scene, there are a first forbidden zone ZK1, a second forbidden zone ZK2 and a third forbidden zone ZK3, and the projection of the satellite trajectory on the sphere is S. The conventional method usually adopts a fuzzy expansion surrounding processing idea, that is, the multiple forbidden zones are overall externally connected to form a maximum forbidden zone space Z1 with a larger coverage range. Once the satellite enters the large range envelope area during the satellite motion, it is regarded as entering the forbidden zone, thereby causing the communication in the entire envelope range to be forced to be interrupted. Taking the trajectory S as an example, only the S11 and S51 segments outside Z1 can maintain communication, and a large number of trajectory intervals in the envelope Z1 cannot establish a link. This way is conservative and inefficient, and does not fully utilize the gap between the forbidden zones.

[0087] The forbidden zone avoidance method proposed in the application adopts a multi-forbidden zone avoidance and edge control strategy. First, a circle of safety margin is extended outside the actual boundary of each forbidden zone ​a safety buffer, forming a dynamic exclusion zone Z2. After obtaining the satellite's predicted trajectory, the SATCOM antenna control system does not immediately interrupt the pointing when the satellite approaches the first exclusion zone, but instead adjusts the attitude in advance to enter the contour avoidance mode. In this mode, the SATCOM antenna always maintains pointing along the boundary of the exclusion zone, so that the beam is as close as possible to the satellite's actual position, thereby extending the communication time without crossing the exclusion zone. When the satellite crosses the first exclusion zone, the SATCOM antenna immediately exits the contour mode and resumes high-precision tracking, reestablishing a stable communication link. Subsequently, when the satellite gradually approaches the second exclusion zone, the SATCOM antenna again enters the contour tracking state until the satellite completely passes through the area, and the precise pointing is restored again. The same mechanism continues to work in the third exclusion zone.

[0088] The avoidance method proposed in the present application effectively breaks through the conservative restriction of the traditional method of avoiding the whole exclusion zone. By dynamically adjusting the antenna pointing trajectory, the gap space between the exclusion zones is fully utilized, the communication duration between the satellite and the ground station is significantly extended, and the link availability and stability are also greatly improved. This method is particularly advantageous in complex electromagnetic environments with multiple dense exclusion zones and limited gaps, and embodies the fine control and intelligent scheduling capability for future satellite communication scenarios.

[0089] In the second embodiment, the power adaptive tracking scenario under ship body sway, in complex sea conditions, the ship attitude will produce continuous rolling and pitching due to wave action, resulting in periodic jitter of the antenna pointing. When this jitter is superimposed on the relative motion of the satellite, the antenna beam frequently crosses the critical angle near the boundary of the exclusion zone, forming high-frequency disturbance. The traditional safety protection mechanism is easily triggered repeatedly or completely disabled in such an environment: once the antenna beam enters the exclusion zone, the communication is interrupted, and then the communication is restored after the beam swings out of the exclusion zone. Such repeated interruptions result in frequent link drops and rebuilds, significantly shortening the effective communication time, and seriously affecting the stability of the link and the continuity of the service.

[0090] Figure 7 A comparison chart showing the boundary judgment of the satellite trajectory caused by ship body sway is shown in FIG. 1. Figure 7 As shown in FIG. 1, the original trajectory of the satellite in the absence of interference is S0, and when the ship attitude is affected by factors such as waves, the satellite trajectory synthesized by the antenna becomes S. In order to ensure safety, the traditional method often defines the exclusion zone as a vague and large area Z1, thereby sacrificing the available communication time. To further solve the problem of frequent boundary crossings caused by ship body sway, the system introduces a power-aware and adaptive safety angle adjustment mechanism. Once it is detected that the pointing oscillates near the boundary of the exclusion zone due to disturbance, the control system automatically reduces the antenna transmit power, thereby reducing the safety angle distance corresponding to the exclusion zone This operation is equivalent to actively relaxing the pointing tolerance without exceeding the power density constraint, allowing the antenna to continue tracking the satellite without frequently triggering protective tracking stop. Power-aware adaptive control defines the restricted area as Z2 and adjusts it based on transmit power, radiation pattern, and a safe power density threshold. The restricted area boundary is dynamically adjusted, and its dynamic range is denoted as Z21. When a satellite trajectory falls within this range, the system can adjust the transmission power in real time to reduce or increase the safe angular distance. This ensures that the antenna beam remains aligned with the satellite, thereby maintaining communication as much as possible. Taking trajectory S as an example, only segments S1 and S2 truly fall into the practically no-communication zone, while the remaining trajectory segments can maintain normal communication under power adjustment.

