Novel slit plate scatter portable antenna system

Abstract

The application provides a novel gap flat plate scattering portable antenna system, which is applied to the technical field of antenna scattering communication. The system comprises an antenna surface subsystem, a servo turntable subsystem installed on a backboard of the antenna surface subsystem and a foldable tripod unit, the foldable tripod unit supports the servo turntable subsystem; the antenna surface subsystem transmits and receives electromagnetic wave signals; the servo turntable subsystem carries and drives the antenna surface subsystem to rotate in azimuth and elevation, and comprises an azimuth component, an elevation component, an ultrasonic sensor and a servo control system; the ultrasonic sensor measures the real-time distance from the backboard; the servo control system determines the current elevation angle according to the real-time distance; in the case that the current azimuth angle and the current elevation angle of the antenna surface subsystem meet the preset conditions for aligning the target, the azimuth component and the elevation component are controlled to stop running. The problems of the prior art, such as large volume, complicated erection, low intelligent degree of attitude adjustment, excessive weight and insufficient modular design, are solved.

Description

Technical Field

[0001] This application relates to the field of antenna scattering communication technology, and in particular to a novel slotted flat panel scattering portable antenna system. Background Technology

[0002] Scatter communication is a novel beyond-line-of-sight communication method that utilizes the scattering of electromagnetic waves by the airborne medium to communicate between two locations. A portable scatter communication antenna (or simply portable antenna) is a component of a scatter communication system. It is used to directionally transmit signals from a high-power amplifier into free space, while simultaneously receiving electromagnetic wave signals directed into free space and transmitting them to the scatter communication equipment. This enables scatter communication of signals within the operating frequency band, supporting voice, data, and video communication services. The portable scatter communication antenna is designed for outdoor use, operating normally in winds up to level 6 and undamaged in winds up to level 8. During field use, precise alignment with the target location can be achieved by adjusting the antenna's azimuth and elevation. It features quick-installation and quick-disassembly capabilities and can be managed by on-site monitoring equipment.

[0003] With the development of communication technology, the demand for portable antennas is increasing. However, existing portable antennas mainly suffer from drawbacks such as large size, cumbersome installation, low level of intelligent attitude adjustment, excessive weight, and insufficient modular design.

[0004] Therefore, how to solve the defects of existing portable antennas has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides a novel slotted flat panel scattering portable antenna system that can simultaneously overcome five major technical bottlenecks: ultra-thin flat panel, rapid setup, intelligent target alignment, lightweight, and modular design. It effectively solves the problems of existing portable antennas, such as large size, cumbersome setup, low level of intelligent attitude adjustment, excessive weight, and insufficient modular design.

[0006] This application provides a novel slotted planar scattering portable antenna system, including: an antenna surface subsystem, a servo turntable subsystem mounted on the back plate of the antenna surface subsystem, and a foldable tripod unit, wherein the foldable tripod unit is used to support the servo turntable system;

[0007] The antenna surface subsystem is used to transmit and receive electromagnetic wave signals, and includes, from top to bottom, an antenna radome, a radiating slot layer, a coupling cavity layer, and an HT-type broadband ridge waveguide feed network layer.

[0008] The servo turntable subsystem is used to support and drive the antenna surface subsystem to rotate in azimuth and pitch, and includes an azimuth component, a pitch component, an ultrasonic sensor, and a servo control system; wherein, the azimuth component and the pitch component are connected by a first hinge, the first hinge adopting a single arm and D-shaped base cooperation structure; the pitch component and the antenna surface subsystem are connected by a second hinge, the second hinge adopting a single arm and L-shaped plate cooperation structure;

[0009] The ultrasonic sensor is fixed on a support arm that does not move with pitch and is set vertically toward the back plate of the antenna surface subsystem. It is used to measure the real-time distance L from the ultrasonic sensor to the back plate.

[0010] The servo control system is used to acquire the current azimuth angle of the antenna subsystem during the azimuth rotation controlled by the azimuth component; simultaneously, during the pitch rotation controlled by the pitch component, it determines the current pitch angle of the antenna subsystem according to the real-time distance L and a distance-angle conversion algorithm; and when the current azimuth angle and the current pitch angle meet the preset condition that the antenna subsystem is aligned with the target, it controls the azimuth component and the pitch component to stop operating.

[0011] According to an embodiment of this application, a novel slotted planar scattering portable antenna system is provided. The servo control system is used to determine the current elevation angle of the antenna surface subsystem according to the real-time distance L and a distance-angle conversion algorithm. Specifically, the servo control system is used to obtain the initial distance L0 between the ultrasonic sensor and the backplate, and to obtain the fixed distance D between the ultrasonic sensor and the elevation axis, where the initial elevation angle of the antenna surface subsystem is 0°. The elevation axis is the intersection of the azimuth axis of the azimuth component and the elevation axis of the elevation component. The current elevation angle is determined according to the real-time distance L, the initial distance L0, and the fixed distance D, using the distance-angle conversion algorithm. The calculation formula for the distance-angle conversion algorithm is: θ = arcsin((L-L0) / D); θ represents the current elevation angle; L represents the real-time distance; L0 represents the initial distance; and D represents the fixed distance.

[0012] According to an embodiment of this application, a novel slotted flat-panel scattering portable antenna system is provided. The servo turntable subsystem further includes a dual BeiDou positioning module, which comprises two BeiDou navigation receivers, respectively used to receive BeiDou-2 satellite signals and BeiDou-3 satellite signals for positioning, obtaining the longitude and latitude information of the target. The servo control system is used to control the azimuth component and the elevation component to stop operating when the current azimuth angle and the current elevation angle meet the preset conditions that the antenna surface subsystem is aligned with the target. Specifically, the servo control system is used to calculate the position information of the target based on the longitude and latitude information; and to calculate the theoretical azimuth angle and theoretical elevation angle of the antenna surface subsystem aligned with the target based on the position information; and to control the azimuth component and the elevation component to stop operating when the difference between the current azimuth angle and the theoretical azimuth angle is less than a first preset threshold and the difference between the current elevation angle and the theoretical elevation angle is less than a second preset threshold.

