On-orbit monitoring method and system for gain stability of space-borne GNSS phased array antenna

Abstract

The application provides a kind of satellite-borne GNSS phased array antenna gain stability on-orbit monitoring method, system, the method comprises: obtaining the real-time position information of detection equipment and the beacon position information of beacon source;According to real-time position information and beacon position information, it is judged whether beacon source enters the gain monitoring range of detection equipment;If yes, then the beacon signal sent by the beacon source is tracked by GNSS phased array antenna, and the tracking result is obtained, and GNSS phased array antenna is installed on detection equipment;Based on tracking result, real-time monitoring is carried out on GNSS phased array antenna.The problem that GNSS phased array antenna cannot be monitored in subsequent orbit after being installed on detection equipment and put into operation in the prior art is solved, and because the entire antenna gain monitoring process is carried out in the actual application environment, the gap between the ground darkroom environment and the actual application environment can be reduced, and the influence of the performance change of the receiving antenna on the measurement result is reduced, to ensure the reliability and accuracy of the measurement result.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a method and system for monitoring gain stability of a satellite-borne GNSS phased array antenna in orbit. BACKGROUND

[0002] GNSS interferometric height measurement is one of the important applications of GNSS signals in the field of reflection measurement. Specifically, GNSS signals are transmitted into the air, part of which directly reaches the detection device, called direct signal, and the other part is reflected by the sea surface or the ground to reach the detection device, called reflected signal; the detection device receives both signals and inverses the height information of the sea surface or the ground through interference correlation processing.

[0003] In the process of GNSS interferometric height measurement, the gain stability of the GNSS phased array antenna on the detection device is crucial to the accuracy of the measurement results, therefore, the GNSS phased array antenna needs to be monitored regularly. In the prior art, the phased array antenna is usually calibrated by using a ground darkroom test method. In the ground darkroom environment, the receiving antenna is scanned in all directions by the calibrated horn antenna to obtain the all-direction plane gain information of the receiving antenna.

[0004] However, once the GNSS phased array antenna is installed on the detection device and put into operation, subsequent in-orbit gain stability calibration cannot be performed, and the gap between the ground darkroom environment and the actual application environment and the performance change of the receiving antenna will result in difficulty in guaranteeing the reliability and accuracy of the measurement results. SUMMARY

[0005] To solve the above technical problems, the present application shows a method and system for monitoring gain stability of a satellite-borne GNSS phased array antenna in orbit, to solve the problem in the related art that once the GNSS phased array antenna is installed on the detection device and put into operation, subsequent in-orbit gain monitoring cannot be performed, resulting in difficulty in guaranteeing the reliability and accuracy of the measurement results.

[0006] In a first aspect, the present application shows a method for monitoring gain stability of a satellite-borne GNSS phased array antenna in orbit, applied to a detection device, the method comprising:

[0007] obtaining real-time position information of the detection device and beacon position information of a beacon source;

[0008] judging whether the beacon source enters a gain monitoring range of the detection device according to the real-time position information and the beacon position information;

[0009] In a case that the beacon source enters the gain monitoring range, a beacon signal transmitted by the beacon source is tracked by a GNSS phased array antenna to obtain a tracking result, and the GNSS phased array antenna is installed on the detection device.

[0010] Based on the tracking result, the GNSS phased array antenna is monitored.

[0011] Optionally, before the real-time position information of the detection device and the beacon position information of the beacon source are acquired, the method further includes:

[0012] Acquiring state information of the detection device, the state information being used to indicate whether a gain monitoring mode is enabled;

[0013] In a case that the gain monitoring mode is enabled, the steps of acquiring the real-time position information of the detection device and the beacon position information of the beacon source are performed.

[0014] Optionally, the judging whether the beacon source enters the gain monitoring range of the detection device according to the real-time position information and the beacon position information includes:

[0015] Acquiring a half opening angle of the GNSS phased array antenna;

[0016] Determining an included angle between the beacon source and the detection device according to the real-time position information and the beacon position information;

[0017] Comparing the half opening angle with the included angle, and determining that the beacon source enters the gain monitoring range of the detection device in a case that the half opening angle is greater than or equal to the included angle.

[0018] Optionally, the tracking the beacon signal transmitted by the beacon source by the GNSS phased array antenna to obtain a tracking result includes:

[0019] Receiving the beacon signal transmitted by the beacon source by the GNSS phased array antenna;

[0020] Iterating code delay, Doppler delay and phase to generate candidate signal parameters, and matching the candidate signal parameters with the beacon signal;

[0021] Taking the candidate signal parameters that are successfully matched as local signal parameters, and tracking the beacon signal based on the local signal parameters to obtain a tracking result.

[0022] Optionally, the iterating code delay, Doppler delay and phase to generate candidate signal parameters, and matching the candidate signal parameters with the beacon signal includes:

[0023] Judging whether it is the first time to match with the beacon signal;

[0024] If it is the first time or the last time of matching fails, the code delay, Doppler delay and phase are traversed to generate candidate signal parameters, and the initial value of the phase value in the local signal parameter is a preset value;

[0025] The candidate signal parameters are matched with the beacon signal.

[0026] Optionally, after the judgment whether it is the first time to match with the beacon signal, the method further comprises:

[0027] If it is not the first time, the last tracking result is obtained, and the last tracking result is taken as the local signal parameter, and the tracking of the beacon signal based on the local signal parameter is performed to obtain a tracking result.

[0028] Optionally, the real-time gain monitoring of the GNSS phased array antenna based on the tracking result comprises:

[0029] The multiple tracking results obtained within a preset time length are integrated and accumulated to obtain an integrated tracking result.

[0030] The real-time gain monitoring of the GNSS phased array antenna based on the integrated tracking result.

[0031] Optionally, after the multiple tracking results obtained within a preset time length are integrated and accumulated to obtain an integrated tracking result, the method further comprises:

[0032] Based on the corrected Doppler delay in the integrated tracking result and a preset Doppler frequency, a Doppler compensation value is determined, and the Doppler compensation value is used for tracking the beacon signal.