[0091] The restricted area avoidance method proposed in this application effectively reduces the number of link interruptions through its power adaptive adjustment strategy. Compared with traditional methods, the system achieves longer cumulative communication duration in complex sea conditions and highly dynamic environments, and exhibits higher robustness and adaptability. This method not only avoids link losses caused by overly conservative protection, but also provides a practical and feasible technical approach for the safe and reliable communication of highly dynamic platforms such as ships in harsh environments.

[0092] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0093] Based on the same inventive concept, this application also provides a restricted area avoidance device for a medium-Earth orbit satellite-borne moving mid-channel antenna, which implements the aforementioned restricted area avoidance method for medium-Earth orbit satellite-borne moving mid-channel antennas. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more restricted area avoidance device embodiments for medium-Earth orbit satellite-borne moving mid-channel antennas provided below can be found in the limitations of the restricted area avoidance method for medium-Earth orbit satellite-borne moving mid-channel antennas described above, and will not be repeated here.

[0094] In one example embodiment, as shown in Figure 8 A zone-avoidance device for a ship-borne moving satellite communication antenna is provided, comprising a first determining module, a second determining module, and a generating module, wherein:

[0095] The first determining module is configured to determine a safe angular distance corresponding to a forbidden zone region based on a transmitting power of the moving satellite communication antenna on the ship, a minimum spatial distance between the moving satellite communication antenna and the forbidden zone region, a preset power density threshold corresponding to the forbidden zone region, and a preset pattern gain function.

[0096] The second determining module is configured to perform outward inflation on a spherical polygon region corresponding to the forbidden zone region along a normal direction based on the safe angular distance, to obtain a forbidden zone projection corresponding to the forbidden zone region.

[0097] The generating module is configured to, if a satellite direction of the medium-orbit satellite falls into the forbidden zone projection, generate a reference attitude trajectory of the moving satellite communication antenna based on a projection of the satellite direction on a tangent plane of a target point, a geometric feature vector of the spherical polygon region, the safe angular distance, and a preset geometric transformation formula, the target point being a point on a boundary of the forbidden zone projection that has a minimum angular distance on a sphere with the satellite direction.

[0098] The zone-avoidance device for a ship-borne moving satellite communication antenna provided in the embodiment can execute the method provided in the above embodiment, and has similar implementation principles and technical effects, which will not be described here.

[0099] On the basis of the above embodiment, the geometric feature vector can include a tangent vector and a normal vector, and the generating module can include a first calculating unit, a first determining unit, a second calculating unit, and a generating unit, wherein:

[0100] The first calculating unit is configured to calculate the tangent vector and the normal vector of the spherical polygon region along a boundary of the forbidden zone projection based on the target point.

[0101] The first determining unit is configured to determine a pointing direction of the moving satellite communication antenna on the boundary of the forbidden zone projection based on the tangent vector and the projection of the satellite direction on the tangent plane of the target point.

[0102] The second calculating unit is configured to calculate a pointing direction of the moving satellite communication antenna after rotation on the boundary of the forbidden zone region based on the pointing direction of the moving satellite communication antenna on the boundary of the forbidden zone projection, the normal vector, the safe angular distance, and the preset geometric transformation formula.

[0103] The generating unit is configured to generate the reference attitude trajectory in time based on the pointing direction of the moving satellite communication antenna after rotation on the boundary of the forbidden zone region, using a spherical spline.

[0104] Optionally, the preset geometric transformation formula is: , wherein, represents the pointing of the moving channel antenna after rotation on the boundary of the exclusion zone region, represents the pointing of the moving channel antenna on the exclusion zone projection boundary, represents the normal vector, represents the safety angle distance.