[0013] According to an embodiment of this application, a novel slotted flat panel scattering portable antenna system is provided. The azimuth component includes an azimuth motor, a gear set, and a worm gear mechanism. The azimuth motor drives the worm gear mechanism through the gear set, thereby controlling the gimbal base plate of the servo control system to rotate azimuthally around the gimbal base axis of the servo control system.

[0014] According to an embodiment of this application, a novel slotted planar scattering portable antenna system is provided. The pitch component includes a customized pitch motor with a lead screw and a lead screw nut. The lead screw nut is connected to the antenna surface subsystem. The pitch motor drives the lead screw nut to move along the lead screw, thereby controlling the antenna surface subsystem to pitch and rotate around the pitch axis.

[0015] According to an embodiment of this application, a novel slotted flat panel scattering portable antenna system is provided. The servo control system includes a serial port controller and a motor drive controller. The serial port controller is connected to the main control unit via an RS232 interface, and the motor drive controller is integrated on the main control unit to receive feedback data from the azimuth motor and the pitch motor.

[0016] According to an embodiment of this application, a novel slotted flat panel scattering portable antenna system is provided, wherein the servo turntable subsystem has an unfolded state and a folded state; in the folded state, the azimuth component and the elevation component are folded into a straight line, and the L-shaped plate is folded inward, and the elevation motor is folded into the single arm.

[0017] According to an embodiment of this application, a novel slotted planar scattering portable antenna system is provided. The servo control system has three operating modes: standby mode, position pointing mode, and digital guidance mode. In standby mode, the driving of the azimuth component and the elevation component is disabled. In position pointing mode, the target azimuth angle and target elevation angle are input through a human-machine interface to control the antenna surface subsystem to operate to a designated position. The current elevation angle of the antenna surface subsystem is calculated by the distance-angle conversion algorithm based on the real-time distance L measured by the ultrasonic sensor. In digital guidance mode, the azimuth angle and elevation angle commands issued by external station control software are received to control the antenna surface subsystem to turn to the guidance position.

[0018] According to an embodiment of this application, a novel slotted flat panel scattering portable antenna system is provided. The folding operation of the second hinge is achieved by manually pressing down on the spring block, which compresses the built-in spring and releases the stop, causing the pitch component to rotate and fold relative to the azimuth component. The folding operation of the first hinge is achieved by manually rotating the locking handle, which releases the handle from the azimuth component, causing the azimuth component to rotate relative to the pitch component to a parallel position.

[0019] According to an embodiment of this application, a novel slotted planar scattering portable antenna system is provided, wherein the azimuth component has a rotation range of [-185°, 185°] and a rotation speed adjustment range of [0.1° / s, 3° / s]; the elevation component has a rotation range of [-8°, 10°] and a rotation speed adjustment range of [0.1° / s, 3° / s]; and the pointing control accuracy of the antenna surface subsystem is less than or equal to 0.1°.

[0020] The novel slotted planar scattering portable antenna system provided in this application includes: an antenna surface subsystem, a servo turntable subsystem mounted on the back plate of the antenna surface subsystem, and a foldable tripod unit. The foldable tripod unit supports the servo turntable subsystem. The antenna surface subsystem is used to transmit and receive electromagnetic wave signals and includes, from top to bottom, an radome, a radiating slot layer, a coupling cavity layer, and an HT-type broadband ridge waveguide feed network layer. The servo turntable system is used to carry and drive the antenna surface subsystem to perform azimuth and pitch rotation, and includes an azimuth component, a pitch component, an ultrasonic sensor, and a servo control system. The azimuth component and the pitch component are connected by a first hinge, which adopts a single-arm and D-type mount cooperation structure. The pitch component and the antenna surface subsystem are connected by a second hinge. The system is connected by two hinges, with the second hinge employing a combination structure of the single arm and the L-shaped plate. The ultrasonic sensor is fixed to the arm that does not move with pitch and is vertically positioned towards the back plate of the antenna subsystem, used to measure the real-time distance L from the ultrasonic sensor to the back plate. The servo control system is used to acquire the current azimuth angle of the antenna subsystem during the azimuth rotation controlled by the azimuth component; simultaneously, during the pitch rotation controlled by the pitch component, it determines the current pitch angle of the antenna subsystem based on the real-time distance L using a distance-angle conversion algorithm; and when the current azimuth angle and the current pitch angle meet the preset condition that the antenna subsystem is aligned with the target, it controls the azimuth component and the pitch component to stop operating. The antenna surface subsystem employs a waveguide slot array design to achieve an ultra-thin flat panel structure with a thickness of no more than 10mm. The servo turntable subsystem includes foldable elevation and azimuth components that integrate ultrasonic sensors. These sensors calculate the current elevation angle by measuring the real-time distance to the backplate of the antenna surface subsystem, enabling intelligent target alignment. The foldable tripod uses a quick-locking mechanism for rapid disassembly and reassembly from the servo turntable subsystem. Furthermore, the total weight of this novel slotted flat panel scattering portable antenna system is significantly reduced to approximately 6kg, achieving extreme portability, rapid deployment, and high-precision intelligent control, making it particularly suitable for emergency communications and field operations.