[0033] Optionally, the real-time gain monitoring of the GNSS phased array antenna based on the integrated tracking result comprises:

[0034] The integrated tracking result is forwarded to a satellite, so that the satellite transmits the integrated tracking result to the ground for data inversion to obtain a gain measurement result of the GNSS phased array antenna.

[0035] In a second aspect, the application shows a satellite-borne GNSS phased array antenna gain stability on-orbit monitoring system, applied to a detection device, the system comprises:

[0036] An acquisition module is configured to acquire real-time position information of the detection device and beacon position information of a beacon source;

[0037] A judgment module is configured to judge whether the beacon source enters a gain monitoring range of the detection device according to the real-time position information and the beacon position information.

[0038] a tracking module, configured to track a beacon signal transmitted by the beacon source through a GNSS phased array antenna to obtain a tracking result, when the beacon source enters the monitoring range, wherein the GNSS phased array antenna is installed on the detection device;

[0039] a monitoring module, configured to perform real-time gain monitoring on the GNSS phased array antenna based on the tracking result.

[0040] Optionally, the acquisition module is further configured to:

[0041] acquire state information of the detection device, wherein the state information is used to indicate whether a gain monitoring mode is enabled or not;

[0042] when the gain monitoring mode is enabled, the step of acquiring the real-time position information of the detection device and the beacon position information of the beacon source is performed.

[0043] Optionally, the judging module is further configured to:

[0044] acquire a half opening angle of the GNSS phased array antenna;

[0045] determine an included angle between the beacon source and the detection device according to the real-time position information and the beacon position information;

[0046] compare the half opening angle with the included angle, and if the half opening angle is greater than or equal to the included angle, it is determined that the beacon source enters the gain monitoring range of the detection device.

[0047] Optionally, the tracking module is specifically configured to:

[0048] receive the beacon signal transmitted by the beacon source through the GNSS phased array antenna;

[0049] iterate through code delay, Doppler delay and phase to generate candidate signal parameters, and match the candidate signal parameters with the beacon signal;

[0050] take the candidate signal parameters that are successfully matched as local signal parameters, and track the beacon signal based on the local signal parameters to obtain a tracking result.

[0051] Optionally, the tracking module is specifically configured to:

[0052] determine whether it is the first time to match the beacon signal;

[0053] if it is the first time or the last matching fails, iterate through code delay, Doppler delay and phase to generate candidate signal parameters, and an initial value of a phase value in the local signal parameters is a preset value;

[0054] matching the candidate signal parameter with the beacon signal.

[0055] Optionally, the tracking module is specifically configured to:

[0056] If not the first time, the last tracking result is acquired and taken as the local signal parameter, and the step of tracking the beacon signal based on the local signal parameter is executed to obtain a tracking result.

[0057] Optionally, the monitoring module is specifically configured to:

[0058] The multiple tracking results obtained within a preset time length are integrated to obtain an integrated tracking result.

[0059] Based on the integrated tracking result, real-time gain monitoring is performed on the GNSS phased array antenna.

[0060] Optionally, the monitoring module is further configured to:

[0061] Based on the correction Doppler delay in the integrated tracking result and a preset Doppler frequency, a Doppler compensation value is determined, and the Doppler compensation value is used to track the beacon signal.

[0062] Optionally, the monitoring module is specifically configured to:

[0063] The integrated tracking result is forwarded to a satellite, so that the satellite transmits the integrated tracking result to the ground for data inversion to obtain a gain monitoring result of the GNSS phased array antenna.

[0064] The on-orbit monitoring method and system for the gain stability of the satellite-borne GNSS phased array antenna provided by the embodiments of the present application have the following advantages compared with the prior art:

[0065] In the present application, by acquiring real-time position information of a detection device and beacon source position information, it is determined whether the beacon source enters a gain monitoring range, and when the beacon source enters the gain monitoring range, the GNSS phased array antenna installed on the detection device is used to track the beacon signal in real time, so that on-orbit gain monitoring of the antenna is realized, and the problem that the receiving antenna cannot be monitored in orbit after being installed on the detection device and put into operation in the prior art is solved. Meanwhile, because the antenna gain monitoring process is performed in an actual application environment, the gap between the ground darkroom environment and the actual application environment and the influence of the performance change of the receiving antenna on the measurement result can be reduced, so that the reliability and accuracy of the measurement result are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0066] Various other advantages and benefits will become apparent to those of ordinary skill in the art, upon reading the following detailed description of the preferred embodiment. The accompanying drawings are included to provide a better understanding of the preferred embodiment, and are not intended to constrain the application. Moreover, like reference numerals denote similar parts throughout the present drawings. In the drawings:

[0067] Figure 1 is a flow chart of a method for monitoring the gain stability of a spaceborne GNSS phased array antenna in orbit according to the present application.

[0068] Figure 2 is a schematic diagram of a detection device and a beacon source according to the present application.

[0069] Figure 3 is a flow chart of a method for monitoring the gain stability of a spaceborne GNSS phased array antenna in orbit according to the present application.

[0070] Figure 4 is a system architecture diagram of a method for monitoring the gain stability of a spaceborne GNSS phased array antenna in orbit according to the present application.

[0071] Figure 5 is a block diagram of a system for monitoring the gain stability of a spaceborne GNSS phased array antenna in orbit according to the present application. DETAILED DESCRIPTION

[0072] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0073] In the related art, the full-sky gain information of a GNSS phased array antenna is usually obtained by full-sky scanning of the GNSS phased array antenna by a calibrated horn antenna in a darkroom environment on the ground. However, once the phased array antenna is installed on a detection device and put into operation, subsequent monitoring of the gain variation in orbit cannot be performed, and the gap between the darkroom environment on the ground and the actual application environment, as well as the performance variation of the receiving antenna, will result in difficulty in guaranteeing the reliability and accuracy of the measurement results.

[0074] Based on this, the present application proposes a method for monitoring the gain stability of a spaceborne GNSS phased array antenna in orbit, to solve the above problems. The method for monitoring the gain stability of a spaceborne GNSS phased array antenna in orbit according to the embodiments of the present application will be described in detail below through specific embodiments.