[0105] The exclusion zone avoidance device for the ship-borne moving channel antenna of the medium-orbit satellite provided in the embodiment can execute the method embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0106] On the basis of the above embodiment, optionally, the first determination unit is configured to calculate the dot product of the tangent vector and the projection of the satellite direction on the tangent plane of the target point; if the dot product is greater than a preset value, it is determined that the pointing of the moving channel antenna on the exclusion zone projection boundary is along the positive direction of the tangent vector; if the dot product is less than the preset value, it is determined that the pointing of the moving channel antenna on the exclusion zone projection boundary is along the negative direction of the tangent vector.

[0107] The exclusion zone avoidance device for the ship-borne moving channel antenna of the medium-orbit satellite provided in the embodiment can execute the method embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0108] On the basis of the above embodiment, optionally, the first determination module comprises a second determination unit, wherein:

[0109] The second determination unit is configured to determine the safety angle distance based on the formula , wherein, represents the safety angle distance of the exclusion zone region, represents a preset pattern gain function, represents the minimum spatial distance between the exclusion zone region and the moving channel antenna, represents the transmission power of the moving channel antenna, represents the corresponding preset power density threshold of the exclusion zone region. The exclusion zone avoidance device for the ship-borne moving channel antenna of the medium-orbit satellite provided in the embodiment can execute the method embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0110] The exclusion zone avoidance device for the ship-borne moving channel antenna of the medium-orbit satellite provided in the embodiment can execute the method embodiments, and has similar implementation principles and technical effects, which will not be described here.

[0111] On the basis of the above embodiment, optionally, the device further comprises a first control module and a second control module, wherein:

[0112] The first control module is configured to control the planning layer of the moving channel antenna to generate a reference attitude trajectory of the moving channel antenna.

[0113] ​The second control module is configured to control the execution layer of the SATCOM antenna to transmit signals in a normal tracking mode when the satellite direction of the medium-orbit satellite does not fall into the forbidden zone projection, and control the execution layer of the SATCOM antenna to transmit signals according to the reference attitude trajectory when the satellite direction of the medium-orbit satellite falls into the forbidden zone projection.

[0114] The forbidden zone avoidance device for the ship-borne SATCOM antenna of the medium-orbit satellite provided in the embodiment can execute the method embodiments, and has similar implementation principles and technical effects, which will not be described herein.

[0115] The modules in the forbidden zone avoidance device for the ship-borne SATCOM antenna of the medium-orbit satellite can be all or partially implemented by software, hardware, or a combination thereof. The modules can be embedded in or independent of a processor in a computer device in a hardware form, or can be stored in a memory in a computer device in a software form, so as to be called and executed by a processor to perform operations corresponding to the modules.

[0116] Figure 9 The structure diagram of the SATCOM antenna is provided in the embodiment. The SATCOM antenna can include a receiver 31, a memory 32, a processor 33, at least one communication bus 34, and a transmitter 35. The communication bus 34 is configured to realize communication connection between elements. The memory 32 can include a high-speed RAM memory, and can also include a non-volatile storage NVM, for example, at least one disk memory. The memory 32 can store various programs for completing various processing functions and implementing method steps of the embodiment. In the embodiment, the transmitter 35 can be a radio frequency processing module or a baseband processing module in the SATCOM antenna, and the receiver 31 can also be a radio frequency processing module or a baseband processing module in the SATCOM antenna. The transmitter 35 and the receiver 31 can be integrated together to become a transceiver. The transmitter 35 and the receiver 31 can be coupled to the processor 33, and can realize receiving or transmitting actions under the indication or control of the processor 33.

[0117] Those skilled in the art can understand that, Figure 9 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. A specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0118] In one exemplary embodiment, a SATCOM antenna is provided, comprising a parabolic antenna, a feed system, a radio frequency link system, and an antenna control system, wherein the antenna control system comprises a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0119] The safety angle distance corresponding to the forbidden zone region is determined based on the transmitting power of the SATCOM antenna on the ship, the minimum spatial distance of the SATCOM antenna from the forbidden zone region, a preset power density threshold corresponding to the forbidden zone region, and a preset pattern gain function.