[0021] In other words, the novel slotted flat panel scattering portable antenna system provided in this application can simultaneously overcome five major technical bottlenecks: "ultra-thin flat panel, rapid setup, intelligent target alignment, lightweight, and modularity," effectively solving the problems of existing portable antennas being bulky, cumbersome to set up, having low levels of intelligence in attitude adjustment, being too heavy, and lacking modular design. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of the novel slotted flat panel scattering portable antenna system provided in the embodiments of this application;

[0024] Figure 2a This is a schematic diagram of the layered structure of the antenna surface subsystem provided in the embodiments of this application;

[0025] Figure 2b This is a top view of the antenna surface subsystem provided in the embodiments of this application;

[0026] Figure 2c This is a side view of the antenna surface subsystem provided in an embodiment of this application;

[0027] Figure 3a This is a schematic diagram showing the integrated layout of the antenna surface subsystem and the servo turntable subsystem provided in the embodiments of this application;

[0028] Figure 3b This is a schematic diagram of the integrated layout and folding of the antenna surface subsystem and the servo turntable subsystem provided in the embodiments of this application;

[0029] Figure 4a This is a schematic diagram of the orientation transmission chain of the orientation component provided in the embodiments of this application;

[0030] Figure 4b This is a schematic diagram of the pitch drive train of the pitch assembly provided in the embodiments of this application;

[0031] Figure 5 This is a schematic diagram of the gimbal layout of the servo turntable subsystem provided in this application embodiment;

[0032] Figure 6 This is a before-and-after comparison diagram of the antenna system provided in the embodiments of this application at the fold 1;

[0033] Figure 7 This is a before-and-after comparison diagram of the antenna system provided in the embodiment of this application at the fold 2;

[0034] Figure 8 This is a schematic diagram showing the gimbal before and after folding of the servo turntable subsystem provided in this application embodiment;

[0035] Figure 9 This is a schematic diagram of the foldable tripod unit provided in the embodiments of this application before and after its installation;

[0036] Figure 10 This is a schematic diagram showing the fixing between the gimbal base and the foldable tripod unit of the servo turntable subsystem provided in this application embodiment;

[0037] Figure 11 This is a schematic diagram showing the integrated deployment of the antenna surface subsystem and the servo turntable subsystem provided in the embodiments of this application;

[0038] Figure 12 This is a schematic diagram of the gimbal base being fixed to the foldable tripod unit according to an embodiment of this application;

[0039] Figure 13 This is a flowchart illustrating the servo control system provided in an embodiment of this application;

[0040] Figure 14 This is a schematic diagram of the turntable control function of the antenna system provided in the embodiments of this application.

[0041] Explanation of reference numerals in the attached diagram: 1. Antenna surface subsystem; 11. Radome; 12. Radiating slot layer; 13. Coupled cavity layer; 14. HT-type broadband ridge waveguide feed network layer; 141. HT-type broadband ridge waveguide feed network; 2. Servo turntable subsystem; 21. Azimuth assembly; 211. Azimuth motor; 212. Gear set; 213. Worm gear; 214. Worm; 22. Pitch assembly; 221. Pitch motor; 222. Lead screw nut; 3. Foldable tripod unit; 4. Spring block; 5. Slant bracket of antenna surface subsystem; 6. Locking handle; 7. Nut; 8. Gimbal base; 9. Tripod handle. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] To better understand the embodiments of this application, the prior art will first be described in detail:

[0044] Existing portable antennas mainly suffer from drawbacks such as large size, cumbersome installation, low level of intelligent attitude adjustment, excessive weight, and insufficient modular design. Specifically:

[0045] The large size indicates a trade-off between the volume and profile thickness of existing portable antennas. While traditional parabolic antennas offer good performance, their focal depth results in a thick profile, large size, and inconvenient packaging and transportation. Common microstrip patch antennas, although achieving a low profile, often lag behind waveguide structures in gain, efficiency, and especially scattering characteristics for the same aperture, making it difficult to balance high performance and ultra-thin design.

[0046] The cumbersome setup process indicates that existing portable antennas are inefficient to set up and dismantle. Existing servo turntables are complex, often featuring a rigid, one-piece design that makes them either non-foldable or requires cumbersome folding procedures. Support legs typically employ a screw-on tightening structure, which is time-consuming and labor-intensive. The setup time for existing portable antennas generally takes 10 to 15 minutes, or even longer, failing to meet the "minute-level" rapid deployment requirements in emergency situations.

[0047] The low level of intelligence in attitude adjustment means that most existing portable antennas rely on manual coarse positioning using compasses and tiltmeters, followed by fine-tuning via beacon signals, to accurately align with the target. This entire process is operator-dependent, requires high levels of expertise, and is time-consuming. Some high-end products use integrated tilt sensors, but these sensors are expensive, susceptible to external magnetic field interference, and their reliability in complex environments is questionable.

[0048] The excessive weight indicates that existing portable antenna systems exceed weight limits, significantly compromising portability. To achieve high gain and structural stability, current portable antennas typically employ a metal parabolic antenna system with a bulky turntable, weighing between 10kg and 20kg. This weight makes it extremely difficult for a single person to carry and operate for extended periods, severely limiting the applicability of portable antennas in extreme scenarios such as field operations and geological disaster relief.

[0049] To address the shortcomings of modular design, existing portable antennas are designed to meet individual performance requirements, but when the product needs to be upgraded or repaired, the entire antenna must be redesigned or replaced. This lack of modular coordination and maintainability results in high product maintenance and upgrade costs.

[0050] Therefore, there is an urgent need for a new portable antenna system that can simultaneously overcome the five major technical bottlenecks of "ultra-thin flat panel, rapid setup, intelligent target alignment, lightweight, and modularity". The aim is to effectively solve the problems of existing portable antennas, such as large size, cumbersome setup, low level of intelligent attitude adjustment, excessive weight, and insufficient modular design.

[0051] To address the aforementioned technical issues, this application provides a novel slotted planar scattering portable antenna system, comprising an antenna surface subsystem, a servo turntable subsystem mounted on the backplate of the antenna surface subsystem, and a foldable tripod unit. The antenna surface subsystem employs a waveguide slot array design to achieve an ultra-thin planar structure with a thickness not exceeding 10mm. The servo turntable subsystem includes foldable elevation and azimuth components that integrate ultrasonic sensors. These ultrasonic sensors measure the real-time distance between the antenna surface subsystem and its backplate. As the current azimuth angle of the antenna surface subsystem approaches the theoretical azimuth angle, the servo turntable subsystem calculates the current elevation angle based on this real-time distance, thereby achieving intelligent target alignment. The foldable tripod employs a quick-release locking mechanism, enabling rapid disassembly and reassembly from the servo turntable subsystem. Furthermore, the total weight of this novel slotted planar scattering portable antenna system is significantly reduced to approximately 6kg, achieving extreme portability, rapid deployment capability, and high-precision intelligent control, making it particularly suitable for emergency communication, field operations, and other scenarios.