[0075] Reference Signs List Figure 1, shows a step flow chart of a satellite-borne GNSS phased array antenna gain stability on-orbit monitoring method of the application, which is applied to a detection device and can specifically include the following steps:

[0076] S11: Obtain real-time position information of the detection device and beacon position information of the beacon source.

[0077] Firstly, the detection device needs to obtain its real-time position information and the beacon position information of the beacon source.

[0078] The detection device will use the internal positioning system, such as a high-precision satellite positioning module or other inertial navigation equipment, to determine its real-time position information in real time and accurately, including but not limited to the three-dimensional coordinates (longitude, latitude, and altitude) of the detection device in the Earth coordinate system and the motion state parameters (such as speed and acceleration).

[0079] At the same time, the beacon source as a signal transmitting system for antenna calibration, its beacon position information is pre-set and can be obtained through a specific communication link or storage module, including pre-set fixed coordinates (such as the longitude and latitude coordinates of the ground beacon station or the orbit parameters of the satellite-borne beacon source).

[0080] S12: According to the real-time position information and the beacon position information, determine whether the beacon source enters the gain monitoring range of the detection device.

[0081] In this step, after obtaining the position information of both parties, it can be determined whether the beacon source is in the detectable range of the GNSS phased array antenna through spatial geometric relationship calculation.

[0082] Specifically, based on the obtained real-time position information and beacon position information, the relative distance, azimuth angle and elevation angle between the two can be derived, and combined with the field of view parameters (such as half opening angle and beam width) of the GNSS phased array antenna, the spatial boundary of the gain monitoring range is constructed.

[0083] When the relative angle between the beacon source and the detection device (such as the opening angle of the beacon source relative to the phase center of the antenna) is less than or equal to the half opening angle of the antenna field of view, it is determined that the beacon source enters the gain monitoring range, and the antenna can effectively receive the beacon signal; otherwise, it is determined that the beacon source does not enter the calibration range, and the gain monitoring process is not started.

[0084] This step dynamically selects the effective signal monitoring opportunity to avoid invalid signal interference and ensures that the gain monitoring process is only carried out in the spatial range where the antenna performance can be accurately evaluated.

[0085] S13: In the case where the beacon source enters the monitoring range, the GNSS phased array antenna installed on the detection device tracks the beacon signal sent by the beacon source to obtain tracking results.

[0086] Once the beacon source enters the monitoring range, the GNSS phased array antenna installed on the detection device begins to play a role, and by virtue of its special structure and electromagnetic characteristics designed for beacon signals, it can sensitively capture the signals emitted by the beacon source.

[0087] After receiving the signal, the antenna will continue to track the key features of the beacon signal, such as how the frequency of the signal fluctuates over time, the variation of the phase, and the change in the amplitude, and record these detailed information changing over time to form a complete tracking result, which is the core basis for subsequent accurate measurement of the antenna gain.

[0088] S14: Based on the tracking result, the GNSS phased array antenna is monitored.

[0089] When the tracking result of the beacon signal is obtained, the ground inversion program will use professional antenna gain algorithms and models to deeply analyze the data features of the signal phase, amplitude and other aspects in the tracking result, combine the theoretical model of the antenna and the pre-set performance parameters, and accurately calculate the gain deviation information of the antenna in the actual process of receiving the beacon signal, to realize the on-orbit gain monitoring function of the GNSS phased array antenna.

[0090] In an implementation manner, before the real-time position information of the detection device and the beacon position information of the beacon source are obtained in step S11, the method further includes:

[0091] Obtaining state information of the detection device, the state information being used to indicate whether the gain monitoring mode is started;

[0092] In the case that the gain monitoring mode is started, the steps of obtaining the real-time position information of the detection device and the beacon position information of the beacon source are executed.

[0093] In this implementation manner, the start of the entire on-orbit calibration process of the antenna is not directly dependent on the acquisition of the position information, but first establishes a trigger condition by judging the state of the detection device.

[0094] Specifically, the state information of the detection device can be acquired first, which usually exists in the form of hardware switch signal, software configuration parameter or task instruction, and the core function is to determine whether the gain monitoring mode is enabled or not. For example, when the detection device performs a regular GNSS interferometric measurement task, the gain monitoring mode is in the off state to avoid interference of the flow on the main task; when antenna gain stability monitoring is needed (such as periodic maintenance, device abnormality check, etc.), the monitoring mode will be started by the operator or the automatic task scheduling system, and the state information will feedback that the gain monitoring mode has been activated. Only when it is confirmed that the gain monitoring mode is in the on state, the subsequent position information acquisition step will be triggered, that is, the real-time in-orbit position of the detection device and the fixed position data of the beacon source are collected.

[0095] In this way, on the one hand, unnecessary calibration operations can be avoided to occupy device computing power, storage and communication resources, ensuring efficient operation of the regular detection task; on the other hand, a clear starting threshold can be set for the gain monitoring flow, reducing false triggering (such as invalid processing when the beacon source accidentally enters the field of view), and improving the stability of system operation.

[0096] In an implementation manner, in step S12, whether the beacon source enters the gain monitoring range of the detection device is judged according to the real-time position information and the beacon position information, including:

[0097] The half opening angle of the GNSS phased array antenna is acquired;

[0098] The included angle between the beacon source and the detection device is determined according to the real-time position information and the beacon position information;

[0099] The half opening angle and the included angle are compared, and if the half opening angle is greater than or equal to the included angle, it is determined that the beacon source enters the gain monitoring range of the detection device.

[0100] In this implementation manner, the process of judging whether the beacon source enters the gain monitoring range is essentially to realize accurate definition of the field of view of the GNSS phased array antenna through geometric angle comparison, so as to ensure that only the beacon signal in the effective receiving range of the antenna can be used for gain monitoring.

[0101] Specifically, the half opening angle of the GNSS phased array antenna can be acquired first, which is determined by the physical design of the antenna and represents the spatial angle range in which the antenna can effectively receive signals (for example, if the half opening angle is 30°, the antenna can stably receive signals in the fan-shaped region of 30° on both sides of the normal direction, but in actual applications, the half opening angle is not limited to this).