[0120] The safety angle distance is taken as a reference, and the spherical polygon region corresponding to the forbidden zone region is outwardly inflated along the normal direction to obtain a forbidden zone projection corresponding to the forbidden zone region; the spherical polygon region corresponding to the forbidden zone region is obtained by normalizing the vertices of the forbidden zone region with the phase center of the SATCOM antenna as the origin.

[0121] If the satellite direction of the medium orbit satellite falls into the forbidden zone projection, a reference attitude trajectory of the SATCOM antenna is generated based on the projection of the satellite direction on the tangent plane of the target point, the geometric feature vector of the spherical polygon region, the safety angle distance, and a preset geometric transformation formula, with the target point as the base point; the target point is the point on the boundary of the forbidden zone projection that is closest to the satellite direction on the sphere.

[0122] In one embodiment, the geometric feature vector includes a tangent vector and a normal vector; when the processor executes the computer program, the following steps are further implemented:

[0123] The tangent vector and the normal vector of the spherical polygon region are calculated along the boundary of the forbidden zone projection with the target point as the base point;

[0124] The pointing direction of the SATCOM antenna on the boundary of the forbidden zone projection is determined based on the tangent vector and the projection of the satellite direction on the tangent plane of the target point;

[0125] The pointing direction of the SATCOM antenna after rotation on the boundary of the forbidden zone region is calculated based on the pointing direction of the SATCOM antenna on the boundary of the forbidden zone projection, the normal vector, the safety angle distance, and the preset geometric transformation formula;

[0126] The reference attitude trajectory is generated in time by using a spherical spline based on the pointing direction of the SATCOM antenna after rotation on the boundary of the forbidden zone region.

[0127] Optionally, the preset geometric transformation formula is: , wherein, represents the pointing direction of the SATCOM antenna after rotation on the boundary of the forbidden zone region, represents the pointing direction of the SATCOM antenna on the boundary of the forbidden zone projection, represents the normal vector, represents the safety angle distance.

[0128] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0129] The dot product of the tangent vector and the projection of the satellite direction on the tangent plane of the target point is calculated;

[0130] If the dot product is greater than the preset value, it is determined that the direction of the moving target antenna at the projection boundary of the forbidden zone is along the positive direction of the tangent vector.

[0131] If the dot product is less than the preset value, it is determined that the direction of the moving target antenna at the projection boundary of the forbidden zone is along the negative direction of the tangent vector.

[0132] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0133] Based on the formula , the safety angle distance is determined; in the formula, represents the safety angle distance of the forbidden zone region , represents the preset pattern gain function, represents the minimum spatial distance between the forbidden zone region and the moving target antenna, represents the transmission power of the moving target antenna, represents the corresponding preset power density threshold of the forbidden zone region .

[0134] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0135] The planning layer of the moving target antenna is controlled to generate a reference attitude trajectory of the moving target antenna;

[0136] In the case where the satellite direction of the medium earth orbit satellite does not fall into the projection of the forbidden zone, the execution layer of the moving target antenna transmits signals in the conventional tracking mode, and in the case where the satellite direction of the medium earth orbit satellite falls into the projection of the forbidden zone, the execution layer of the moving target antenna transmits signals according to the reference attitude trajectory.

[0137] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0138] Based on the transmission power of the moving target antenna on the ship, the minimum spatial distance between the forbidden zone region and the moving target antenna, the corresponding preset power density threshold of the forbidden zone region, and the preset pattern gain function, the safety angle distance corresponding to the forbidden zone region is determined;

[0139] Based on the safety angle distance, the spherical polygon region corresponding to the forbidden zone region is outwardly inflated in the normal direction to obtain the projection of the forbidden zone corresponding to the forbidden zone region; the spherical polygon region corresponding to the forbidden zone region is obtained by normalizing the vertices of the forbidden zone region with the phase center of the moving target antenna as the origin;

[0140] ​If the satellite direction of the medium orbit satellite falls into the forbidden zone projection, a reference attitude trajectory of the moving in the channel antenna is generated based on the projection of the satellite direction on the tangent plane of the target point, the geometric feature vector of the spherical polygon region, the safety angle distance and the preset geometric transformation formula, with the target point as the base point; the target point is the point on the boundary of the forbidden zone projection which has the minimum angular distance with the satellite direction on the sphere.