[0052] In other words, the novel slotted flat panel scattering portable antenna system provided in this application can simultaneously overcome five major technical bottlenecks: "ultra-thin flat panel, rapid setup, intelligent target alignment, lightweight, and modularity," effectively solving the problems of existing portable antennas being bulky, cumbersome to set up, having low levels of intelligence in attitude adjustment, being too heavy, and lacking modular design.

[0053] The novel slotted planar scattering portable antenna system (hereinafter referred to as the antenna system) provided in the embodiments of this application will be described in detail below:

[0054] Figure 1 This is a schematic diagram of the structure of the novel slotted planar scattering portable antenna system provided in the embodiments of this application. Figure 1 As shown, the antenna system includes: an antenna surface subsystem 1, a servo turntable subsystem 2 mounted on the back plate of the antenna surface subsystem 1, and a foldable tripod unit 3, which is used to support the servo turntable subsystem 2.

[0055] The antenna surface subsystem 1 is used to transmit and receive electromagnetic wave signals, including, from top to bottom, an antenna radome 11, a radiation slot layer 12, a coupling cavity layer 13, and an HT-type broadband ridge waveguide feed network layer 14.

[0056] The servo turntable subsystem 2 is used to support and drive the antenna surface subsystem 1 to rotate in azimuth and pitch. It includes an azimuth component 21, a pitch component 22, an ultrasonic sensor, and a servo control system. The azimuth component 21 and the pitch component 22 are connected by a first hinge, which adopts a single-arm and D-shaped base structure. The pitch component 22 is connected to the antenna surface subsystem 1 by a second hinge, which adopts a single-arm and L-shaped plate structure.

[0057] The ultrasonic sensor is fixed on a support arm that does not move with pitch and is set vertically toward the back plate of the antenna surface subsystem 1. It is used to measure the real-time distance L from the ultrasonic sensor to the back plate.

[0058] The servo control system is used to acquire the current azimuth angle of the antenna surface subsystem 1 during the azimuth rotation controlled by the azimuth component 21; simultaneously, during the pitch rotation controlled by the pitch component 22, the current pitch angle of the antenna surface subsystem 1 is determined according to the real-time distance L and the distance-angle conversion algorithm; when the current azimuth angle and the current pitch angle meet the preset conditions that the antenna surface subsystem 1 is aligned with the target, the azimuth component 21 and the pitch component 22 are controlled to stop operating.

[0059] The aforementioned antenna surface subsystem 1 can also be referred to as a planar antenna surface. For example, Figure 2a This is a schematic diagram of the layered structure of the antenna surface subsystem provided in the embodiments of this application; Figure 2b This is a top view of the antenna surface subsystem provided in the embodiments of this application; Figure 2c This is a side view of the antenna surface subsystem provided in an embodiment of this application. Figures 2a-2c As can be seen from the above, the antenna surface subsystem 1 includes, from top to bottom, an antenna radome 11, a radiation slot layer 12, a coupling cavity layer 13, and an HT-type broadband ridge waveguide feed network layer 14, which includes an HT-type broadband ridge waveguide feed network 141.

[0060] For example, Figure 3a This is a schematic diagram showing the integrated layout of the antenna surface subsystem and the servo turntable subsystem provided in the embodiments of this application; Figure 3b This is a schematic diagram showing the integrated layout and folding of the antenna surface subsystem and the servo turntable subsystem provided in an embodiment of this application. Figure 3a and Figure 3b It can be seen that the compact folding structure significantly reduces the size of the antenna system, and the modular unfolding design enables rapid deployment and intelligent alignment in the field.

[0061] In some embodiments, the orientation component 21 includes an orientation motor 211, a gear set 212, and a worm gear mechanism. The orientation motor 211 drives the worm gear mechanism through the gear set 212, controlling the gimbal base plate of the servo control system to rotate in orientation around the gimbal base axis of the servo control system. The entire orientation transmission chain of the orientation component 21 is as follows: Figure 4a As shown.

[0062] The worm gear mechanism includes a worm gear and a worm 214.

[0063] Optionally, the rotor of the worm gear 213 is connected to the gimbal base plate; the stator of the worm gear 213 is connected to the gimbal base shaft.

[0064] In some embodiments, the pitch assembly 22 includes a custom pitch motor 221 with a lead screw and a lead screw nut 222. The lead screw nut 222 is connected to the antenna surface subsystem 1. The pitch motor 221 drives the lead screw nut 222 to move along the lead screw, controlling the antenna surface subsystem 1 to pitch and rotate around the pitch axis. The entire pitch drive chain of the pitch assembly 22 is as follows: Figure 4b As shown.

[0065] For example, Figure 5 This is a schematic diagram of the gimbal layout of the servo turntable subsystem provided in an embodiment of this application. Figure 5 In the servo turntable subsystem 2, there are azimuth motor 211, gear set 212, worm gear, worm 214, pitch motor 221 with T-shaped lead screw and lead screw nut 222.

[0066] For antenna surface subsystem 1, a balance between ultra-thinness and high performance can be achieved. Specifically, antenna surface subsystem 1 employs broadband slot technology to form the antenna radiating layer in the form of a waveguide slot array, effectively reducing the loss of antenna surface subsystem 1 and improving antenna efficiency and antenna gain. The radome 11 and the radiating slot layer 12 are integrated into a single design, reducing the antenna profile. On the other hand, broadband array synthesis technology and broadband ridge waveguide feed network technology (i.e., HT-type broadband ridge waveguide feed network layer 14) are used. Through equal and unequal one-to-two HT-type waveguide power dividers, the excitation signal is amplitude and phase weighted in two dimensions using a pin-shaped power distribution, achieving high gain, low sidelobes, and low profile, reducing the weight and volume of antenna surface subsystem 1, and thus improving the overall performance of antenna surface subsystem 1. Specifically, with each radiating slot corresponding to every two ports as a subarray, after reasonable power allocation for each subarray, the sidelobe level of the entire array is below -17dB.