[0102] Subsequently, based on the real-time position information of the detection device and the fixed position information of the beacon source, the relative angle relationship between the two, i.e., the included angle of the beacon source relative to the detection device, can be determined through spatial geometric calculation. The calculation of this included angle needs to be combined with the geocentric coordinate system, satellite orbit parameters, and beacon source latitude and longitude data, and is derived through a spherical triangle formula, which intuitively reflects the position of the beacon source in the sky at the position of the detection device.

[0103] For example, as shown in FIG. 1, a position diagram of a detection device and a beacon source is shown, where S is the position of the beacon source, C is the position of the detection device, Figure 2 is the speed of the detection device, P is the distance between C and S, H is the distance between C and O, R is the radius of the earth, and O is the center of the earth. is the included angle between the beacon source and the detection device, and ψ is the half opening angle of the field of view of the GNSS phased array antenna.

[0104] Since the positions of the detection device and the beacon source are known, the following can be obtained:

[0105]

[0106] Further, the judgment is completed by comparing the value of the half opening angle with the above-mentioned included angle: if the half opening angle is greater than or equal to the included angle, it means that the beacon source is within the coverage range of the field of view of the GNSS phased array antenna, and the beacon signal emitted by the beacon source can be effectively captured and tracked by the antenna, so it is determined that the beacon source enters the gain monitoring range; otherwise, if the included angle exceeds the half opening angle, the beacon source is located outside the field of view of the antenna, and the signal reception quality cannot be guaranteed, so the subsequent gain monitoring process is not started.

[0107] This angle-based judgment method can accurately match the physical characteristics of the antenna, avoid the influence of signal distortion caused by the beacon source being at the edge or outside the field of view on the measurement accuracy, and provide a reliable precondition for subsequent signal tracking and antenna gain calculation.

[0108] In one implementation, in S13, the beacon signal transmitted by the beacon source is tracked through the GNSS phased array antenna to obtain a tracking result, including:

[0109] The beacon signal transmitted by the beacon source is received through the GNSS phased array antenna;

[0110] The code delay, Doppler delay, and phase are traversed to generate candidate signal parameters, and the candidate signal parameters are matched with the beacon signal;

[0111] The candidate signal parameters that are successfully matched are taken as local signal parameters, and the beacon signal is tracked based on the local signal parameters to obtain a tracking result.

[0112] ​In this implementation, through the process of tracking beacon signals by the GNSS phased array antenna and obtaining tracking results, high-precision matching of local signals and received signals can be achieved, providing reliable data for subsequent antenna gain results.

[0113] Specifically, first, as a physical carrier for signal reception, the GNSS phased array antenna continuously captures beacon signals sent by beacon sources. Such signals are usually modulated by pseudo-random codes (such as specific sequence spread spectrum codes) and carry preset carrier frequency information, but during propagation, code delay due to distance changes, Doppler shift due to relative motion, and phase shift due to propagation paths (such as atmospheric effects) will cause differences between the actual parameters of the received signal and the theoretical values.

[0114] To find parameters that match the received signal, candidate signal parameters can be generated by exhaustive search: for the code delay (time offset of the pseudo-random code), Doppler delay (offset of the carrier frequency), and phase (initial phase deviation of the carrier) of the beacon signal, divide a number of candidate values within a reasonable preset range.

[0115] For example, the code delay covers a complete pseudo-random code period (such as 1 millisecond), and candidate values are generated with a step size of 1 / 4 chip; the Doppler delay covers a possible frequency offset range of ±10 kHz, and is divided with a step size of 100 Hz; the phase is generated with a fixed angular interval (such as 30°) within the range of 0 to 2π.

[0116] Subsequently, these candidate signal parameters can be combined to generate local candidate signals, and correlation calculations can be performed with the received beacon signals. When the correlation value of the local signal corresponding to a set of candidate parameters and the received signal exceeds a preset threshold, it is determined that the set of parameters is matched successfully, meaning that it has approached the true parameters of the beacon signal.

[0117] The candidate signal parameters that are matched successfully can be used as local signal parameters, and on this basis, a dynamic tracking process can be started: since the relative position and motion state of the detection device and the beacon source are always changing (such as the continuous change of distance and speed caused by the on-orbit operation of the satellite), the code delay, Doppler shift, and phase will also drift dynamically over time. The code delay can be adjusted in real time by a delay-locked loop (DLL) to ensure that the local pseudo-random code and the code sequence of the received signal are time-aligned; the phase can be continuously corrected by a phase-locked loop (PLL) to offset the phase deviation caused by the propagation path and hardware drift; at the same time, the local carrier frequency can be adjusted based on the rate of change of the Doppler shift to maintain frequency synchronization.

[0118] Finally, the stable parameters output by this dynamic tracking, including real-time code delay, Doppler shift, phase difference, etc., are the tracking results for the phased array antenna. In this way, the problem of unknown initial signal parameters is solved, and the dynamic characteristics of parameters changing over time are adapted, providing high-precision signal characteristic data for subsequent antenna gain values based on tracking results.

[0119] In an implementation, candidate signal parameters are generated by traversing the code delay, Doppler delay, and phase, and the candidate signal parameters are matched with the beacon signal, including:

[0120] determining whether it is the first time to match with the beacon signal;

[0121] if it is the first time or the last matching fails, candidate signal parameters are generated by traversing the code delay, Doppler delay, and phase, and the initial value of the phase value in the local signal parameter is a preset value;

[0122] matching the candidate signal parameters with the beacon signal.

[0123] In this implementation, the generation of candidate signal parameters and the matching process with the beacon signal dynamically adjust the strategy according to the historical matching state to balance the search efficiency and matching accuracy.

[0124] Specifically, it can be determined whether it is the first time to match with the beacon signal or the last matching failed. The basis for this determination can come from the internal state record of the system, that is, if there is no valid matching history of the beacon signal in the record (first matching), or no related peak value satisfying the threshold is found in the last matching process (matching failure), it means that the system lacks reusable signal parameter reference, and full-range parameter search needs to be started.