[0141] In one embodiment, the geometric feature vector includes a tangent vector and a normal vector; the computer program, when executed by the processor, further implements the following steps:

[0142] The tangent vector and the normal vector of the spherical polygon region are calculated along the boundary of the forbidden zone projection, with the target point as the base point;

[0143] The pointing direction of the moving in the channel antenna on the boundary of the forbidden zone projection is determined based on the tangent vector and the projection of the satellite direction on the tangent plane of the target point;

[0144] The pointing direction of the moving in the channel antenna after rotation on the boundary of the forbidden zone region is calculated based on the pointing direction of the moving in the channel antenna on the boundary of the forbidden zone projection, the normal vector, the safety angle distance and the preset geometric transformation formula;

[0145] The reference attitude trajectory is generated in time by using the spherical spline based on the pointing direction of the moving in the channel antenna after rotation on the boundary of the forbidden zone region.

[0146] Optionally, the preset geometric transformation formula is: , wherein, represents the pointing direction of the moving in the channel antenna after rotation on the boundary of the forbidden zone region, represents the pointing direction of the moving in the channel antenna on the boundary of the forbidden zone projection, represents the normal vector, represents the safety angle distance.

[0147] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0148] The dot product of the tangent vector and the projection of the satellite direction on the tangent plane of the target point is calculated;

[0149] If the dot product is greater than a preset value, the pointing direction of the moving in the channel antenna on the boundary of the forbidden zone projection is determined to be along the positive direction of the tangent vector;

[0150] If the dot product is less than the preset value, the pointing direction of the moving in the channel antenna on the boundary of the forbidden zone projection is determined to be along the negative direction of the tangent vector.

[0151] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0152] The safety angle distance is determined based on the formula ; wherein, represents the forbidden zone region a safety angular distance of the forbidden zone region, denotes a preset pattern gain function, denotes a minimum spatial distance between the forbidden zone region and the SATCOM antenna, denotes a transmission power of the SATCOM antenna, denotes a forbidden zone region corresponding to a preset power density threshold.

[0153] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0154] controlling a planning layer of the SATCOM antenna to generate a reference attitude trajectory of the SATCOM antenna;

[0155] In a case where a satellite direction of the medium earth orbit satellite does not fall into the forbidden zone projection, the execution layer of the SATCOM antenna transmits signals in a conventional tracking manner, and in a case where the satellite direction of the medium earth orbit satellite falls into the forbidden zone projection, the execution layer of the SATCOM antenna transmits signals according to the reference attitude trajectory.

[0156] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by the processor, implements the following steps:

[0157] determining a safety angular distance of the forbidden zone region based on the transmission power of the SATCOM antenna on the ship, the minimum spatial distance between the forbidden zone region and the SATCOM antenna, the preset power density threshold corresponding to the forbidden zone region, and the preset pattern gain function;

[0158] performing outward inflation on a spherical polygon region corresponding to the forbidden zone region in a normal direction as a reference based on the safety angular distance, to obtain a forbidden zone projection corresponding to the forbidden zone region; the spherical polygon region corresponding to the forbidden zone region is obtained by normalizing vertices of the forbidden zone region with the phase center of the SATCOM antenna as the origin;

[0159] if the satellite direction of the medium earth orbit satellite falls into the forbidden zone projection, generating a reference attitude trajectory of the SATCOM antenna based on a projection of the satellite direction on a tangent plane of the target point, a geometric feature vector of the spherical polygon region, the safety angular distance, and a preset geometric transformation formula, with the target point as a reference; the target point is a point on the boundary of the forbidden zone projection that is closest to the satellite direction on the sphere.