[0067] The aforementioned antenna subsystem 1 is divided into four parts from top to bottom: radome 11, radiating slot layer 12, coupling cavity layer 13, and HT-type broadband ridge waveguide feed network layer 14. The radome 11 is designed using non-metallic composite materials, such as fiberglass and paper honeycomb composites, which serve to protect the antenna subsystem 1. Optionally, the thickness of the radome 11 is within the range of [0.5mm, 1.5mm], without specific limitation.

[0068] The bottom of the radiating cavity of the radiating slot layer 12 is uniformly spaced with several radiating slots, and ridges are provided between adjacent rows of radiating slots. This improves the radiation efficiency of the antenna aperture and makes the electric field distribution of the antenna aperture more uniform. The antenna surface subsystem 1 forms antenna radiating elements in the form of a waveguide slot array, effectively reducing the loss of the antenna surface subsystem 1 and improving antenna efficiency and antenna gain. It should be noted that radiating slots are formed by slots at the bottom of the radiating cavity. Each radiating slot is arranged at equal intervals, and ridges are provided between each radiating slot in the slot width direction to improve the radiation efficiency of the antenna aperture and make the electric field distribution of the antenna aperture more uniform. In addition, starting from the edge of the antenna, an antenna element includes four radiating slots and a corresponding coupling cavity layer 13. The four radiating slots include two transverse radiating slots and two longitudinal radiating slots. The bottom center of the coupling cavity layer 13 is connected to the antenna waveguide through a slot. The radiating slots are located on one side of the center of the wide side of the waveguide, and each subarray includes four antenna elements.

[0069] Optionally, the aforementioned antenna surface subsystem 1 is designed using non-metallic materials, such as acrylonitrile butadiene styrene copolymer (ABS), special materials, or composite materials. The antenna surface subsystem 1 can also be a mixture of metallic and non-metallic materials. The antenna profile in this application is relatively low. To ensure the flatness of each layer of the antenna surface subsystem 1 and to prevent electromagnetic signal leakage, the antenna surface subsystem 1 employs low-temperature solder paste reflow soldering technology and conductive adhesive bonding technology to integrate each layer structure together. Furthermore, the antenna surface subsystem 1 can also select two adjacent layers for reflow soldering connection. The antenna radiating layer and the radome 11 are bonded with silicone rubber, allowing for a tight fit between the antenna radiating layer and the radome 11, improving the integration of the antenna surface subsystem 1, reducing the profile height of the antenna surface subsystem 1, and thus reducing the weight of the antenna surface subsystem 1. Based on this, the antenna surface subsystem 1 can be 10 mm thick and weigh 2.9 kg.

[0070] For the servo turntable subsystem 2, foldability and intelligent sensing are achieved. Specifically, in terms of mechanical folding, the azimuth component 21 and the pitch component 22 are connected by a hinge of "single arm + D-shaped base", while the pitch component 22 and the antenna surface subsystem 1 are connected by hinges of "single arm + L-shaped plate" and "single arm + pitch motor 221". That is to say, the azimuth component 21 and the pitch component 22 are connected by a first hinge, which adopts a single arm and D-shaped base cooperation structure; the pitch component 22 and the antenna surface subsystem 1 are connected by a second hinge, which adopts the single arm and L-shaped plate cooperation structure, both of which can be folded quickly.

[0071] Based on this, in some embodiments, the aforementioned servo turntable subsystem 2 has an unfolded state and a folded state; in the folded state, the azimuth component 21 and the pitch component 22 are folded into a straight line, that is, the azimuth component 21 and the pitch component 22 are folded from 90° to a straight line of 0°, and the L-shaped plate is folded inward, and the pitch motor 221 is folded into the single arm, which can reduce the volume of the servo turntable subsystem 2 by more than 85%. The weight is 1.6kg.

[0072] The servo turntable subsystem 2 can achieve the azimuth [-185°, 185°] and elevation [-8°, 10°] rotation range of the antenna surface subsystem 1. Based on this, the azimuth movement of the antenna surface subsystem 1 is achieved by the azimuth motor 211 driving the gear set 212 and the worm gear mechanism, which in turn drives the load end shaft, controlling the gimbal base plate to rotate around the gimbal base shaft to achieve azimuth rotation, thus realizing the overall rotation of the antenna surface subsystem 1 and achieving azimuth self-locking function. The elevation movement of the antenna surface subsystem 1 is achieved by the elevation motor 221 driving the lead screw nut 222 to move along the lead screw, controlling the antenna surface subsystem 1 to rotate around the elevation axis. The entire structure is compact, with the main components mounted on the gimbal of the servo turntable subsystem 2, and ultrasonic sensors provide feedback on the rotation angle to meet the rotation range. To reduce the overall weight and power consumption of the antenna system and improve product reliability, both the azimuth component 21 and the elevation component 22 adopt mature motor control systems.

[0073] It should be noted that, to achieve high integration, a gear set 212 and a worm gear mechanism are used as the second stage of transmission. Smaller components are selected whenever possible, and the servo control system and ultrasonic sensors are mounted on the pitch arm, allowing the antenna system to achieve a space utilization rate of 85%. When folded, it occupies only 24% of the space of the unfolded version. This significantly reduces the space required for a backpack, making it easier to carry. Therefore, this antenna system layout boasts high space utilization and high integration.

[0074] In some embodiments, the folding operation of the second hinge is performed by manually pressing down the spring block 4, which compresses the built-in spring and releases the stop, causing the pitch component 22 to rotate and fold relative to the orientation component 21; the folding operation of the first hinge is performed by manually rotating the locking handle 6, which releases the handle (i.e., the locking handle 6) from the orientation component 21, causing the orientation component 21 to rotate relative to the pitch component 22 to a parallel position.