[0125] At this time, the code delay, Doppler delay, and phase can be fully traversed to generate candidate signal parameters covering a reasonable range. For example, the code delay generates candidate values in a complete pseudo-random code period with a subdivision step to ensure that no possible code phase position is missed; the Doppler delay generates candidate values at a fixed frequency interval within a preset maximum frequency offset range to cover all frequency offsets that may be caused by relative motion; and the phase is divided into several candidate initial values within the range of 0 to 2π. It is worth noting that since there is no historical phase data to reference when matching for the first time or failing the last time, the initial value of the phase in the local signal parameter will adopt a preset fixed value (usually 0) as the starting point for phase search.

[0126] After generating the candidate signal parameters, the local signal corresponding to each set of candidate signal parameters can be correlated with the received beacon signal: by convoluting the local pseudo-random code with the code sequence of the received signal, while matching the carrier frequency and phase, the correlation strength of the two is evaluated. When the correlation value of a certain set of candidate parameters exceeds the preset threshold, it is determined that the matching is successful, and this set of parameters will be used as the initial local signal parameter for subsequent tracking; if no parameters meet the conditions after traversal, it is recorded as a matching failure, and the next round of search or other optimization strategies (such as expanding the search range, adjusting the step size, etc.) is triggered.

[0127] In this way, the parameter coverage integrity when first matching or matching failure is ensured, and the processing logic when there is no reference information is simplified by the preset phase initial value, so that unnecessary waste of computing power is avoided while ensuring the reliability of the matching.

[0128] In an implementation manner, after determining whether it is the first time to match with the beacon signal, the method further includes:

[0129] If it is not the first time, the last tracking result is obtained, and the last tracking result is used as the local signal parameter, and the step of tracking the beacon signal based on the local signal parameter is performed to obtain the tracking result.

[0130] In this implementation manner, when it is determined that the current is not the first time to match with the beacon signal, the historical data is fully utilized to optimize the processing flow, the existing information is reused to reduce redundant calculation, and the tracking efficiency and stability are improved.

[0131] Specifically, if there is an effective matching history of the beacon signal in the system record, it indicates that the signal capture and tracking have been successfully completed before, and the tracking parameters output in the last tracking process are stored. These parameters reflect the state of the signal at the end of the last tracking, and usually have strong continuity with the current signal parameters.

[0132] At this time, the last tracking result can be directly called as the initial value of the local signal parameter, and the full-range candidate parameter traversal process is skipped, and the dynamic tracking stage based on these parameters is directly entered. In the tracking process, the historical parameters are used as the starting point for fine tuning through closed-loop control mechanisms such as delay-locked loop and phase-locked loop: for code delay, the time difference between the received signal and the local code is used to make real-time correction, so as to offset the delay drift caused by distance changes; for Doppler shift, the local carrier frequency is adjusted based on the frequency change rate to adapt to the slight changes in relative speed; for phase, the instantaneous phase difference between the local signal and the received signal is compared to continuously optimize the phase initial value, and ensure the phase synchronization accuracy.

[0133] Finally, the local signal is matched with the current beacon signal with high precision, and a new tracking result is output. In this way, by using the time continuity of the signal parameters, the time-consuming full-range search is avoided, and the system response speed is significantly improved. At the same time, the fine-tuning process starting from the historical tracking result can converge to the stable state faster, reduce the risk of tracking loss caused by parameter jump, and provide more continuous and reliable signal feature data for subsequent antenna gain calculation.

[0134] For example, the process of generating candidate signal parameters can use the following formula by traversing code delay, Doppler delay and phase:

[0135]

[0136]

[0137]

[0138]

[0139]

[0140]

[0141] wherein, is the speed of the detection device, is the line-of-sight speed between the detection device and the beacon source, is the Doppler delay caused by relative motion between the detection device and the beacon source, and λ is the signal wavelength, is the transmitted beacon signal, and D is the beacon signal pseudo-random code, is the user-specified code delay, is the carrier frequency, is the user-specified preset Doppler frequency, is the initial phase value, is the received beacon signal, is the local beacon code delay, is the local down-converted carrier frequency, is the locally generated initial phase, is the delay caused by the distance between the satellite and the beacon source.

[0142] In one implementation, in step S14, based on the tracking result, the GNSS phased array antenna is monitored in real time, including:

[0143] The plurality of tracking results obtained within the preset time period are integrated and accumulated to obtain an integrated tracking result; and based on the integrated tracking result, the GNSS phased array antenna is monitored in real time.

[0144] In this implementation, the integral accumulation processing manner improves data reliability, reduces noise interference through information accumulation in the time dimension, and ensures the stability of the tracking result.

[0145] Specifically, the integral accumulation can be performed on multiple tracking results continuously acquired within a preset time period (e.g., several hundred milliseconds to several seconds, which is set according to the signal stability requirement). This is because a single tracking result can be affected by transient noise (e.g., electromagnetic interference, atmospheric flicker) and device random error (e.g., receiver thermal noise), resulting in fluctuations in key parameters such as signal strength and phase difference. For example, the tracking result at a certain time may show an abnormally low signal strength due to sudden noise, which can cause antenna gain evaluation deviation if directly used for gain calculation.

[0146] Through integral accumulation, the tracking data at multiple time points (including code delay deviation, Doppler offset, signal power, etc.) can be superimposed or averaged in time sequence, which can not only amplify the effective features of the beacon signal (signal components are enhanced due to periodicity or correlation during the integration process), but also suppress random noise (noise components are cancelled out due to irregularity), ultimately obtaining an integrated tracking result with higher signal-to-noise ratio and better stability.

[0147] After obtaining the integrated tracking result, real-time gain calculation can be performed on the GNSS phased array antenna based on the integrated tracking result: combining the known transmission power of the beacon source and the signal propagation path loss model, the actual receive gain of the GNSS phased array antenna at the current angle is inversely calculated.

[0148] In this way, the information redundancy in the time dimension is fully utilized, the influence of transient interference on a single data point is effectively overcome, and the integrated tracking result is closer to the real performance of the antenna, thereby providing a real gain measurement result for the GNSS phased array antenna.