[0160] In one embodiment, the geometric feature vector includes a tangent vector and a normal vector; the computer program, when executed by the processor, further implements the following steps:

[0161] calculating the tangent vector and the normal vector of the spherical polygon region along the boundary of the forbidden zone projection with the target point as a reference;

[0162] determining a pointing direction of the SATCOM antenna on the boundary of the forbidden zone projection based on the tangent vector and the projection of the satellite direction on the tangent plane of the target point.

[0163] Based on the pointing direction, normal vector, safe angular distance, and preset geometric transformation formula of the moving-at-the-center antenna on the boundary of the restricted area, the pointing direction of the moving-at-the-center antenna after rotation on the boundary of the restricted area is calculated;

[0164] Based on the pointing of the moving antenna after rotation on the boundary of the restricted area, a reference attitude trajectory is generated in time using spherical splines.

[0165] Optionally, the preset geometric transformation formula is: In the formula, This indicates the pointing direction of the mobile antenna after it has been rotated along the boundary of the restricted area. This indicates the direction of the on-the-fly antenna's projection onto the restricted area boundary. Represents the normal vector. Indicates the safety angular distance.

[0166] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0167] Calculate the dot product of the tangent vector and the projection of the satellite direction onto the tangent plane at the target point;

[0168] If the dot product is greater than the preset value, then the direction of the moving antenna projected onto the restricted area boundary is determined to be along the positive direction of the tangent vector;

[0169] If the dot product is less than the preset value, then the direction of the moving-through antenna on the projection boundary of the restricted area is determined to be the opposite direction of the tangent vector.

[0170] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0171] Based on formula Determine the safe angular distance; where, Indicates restricted area Safety angle distance, This represents the preset graph gain function. This indicates the minimum spatial distance between the restricted area and the mobile antenna. This indicates the transmit power of the on-the-go antenna. Indicates restricted area The corresponding preset power density threshold.

[0172] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0173] The planning layer controls the on-the-move antenna and generates the reference attitude trajectory of the on-the-move antenna;

[0174] In the case that the satellite direction of the medium orbit satellite does not fall into the forbidden zone projection, the execution layer of the moving target indication antenna transmits signals in a conventional tracking mode, and in the case that the satellite direction of the medium orbit satellite falls into the forbidden zone projection, the execution layer of the moving target indication antenna transmits signals according to the reference attitude trajectory.

[0175] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. In the embodiments provided in the present application, any reference to memory, database or other medium can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0176] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not contradict, they should be considered within the scope of the present application.

[0177] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific manner, but should not be construed as limiting the scope of the patent of the present application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for avoiding restricted areas for a shipborne moving mid-course antenna used in medium-orbit satellites, characterized in that, The method comprises: determining a safety angular distance corresponding to the forbidden zone region based on a transmitting power of a SATCOM antenna on a ship, a minimum spatial distance between the SATCOM antenna and the forbidden zone region, a preset power density threshold corresponding to the forbidden zone region, and a preset pattern gain function; performing outward inflation on a spherical polygon region corresponding to the forbidden zone region in a normal direction based on the safety angular distance to obtain a forbidden zone projection corresponding to the forbidden zone region; the spherical polygon region corresponding to the forbidden zone region is obtained by performing normalization processing on vertexes of the forbidden zone region with a phase center of the SATCOM antenna as an origin; if a satellite direction of a medium orbit satellite falls into the forbidden zone projection, generating a reference attitude trajectory of the SATCOM antenna based on a projection of the satellite direction on a tangent plane of a target point, a geometric feature vector of the spherical polygon region, the safety angular distance, and a preset geometric transformation formula, with the target point being a point on a boundary of the forbidden zone projection that has a minimum angular distance on a sphere with the satellite direction; 2. The method of claim 1, wherein, the geometric feature vector comprises a tangent vector and a normal vector; and the generating of the reference attitude trajectory of the SATCOM antenna based on the projection of the satellite direction on the tangent plane of the target point, the geometric feature vector of the spherical polygon region, the safety angular distance, and the preset geometric transformation formula comprises: calculating the tangent vector and the normal vector of the spherical polygon region along a boundary of the forbidden zone projection with the target point as a base point; determining a pointing direction of the SATCOM antenna on the boundary of the forbidden zone projection based on the tangent vector and the projection of the satellite direction on the tangent plane of the target point; calculating a pointing direction of the SATCOM antenna after rotation on the boundary of the forbidden zone region based on the pointing direction of the SATCOM antenna on the boundary of the forbidden zone projection, the normal vector, the safety angular distance, and the preset geometric transformation formula; generating the reference attitude trajectory of the SATCOM antenna in time by using a spherical spline based on the pointing direction of the SATCOM antenna after rotation on the boundary of the forbidden zone region.