[0075] For example, Figure 6 This is a before-and-after comparison diagram of the antenna system provided in the embodiments of this application at the fold 1. Figure 6In the process, the folding principle of the antenna system at the folding point 1 is as follows: the spring pressure block 4 is manually pushed down, the spring pressure block 4 drives the built-in spring to compress, and the stop is released, so that the inclined bracket 5 of the antenna surface subsystem 1 can be rotated and folded. The inclined bracket 5 is folded down until it is close to the pitch component 22, completing the first step of flattening and folding for storage.

[0076] For example, Figure 7 This is a before-and-after comparison diagram of the antenna system provided in the embodiments of this application at the fold 2. Figure 7 In this antenna system, the folding principle at fold 2 is as follows: manually rotating the locking handle 6 changes the locking handle 6 from a locked state to a loose state with the azimuth component 21. The azimuth component 21 and the elevation component 22 can then rotate relative to each other to a parallel position, completing the second step of flattening and folding for storage.

[0077] For example, combined Figure 6 and Figure 7 , Figure 8 This is a schematic diagram showing the gimbal before and after folding of the servo turntable subsystem provided in this application embodiment.

[0078] In some embodiments, the servo turntable subsystem 2 further includes a dual BeiDou positioning module, which includes two BeiDou navigation receivers, respectively used to receive BeiDou-2 satellite signals and BeiDou-3 satellite signals for positioning, and to obtain the longitude and latitude information of the target; and a servo control system, used to control the azimuth component 21 and the elevation component 22 to stop operating when the current azimuth angle and the current elevation angle meet the preset conditions that the antenna surface subsystem 1 is aligned with the target, including: the servo control system is specifically used to calculate the position information of the target based on the longitude and latitude information; and to calculate the theoretical azimuth angle and the theoretical elevation angle of the antenna surface subsystem 1 aligned with the target based on the position information; and to control the azimuth component 21 and the elevation component 22 to stop operating when the difference between the current azimuth angle and the theoretical azimuth angle is less than a first preset threshold and the difference between the current elevation angle and the theoretical elevation angle is less than a second preset threshold.

[0079] In some embodiments, the servo control system operates in three modes: standby mode, position pointing mode, and digital guidance mode. In standby mode, the azimuth component 21 and the elevation component 22 are disabled. In position pointing mode, the target azimuth angle and target elevation angle are input through the human-machine interface to control the antenna surface subsystem 1 to operate to the specified position. The current elevation angle of the antenna surface subsystem 1 is calculated by a distance-angle conversion algorithm based on the real-time distance L measured by the ultrasonic sensor. In digital guidance mode, the azimuth angle and elevation angle commands sent by the external station control software are received to control the antenna surface subsystem 1 to turn to the guidance position.

[0080] The entire process can achieve dual BeiDou navigation system plus ultrasonic angle measurement. Specifically, the servo control system can drive the azimuth component 21 and the pitch component 22 by setting preset azimuth and pitch angles, and receive feedback data from the azimuth component 21 and the pitch component 22. The servo control system has standby mode, position pointing mode, and digital guidance mode. In standby mode, the standby mode is the default operating mode and fault return mode of the control system upon power-on. After the control system completes its power-on self-test initialization, it enters standby mode. Among the various operating modes, standby mode has the highest priority. In standby mode, the driving of the azimuth component 21 and the elevation component 22 is disabled. In position pointing mode, the user can complete the antenna pointing function with one click through the operation interface / human-machine interface. The antenna surface subsystem 1 is adaptively adjusted according to the signal strength to complete the alignment of strong signals. That is, the target azimuth and target elevation angles are input through the human-machine interface of the monitoring subsystem to control the antenna surface subsystem 1 to operate to the designated position. In digital guidance mode, the azimuth and elevation angle commands issued by the external station control software are received, and the antenna surface subsystem 1 is controlled to turn to the guidance position through the azimuth component 21 and the elevation component 22 to achieve real-time alignment of the target.

[0081] Optionally, the servo turntable subsystem 2 may also include more BeiDou navigation receivers, which, by increasing the number of available satellites, improves reliability and performs well in complex environments such as emergency communications and field operations, resulting in more accurate and stable target positioning.

[0082] In the process of implementing dual BeiDou + ultrasonic angle measurement, since the ultrasonic sensor is fixed on a support arm that does not move with pitch and is vertically positioned towards the backplate of the antenna subsystem 1, it can emit ultrasonic waves vertically towards the antenna backplate. Therefore, the ultrasonic sensor can measure the real-time distance L from the ultrasonic sensor to the backplate based on the emitted ultrasonic waves. Furthermore, since the pitch angle of the antenna subsystem 1 changes in real time, the aforementioned real-time distance L will also change linearly. Based on this, the control module in the servo turntable subsystem 2 can use a distance-angle conversion algorithm to calculate the current pitch angle θ of the antenna subsystem 1 in real time and with high precision, using the real-time distance L as the basis. The entire process is extremely low-cost, completely unaffected by geomagnetic interference, and highly reliable.

[0083] In some embodiments, the servo control system is used to determine the current elevation angle of the antenna surface subsystem 1 according to the real-time distance L and a distance-angle conversion algorithm, including: the servo control system is specifically used to obtain the initial distance L0 between the ultrasonic sensor and the backplate when the initial elevation angle of the antenna surface subsystem 1 is 0°, and to obtain the fixed distance D between the ultrasonic sensor and the elevation axis, where the elevation axis is the intersection of the azimuth axis of the azimuth component 21 and the elevation axis of the elevation component 22; and to determine the current elevation angle according to the distance-angle conversion algorithm based on the real-time distance L, the initial distance L0, and the fixed distance D; wherein the calculation formula of the distance-angle conversion algorithm is: θ=arcsin((L-L0) / D); θ represents the current elevation angle; L represents the real-time distance; L0 represents the initial distance; and D represents the fixed distance.

[0084] It should be noted that the ranging algorithm principle of the above ultrasonic sensor is as follows: Ultrasonic waves are based on the principle of sound wave reflection and utilize the characteristics of ultrasonic waves propagating in the air: 1. Ultrasonic characteristics: sound waves with a frequency higher than 20kHz, which are inaudible to the human ear; 2. Propagation speed: about 340 meters per second at room temperature; 3. Propagation mode: propagating in the medium in the form of mechanical waves.