[0149] In one implementation, after the integral accumulation of the multiple tracking results obtained within the preset time period, the following steps are further included:

[0150] Based on the corrected Doppler delay in the integrated tracking result (i.e., the final tracking result) and the preset Doppler frequency, a Doppler compensation value is determined, which is used for tracking the beacon signal.

[0151] In this implementation, the statistical characteristics of the historical tracking data can be combined with the preset Doppler frequency to generate a dynamic correction value, i.e., the Doppler compensation value, for subsequent signal tracking, thereby improving the real-time compensation accuracy of the frequency offset of the beacon signal and ensuring the long-term stability of the tracking process.

[0152] Specifically, after the integral accumulation for a preset time length, the integral tracking result contains the corrected Doppler delay, which is an optimized value obtained by denoising and averaging the Doppler shift in multiple tracking results, eliminating the interference of instantaneous noise and more accurately reflecting the real Doppler shift trend caused by the relative motion between the detection device and the beacon source.

[0153] At the same time, a preset Doppler frequency can be introduced, which is a fixed reference frequency preset by the user (such as a known frequency bias artificially added when the beacon source transmits a signal, or a reference value set by the system according to task requirements), used as an anchor point for Doppler compensation, ensuring that the compensation process takes into account both theoretical preset and actual measurement.

[0154] By fusing the corrected Doppler delay and the preset Doppler frequency for calculation, a Doppler compensation value can be obtained. This compensation value not only contains the correction of dynamic Doppler shift caused by actual motion, but also anchors the preset reference frequency, and can comprehensively cover both "real motion error" and "system preset deviation" sources of frequency shift.

[0155] For example, the fusion calculation of the corrected Doppler delay and the preset Doppler frequency can use the following formula:

[0156]

[0157] Wherein, is the corrected Doppler delay, is the inherent preset Doppler frequency of the beacon signal, is the Doppler compensation value of the code generator this time, is the ratio of the local code rate to the carrier frequency, which is a fixed value.

[0158] The generated Doppler compensation value can be directly used in the subsequent beacon signal tracking process: when adjusting the local carrier frequency, the system will use the compensation value as the basis to real-time correct the frequency parameter of the local signal, ensuring that it is consistent with the actual frequency of the beacon signal. In this way, the accidental error of a single tracking result is avoided, making the frequency synchronization more robust, and thus providing a stable signal basis for continuous GNSS phased array antenna monitoring.

[0159] In one implementation, based on the integral tracking result, the GNSS phased array antenna is monitored in real time for antenna gain, including:

[0160] Forwarding the integral tracking result to the satellite so that the satellite transmits the integral tracking result to the ground for data inversion to obtain the gain measurement (calculation) result of the GNSS phased array antenna.

[0161] In this implementation, based on the gain monitoring process of the GNSS phased array antenna after the integration tracking result, the original measurement information obtained on-orbit is combined with the professional inversion capability on the ground through the data processing mode of space-ground cooperation.

[0162] Specifically, after the detection device obtains the integration tracking result through integration accumulation, the integration tracking result can be forwarded to the corresponding satellite through the on-board communication link. The satellite usually assumes the role of data relay, responsible for stable transmission of the measurement information obtained by the detection device to the ground station. In order to avoid the detection device being limited by the computing power, storage and energy constraints on-orbit, it is difficult to independently complete high-precision inversion.

[0163] After the satellite forwards the integration tracking result to the ground, the ground data processing center starts a special inversion process: first, the received tracking data is preprocessed, and then combined with the accurate position of the beacon source, the on-orbit trajectory of the detection device, the atmospheric propagation model and other auxiliary information, the actual gain value of the GNSS phased array antenna at different angles is inversely calculated through the radio wave propagation theory; then, the inversion result is compared with the factory data and historical on-orbit data of the antenna, and the on-orbit gain variation trend of the phased array antenna is analyzed, and finally the gain stability result for the GNSS phased array antenna is generated.

[0164] In this way, the on-orbit data acquisition advantage of the detection device is exerted, and the professional ability of the ground system is used to realize high-precision gain calculation, which takes into account the real-time and accuracy, and provides reliable support for long-term on-orbit performance calibration of the GNSS phased array antenna.

[0165] As shown in Figure 3 The flowchart of the on-orbit gain stability monitoring method of the satellite-borne GNSS phased array antenna provided in a specific embodiment of the present application, which includes:

[0166] Firstly, it is checked whether the gain monitoring mode switch is turned on. If not, the gain monitoring is directly skipped. If yes, the gain monitoring step is continued.

[0167] The coverage range of the GNSS phased array antenna is calculated using the real-time position information of the detection device and the position information of the transmission source provided by the detection device, so that the beacon source enters the gain monitoring range of the GNSS phased array antenna.

[0168] If the detection device does not enter the gain monitoring range, it is directly skipped and returns to the main task of the detection device. If it enters the gain monitoring range for the first time, the beacon signal is captured.

[0169] If it is the first capture, the initial phase value is 0. If it is not the first capture, the last beacon signal capture result is obtained. It is judged whether the last beacon signal is captured successfully.

[0170] If the last beacon capture result fails, start beacon signal capture, judge whether the current beacon signal is captured successfully. If captured successfully, proceed to beacon signal tracking. The local beacon signal generator generates a local beacon signal to realize phase and delay matching with the beacon signal, and obtains the beacon signal capture result;

[0171] If the last beacon capture result is successful, skip signal capture and directly enter the beacon signal tracking unit;

[0172] The local beacon signal is matched and tracked with the real-time signal of the input signal, and the tracking result is output;

[0173] The signal tracking result is integrated and accumulated to realize amplification and filtering of the data result;

[0174] The integrated tracking result is re-measured to obtain a Doppler compensation value, and the local beacon code is updated again.

[0175] The data output unit transmits the integrated tracking result to the satellite system, and then forwards it to the ground for data inversion to obtain the GNSS phased array antenna gain result during the inversion gain monitoring period.

[0176] As shown in Figure 4 , in a specific embodiment provided by the present application, a system architecture diagram of the on-orbit monitoring method for the on-orbit gain stability of the satellite-borne GNSS phased array antenna is shown, which includes a prediction unit, a beacon signal generator, a signal capture unit, a signal tracking unit and a monitoring unit. The monitoring unit includes a signal adjustment unit, an integral accumulation unit and a data output unit.