3. The method of claim 2, wherein, The preset geometric transformation formula is: , wherein, denotes a pointing direction of the moving-target indication antenna after rotation on the forbidden area region boundary, denotes a pointing direction of the moving-target indication antenna on the forbidden area projection boundary, denotes the normal vector, denotes the safety angle distance.

4. The method according to claim 2 or 3, characterized in that, the determining of the pointing direction of the SATCOM antenna on the boundary of the forbidden zone projection based on the tangent vector and the projection of the satellite direction on the tangent plane of the target point comprises: calculating a dot product of the tangent vector and the projection of the satellite direction on the tangent plane of the target point; if the dot product is greater than a preset value, determining that the pointing direction of the SATCOM antenna on the boundary of the forbidden zone projection is along a positive direction of the tangent vector; if the dot product is less than the preset value, determining that the pointing direction of the SATCOM antenna on the boundary of the forbidden zone projection is along a negative direction of the tangent vector.

5. The method of claim 1, wherein, the determining of the safety angular distance corresponding to the forbidden zone region based on the transmitting power of the SATCOM antenna on the ship, the minimum spatial distance between the SATCOM antenna and the forbidden zone region, the preset power density threshold corresponding to the forbidden zone region, and the preset pattern gain function comprises: The safety angle distance is determined based on the formula , wherein represents the safety angle distance of the forbidden zone region , represents a preset image gain function, represents the minimum spatial distance between the forbidden zone region and the moving satellite antenna, represents the transmitting power of the moving satellite antenna, represents the safety angle distance of the forbidden zone region corresponding to the preset power density threshold value.

6. The method of claim 1, wherein, the method further comprises: controlling a planning layer of the SATCOM antenna to generate the reference attitude trajectory of the SATCOM antenna; In a case where the satellite direction of the medium-orbit satellite does not fall into the forbidden zone projection, the execution layer of the moving satellite antenna is controlled to transmit signals in a normal tracking manner, and in a case where the satellite direction of the medium-orbit satellite falls into the forbidden zone projection, the execution layer of the moving satellite antenna is controlled to transmit signals according to the reference attitude trajectory.

7. A restricted area avoidance device for a shipborne moving mid-course antenna for a medium-orbit satellite, characterized in that, The device comprises: The first determination module is configured to determine a safe angular distance corresponding to the forbidden zone region based on a transmission power of a moving satellite antenna on a ship, a minimum spatial distance between the moving satellite antenna and the forbidden zone region, a preset power density threshold corresponding to the forbidden zone region, and a preset pattern gain function. The second determination module is configured to perform outer inflation on a spherical polygon region corresponding to the forbidden zone region in a normal direction based on the safe angular distance, to obtain a forbidden zone projection corresponding to the forbidden zone region. The generation module is configured to, if a satellite direction of a medium-orbit satellite falls into the forbidden zone projection, generate a reference attitude trajectory of the moving satellite antenna based on a projection of the satellite direction on a tangent plane of a target point, a geometric feature vector of the spherical polygon region, the safe angular distance, and a preset geometric transformation formula, with the target point being a point on a boundary of the forbidden zone projection that has a minimum angular distance on a spherical surface.

8. A mobile satellite antenna comprising a parabolic antenna, a feed system, a radio frequency link system and an antenna control system, wherein, The antenna control system comprises a memory and a processor, and the memory stores a computer program.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 6. The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 6.

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