[0085] The working principle of the ultrasonic sensor described above is as follows: 1. Triggering and transmitting phase: A high-level pulse of more than 10 microseconds is sent to the Trig pin. After detecting this trigger signal, the internal circuit of the ultrasonic sensor emits eight consecutive 40kHz ultrasonic pulses through the ultrasonic transmitter. 2. Ultrasonic propagation phase: The ultrasonic wave propagates forward into space as a spherical wave. When it encounters an obstacle (i.e., the backplate), part of the sound wave is reflected. The reflected wave returns along the original path, and its intensity decreases with the square of the distance. 3. The ultrasonic receiver (piezoelectric ceramic plate) waits for the echo. When the reflected ultrasonic wave is received, the piezoelectric effect converts the sound wave vibration into an electrical signal. The internal amplification circuit of the ultrasonic sensor amplifies the weak signal. 4. Signal output phase: The Echo pin outputs a high level from the moment the echo is received. The duration of the high level is equal to the round-trip time of the ultrasonic wave. After the echo ends, the Echo pin returns to a low level, completing one complete ranging cycle and obtaining the real-time distance L.

[0086] During the fully automatic target alignment process, the dual BeiDou positioning modules receive signals from BeiDou-2 and BeiDou-3 satellites for positioning, obtaining the target's longitude and latitude information. The servo control system then calculates the target's position information based on this longitude and latitude information, and further calculates the theoretical azimuth angle Az of the antenna surface subsystem 1 aligned with the target. t And theoretical pitch angle El t ; Controlling the antenna surface subsystem 1 to rotate from the current azimuth angle to the theoretical azimuth angle Az tDuring the process, based on the real-time distance L, the current elevation angle θ of antenna subsystem 1 is calculated according to the calculation formula of the distance-angle conversion algorithm described above, and compared with the theoretical elevation angle El. t The comparison forms a closed-loop control until angle matching is achieved. Specifically, it continues until the difference between the current azimuth angle and the theoretical azimuth angle is less than a first preset threshold, and simultaneously, the current pitch angle θ and the theoretical pitch angle E1 are matched. t If the difference between the two angles is less than the second preset threshold, it indicates that the current azimuth angle and the current elevation angle θ meet the preset conditions for antenna surface subsystem 1 to be aligned with the target, i.e., angle matching. Further, the azimuth component 21 and elevation component 22 can be controlled to stop operating, simultaneously confirming that antenna surface subsystem 1 is aligned with the target. The entire fully automatic target alignment process requires no manual intervention.

[0087] It should be noted that the latitude and longitude conversion algorithm is used to receive serial port data. Serial Line Internet Protocol (SLIP) Decoding Cyclic Redundancy Check (CRC) Extract commands and parameters Determine command type Real-time status feedback. Specifically, in the process of determining the command type: when the command is a geographic coordinate control command, 1: extract angle values; 2: verify angle orientation; 3: geographic range angle. 4. Calculate the target pulse value; 5. Start the motor movement; When the command is a speed control command, 1. Extract the speed value; 2. Speed ​​limiting processing; 3. Update the speed parameters -> send the response to the host computer (non-blocking mode).

[0088] In some embodiments, the azimuth component 21 has a rotation range of [-185°, 185°] and a rotation speed adjustment range of [0.1° / s, 3° / s]; the elevation component 22 has a rotation range of [-8°, 10°] and a rotation speed adjustment range of [0.1° / s, 3° / s]; and the pointing control accuracy of the antenna surface subsystem 1 is less than or equal to 0.1°. This means the azimuth component 21 can be rotated within a range of [-185°, 185°], and its speed can be adjusted according to actual usage, with a rotation speed adjustment range of [0.1° / s, 3° / s]. The elevation component 22 has a rotation range of [-8°, 10°] and a rotation speed adjustment range of [0.1° / s, 3° / s], where 0° represents horizontal pointing. Furthermore, the pointing control accuracy of the antenna surface subsystem 1 is ≤0.1°.

[0089] In some embodiments, the servo control system includes a serial port controller and a motor drive controller; the serial port controller is connected to the main control unit via an RS232 interface, and the motor drive controller is integrated into the main control unit to receive feedback data from the azimuth motor 211 and the pitch motor 221. The 0.6-meter flat-panel portable scattering antenna control system is used to control the azimuth component 21 and the pitch component 22 of the 0.6-meter servo turntable subsystem 2, and includes the following steps:

[0090] Step 1: When starting the 0.6-meter flat portable scattering antenna, the user can complete the antenna pointing function with one click through the operation interface. The antenna surface subsystem 1 is adaptively adjusted according to the signal strength to complete the alignment of the strong signal.

[0091] Step 2: When the servo control system is in standby mode, standby mode is the default working mode and fault return mode of the control system after power-on self-test initialization. After the control system completes power-on self-test initialization, it enters standby mode. Among the many working modes, standby mode has the highest priority. In standby mode, the driving of azimuth component 21 and pitch component 22 is disabled.

[0092] Step 3: When the servo control system is in position pointing mode, the user can complete the antenna pointing function with one click through the operation interface / human-machine interface, and adaptively adjust the antenna surface subsystem 1 according to the signal strength to complete the alignment of strong signals.

[0093] Step 4: When the servo control system is in digital guidance mode, it receives azimuth and elevation commands from external station control software, and controls the antenna surface subsystem 1 to turn to the guidance position through azimuth component 21 and elevation component 22, thereby achieving real-time alignment with the target.