[0177] When the gain monitoring mode is started, the prediction unit first judges whether the GNSS phased array antenna reaches the coverage range of the beacon transmitting signal. If it reaches, the signal capture unit starts beacon signal capture through frequency conversion (i.e. receiving the signal emitted by the GNSS phased array antenna), and then the signal tracking unit tracks the signal. The tracking result is integrated and accumulated by the integral accumulation unit, and then adjusted by the signal adjustment unit. According to the signal Doppler information, the beacon signal generator is feedback controlled to realize stable tracking of the signal. Finally, the measured data is forwarded to the satellite data transmission system through the data output unit. When the GNSS phased array antenna is out of the beacon signal area, the on-orbit gain monitoring mode is automatically closed, and the normal working mode is automatically switched to perform the normal detection task.

[0178] From the above, in the scheme provided by the application, by acquiring the real-time position information of the detection equipment and the beacon position information of the beacon source, it is judged whether the beacon source enters the monitoring range, and when it enters, the GNSS phased array antenna installed on the detection equipment is used to track the beacon signal in real time, the on-orbit gain monitoring of the antenna is realized, the problem that the on-orbit gain monitoring cannot be performed after the receiving antenna is installed on the detection equipment and put into operation in the prior art is solved, and at the same time, because the gain monitoring process is performed in the actual application environment, the gap between the ground darkroom environment and the actual application environment and the influence of the performance change of the receiving antenna on the measurement result can be reduced, so that the reliability and accuracy of the measurement result are ensured.

[0179] It should be noted that, for the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the application is not limited by the action sequence described, because according to the application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions involved are not necessarily necessary for the application.

[0180] Referring to Figure 5 , a structural block diagram of an on-orbit gain stability monitoring system of a satellite-borne GNSS phased array antenna of the application is shown, which is applied to a detection equipment, and the system comprises:

[0181] The acquisition module 201 is configured to acquire real-time position information of the detection equipment and beacon position information of a beacon source.

[0182] The judgment module 202 is configured to judge whether the beacon source enters a gain monitoring range of the detection equipment according to the real-time position information and the beacon position information.

[0183] The tracking module 203 is configured to track a beacon signal sent by the beacon source through a GNSS phased array antenna in the case that the beacon source enters the gain monitoring range to obtain a tracking result, and the GNSS phased array antenna is installed on the detection equipment.

[0184] The monitoring module 204 is configured to perform real-time gain monitoring on the GNSS phased array antenna based on the tracking result.

[0185] Optionally, the acquisition module 201 is further configured to:

[0186] acquire state information of the detection equipment, and the state information is used to indicate whether a gain monitoring mode is started;

[0187] In the case that the gain monitoring mode is started, the step of acquiring the real-time position information of the detection equipment and the beacon position information of the beacon source is performed.

[0188] Optionally, the determining module 202 is further configured to:

[0189] acquire a half opening angle of the GNSS phased array antenna;

[0190] determine an included angle between the beacon source and the detection device according to the real-time position information and the beacon position information;

[0191] compare the half opening angle with the included angle, and determine that the beacon source enters the gain monitoring range of the detection device if the half opening angle is greater than or equal to the included angle.

[0192] Optionally, the tracking module 203 is specifically configured to:

[0193] receive a beacon signal transmitted by the beacon source through the GNSS phased array antenna;

[0194] generate candidate signal parameters by traversing code delay, Doppler delay and phase, and match the candidate signal parameters with the beacon signal;

[0195] take the candidate signal parameters that are successfully matched as local signal parameters, and track the beacon signal based on the local signal parameters to obtain a tracking result.

[0196] Optionally, the tracking module 203 is specifically configured to:

[0197] determine whether it is the first time to match the beacon signal;

[0198] if it is the first time or the last matching fails, generate candidate signal parameters by traversing code delay, Doppler delay and phase, and an initial value of a phase value in the local signal parameters is a preset value;

[0199] match the candidate signal parameters with the beacon signal.

[0200] Optionally, the tracking module 203 is specifically configured to:

[0201] if it is not the first time, acquire a last tracking result, take the last tracking result as the local signal parameters, and execute the step of tracking the beacon signal based on the local signal parameters to obtain a tracking result.

[0202] Optionally, the monitoring module 204 is specifically configured to:

[0203] integrate and accumulate a plurality of tracking results obtained within a preset time length to obtain an integrated tracking result;

[0204] Based on the integral tracking result, real-time gain monitoring is performed on the GNSS phased array antenna.

[0205] Optionally, the monitoring module 204 is further configured to:

[0206] Based on the correction Doppler delay in the integral tracking result and a preset Doppler frequency, a Doppler compensation value is determined, which is used for tracking the beacon signal.

[0207] Optionally, the monitoring module 204 is specifically configured to:

[0208] The integral tracking result is forwarded to a satellite, so that the satellite transmits the integral tracking result to the ground for data inversion to obtain a gain measurement result of the GNSS phased array antenna.

[0209] As can be seen from the above, in the scheme provided in the present application, by acquiring real-time position information of a detection device and beacon source position information, it is determined whether the beacon source enters a gain monitoring range, and when it enters, the GNSS phased array antenna installed on the detection device is used to track the beacon signal in real time, thereby realizing on-orbit gain monitoring of the antenna, solving the problem that the GNSS phased array antenna cannot be monitored on orbit after being installed on the detection device and put into operation in the prior art, and because the gain monitoring process is performed in an actual application environment, the gap between a ground darkroom environment and the actual application environment and the influence of changes in the performance of the receiving antenna on the measurement result can be reduced, thereby ensuring the reliability and accuracy of the measurement result.

[0210] For the system embodiment, because it is basically similar to the method embodiment, the description is relatively simple, and the related parts can be referred to the part of the description of the method embodiment.

[0211] It should be noted that, in this document, the relationship terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0212] The various embodiments in the specification are described in a related manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments.

[0213] The above only describes the preferred embodiments of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for on-orbit monitoring of the gain stability of a spaceborne GNSS phased array antenna, characterized in that, Applied to a detection device, the method includes: Obtain the real-time location information of the detection device and the beacon location information of the beacon source; Based on the real-time location information and the beacon location information, it is determined whether the beacon source has entered the gain monitoring range of the detection device; When the beacon source enters the gain monitoring range, the beacon signal transmitted by the beacon source is tracked by a GNSS phased array antenna to obtain the tracking result. The GNSS phased array antenna is installed on the detection device. Based on the tracking results, real-time gain monitoring is performed on the GNSS phased array antenna. Specifically, this real-time gain monitoring includes: integrating and accumulating multiple tracking results obtained within a preset time period to obtain an integrated tracking result; forwarding the integrated tracking result to a satellite so that the satellite can transmit the integrated tracking result to the ground for data inversion to obtain a gain measurement result for the GNSS phased array antenna.

2. The method according to claim 1, characterized in that, Before acquiring the real-time location information of the detection device and the beacon location information of the beacon source, the method further includes: Acquire the status information of the detection device, which is used to indicate whether the gain monitoring mode is enabled; When the gain monitoring mode is enabled, the step of obtaining the real-time location information of the detection device and the beacon location information of the beacon source is performed.

3. The method according to claim 1, characterized in that, The step of determining whether the beacon source has entered the gain monitoring range of the detection device based on the real-time location information and the beacon location information includes: Obtain the half-angle of the GNSS phased array antenna; Based on the real-time location information and the beacon location information, the angle between the beacon source and the detection device is determined; By comparing the half-angle and the included angle, if the half-angle is greater than or equal to the included angle, it is determined that the beacon source has entered the gain monitoring range of the detection device.

4. The method according to claim 1, characterized in that, The method of tracking the beacon signal transmitted by the beacon source using a GNSS phased array antenna to obtain the tracking result includes: The beacon signal transmitted by the beacon source is received via a GNSS phased array antenna; The code delay, Doppler delay, and phase are traversed to generate candidate signal parameters, and the candidate signal parameters are matched with the beacon signal. The candidate signal parameters that are successfully matched are used as local signal parameters, and the beacon signal is tracked based on the local signal parameters to obtain the tracking result.

5. The method according to claim 4, characterized in that, The traversal code delay, Doppler delay, and phase are used to generate candidate signal parameters, and the candidate signal parameters are matched with the beacon signal, including: Determine whether this is the first time a match has been made with the beacon signal; If the first or previous match fails, the code delay, Doppler delay and phase are traversed to generate candidate signal parameters, wherein the initial value of the phase value in the local signal parameters is a preset value; The candidate signal parameters are matched with the beacon signal.

6. The method according to claim 5, characterized in that, After determining whether it is the first match with the beacon signal, the process further includes: If it is not the first time, then obtain the previous tracking result and use the previous tracking result as the local signal parameter, and perform the step of tracking the beacon signal based on the local signal parameter to obtain the tracking result.

7. The method according to claim 1, characterized in that, After integrating and accumulating the multiple tracking results obtained within a preset time period to obtain the integrated tracking result, the method further includes: Based on the corrected Doppler delay and the preset Doppler frequency in the integrated tracking result, a Doppler compensation value is determined, which is used to track the beacon signal.

8. An on-orbit monitoring system for the gain stability of a spaceborne GNSS phased array antenna, characterized in that, The system, applied to detection equipment, includes: The acquisition module is used to acquire the real-time location information of the detection device and the beacon location information of the beacon source; The judgment module is used to determine whether the beacon source has entered the gain monitoring range of the detection device based on the real-time location information and the beacon location information. The tracking module is used to track the beacon signal sent by the beacon source through a GNSS phased array antenna when the beacon source enters the gain monitoring range, and to obtain the tracking result. The GNSS phased array antenna is installed on the detection device. The monitoring module is used to perform real-time gain monitoring of the GNSS phased array antenna based on the tracking results; specifically, the real-time gain monitoring of the GNSS phased array antenna based on the tracking results is used to integrate and accumulate multiple tracking results obtained within a preset time period to obtain an integrated tracking result; and to forward the integrated tracking result to the satellite so that the satellite can transmit the integrated tracking result to the ground for data inversion to obtain the gain measurement result of the GNSS phased array antenna.

9. The system according to claim 8, characterized in that, The acquisition module is also used for: Acquire the status information of the detection device, which is used to indicate whether the gain monitoring mode is enabled; When the gain monitoring mode is enabled, the step of obtaining the real-time location information of the detection device and the beacon location information of the beacon source is performed.

10. The system according to claim 8, characterized in that, The judgment module is also used for: Obtain the half-angle of the GNSS phased array antenna; Based on the real-time location information and the beacon location information, the angle between the beacon source and the detection device is determined; By comparing the half-angle and the included angle, if the half-angle is greater than or equal to the included angle, it is determined that the beacon source has entered the gain monitoring range of the detection device.

11. The system according to claim 8, characterized in that, The tracking module is specifically used for: The beacon signal transmitted by the beacon source is received via a GNSS phased array antenna; The code delay, Doppler delay, and phase are traversed to generate candidate signal parameters, and the candidate signal parameters are matched with the beacon signal. The candidate signal parameters that are successfully matched are used as local signal parameters, and the beacon signal is tracked based on the local signal parameters to obtain the tracking result.

12. The system according to claim 11, characterized in that, The tracking module is specifically used for: Determine whether this is the first time a match has been made with the beacon signal; If the first or previous match fails, the code delay, Doppler delay and phase are traversed to generate candidate signal parameters, wherein the initial value of the phase value in the local signal parameters is a preset value; The candidate signal parameters are matched with the beacon signal.

13. The system according to claim 12, characterized in that, The tracking module is specifically used for: If it is not the first time, then obtain the previous tracking result and use the previous tracking result as the local signal parameter, and perform the step of tracking the beacon signal based on the local signal parameter to obtain the tracking result.

14. The system according to claim 8, characterized in that, The monitoring module is also used for: Based on the corrected Doppler delay and the preset Doppler frequency in the integrated tracking result, a Doppler compensation value is determined, which is used to track the beacon signal.

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