[0094] When the servo control system selects the automatic alignment mode, the azimuth component 21 and the elevation component 22 respectively feed back their rotation data to the azimuth component 21 driver and the elevation component 22 driver. The azimuth component 21 driver then sends the rotation data fed back by the azimuth component 21 to the servo control system, and the elevation component 22 driver also sends the rotation data fed back by the elevation component 22 to the servo control system. At this time, the servo control system determines whether to continue target tracking based on the magnitude of the received signal level. Specifically, if the difference between the current azimuth angle and the theoretical azimuth angle of the antenna surface subsystem 1 is less than a first preset threshold, and the difference between the current elevation angle and the theoretical elevation angle of the antenna surface subsystem 1 is less than a second preset threshold, it indicates that the antenna surface subsystem 1 has been aligned with the target. At this time, the azimuth component 21 can be stopped by the azimuth component 21 driver, and the elevation component 22 can be stopped by the elevation component 22 driver. If the difference between the current azimuth angle and the theoretical azimuth angle of the antenna surface subsystem 1 is less than a second preset threshold, it indicates that the antenna surface subsystem 1 has been aligned with the target. At this time, the azimuth component 21 can be stopped by the azimuth component 21 driver, and the elevation component 22 can be stopped by the elevation component 22 driver. If the difference in azimuth angle is greater than or equal to a first preset threshold, and / or the difference between the current elevation angle and the theoretical elevation angle of antenna subsystem 1 is greater than or equal to a second preset threshold, it indicates that antenna subsystem 1 is not aligned with the target. At this time, the azimuth component 21 can be controlled by the driver of azimuth component 21 to track, and / or the elevation component 22 can be controlled by the driver of elevation component 22 to track, until the difference between the current azimuth angle and the theoretical azimuth angle is less than the first preset threshold, and the difference between the current elevation angle and the theoretical elevation angle is less than the second preset threshold, thereby achieving automatic tracking of the target.

[0095] It should be noted that the above-mentioned automatic alignment process improves the intelligence of the antenna system's attitude adjustment, increases alignment accuracy, reduces measurement costs, and enhances reliability in complex environments.

[0096] The foldable tripod unit 3 provides quick and stable support. It utilizes a four-section carbon fiber tube design, maximizing weight reduction while maintaining support rigidity. Furthermore, the foldable tripod unit 3 features a quick-locking mechanism (such as...) Figure 9 (As shown) a locking structure using nut 7. Users simply unfold the legs of the foldable tripod unit 3 to their designated positions, then rotate nut 7 to lock the joints, ensuring no wobbling. For retraction, simply rotate nut 7 in the opposite direction to quickly release the legs. This design achieves "quick assembly and disassembly," greatly improving the setup efficiency of the foldable tripod unit 3. It should be noted that the foldable tripod unit 3 is quickly fixed to the gimbal base 8 of the servo turntable subsystem 2 by aligning the wedge-shaped grooves and pulling upwards on the tripod handle 9. The friction of the wedge-shaped grooves and the tension of the springs secure the servo turntable subsystem 2 to the foldable tripod unit 3 (as shown). Figure 10 (As shown). Among them, the weight of the foldable tripod unit 3 is 1.5kg.

[0097] It should be noted that the antenna system provided in this embodiment is divided into two main modules: a first module and a second module. The antenna surface subsystem 1 and the servo turntable subsystem 2 are highly integrated into the first module, while the foldable tripod unit 3 constitutes the second module. When using this antenna system, simply assemble the first and second modules. It can be quickly set up without tools. Furthermore, modularizing the antenna system eliminates the need for complete redesign or replacement of the entire system. This allows for targeted coordination and repair of problematic modules, effectively reducing product maintenance and upgrade costs.

[0098] Specifically, the first step, the setup of the foldable tripod unit 3 before and after (e.g.) Figure 9 (As shown), the time is 30 seconds; the second step is the integrated deployment of antenna surface subsystem 1 and servo turntable subsystem 2 (as shown). Figure 11 (As shown), time 50 seconds; third step, servo turntable subsystem 2 is aligned through the wedge groove and quickly fixed onto the foldable tripod unit 3 (as shown). Figure 12 As shown), the setup took 20 seconds; the total setup time was 100 seconds.

[0099] Understandably, the antenna surface subsystem 1 and the servo turntable subsystem 2 of the antenna system are foldable, and the tripod unit can also be folded, effectively reducing the size of the antenna system.

[0100] Secondly, the antenna surface subsystem 1 weighs 2.9kg, the servo turntable subsystem 2 weighs 1.6kg, and the foldable tripod unit 3 weighs 1.5kg. Based on this, the antenna system weighs 6kg. This weight reduces the difficulty of carrying and operating the antenna system for a long time by a single person, and improves the applicability of the antenna system in extreme scenarios such as field combat and geological disaster rescue.

[0101] Furthermore, as can be seen from the above three steps, the total setup time for the antenna system is 100 seconds, which can meet the "minute-level" rapid activation requirement in emergency situations.

[0102] In summary, the antenna system provided in this embodiment can significantly reduce antenna profile and weight while improving antenna gain and efficiency, reducing production costs, ensuring the stability of antenna surface subsystem 1 in windy environments, improving signal alignment speed, thereby improving antenna efficiency and communication quality, and enhancing product quality and performance.

[0103] The highly integrated radiating slot layer 12 and HT-type broadband ridge waveguide feed network layer 14 in the aforementioned antenna surface subsystem 1 achieve advantages such as high antenna efficiency, high gain, low profile, simplified assembly, lightweight design, and low manufacturing cost. The lightweight antenna surface subsystem 1 also reduces the gimbal load drive energy consumption of the entire antenna system. Furthermore, the servo turntable subsystem 2 further integrates azimuth and pitch rotation functions, rationally arranging components and improving space utilization. While meeting the load driving requirements, the tripod unit adopts a foldable and highly integrated design, achieving miniaturization, modularity, and integration, while also providing advantages such as quick disassembly, quick assembly, and portability. This antenna system also improves communication quality through intelligent antenna drive, enabling rapid signal alignment.

[0104] In this embodiment, through structural innovation of the antenna surface subsystem 1, servo turntable subsystem 2, and foldable tripod unit 3, the technical bottlenecks of existing portable antennas—being "thick, bulky, and slow to deploy"—are overcome. The 10mm ultra-thin antenna surface design achieves lightweighting while ensuring electromagnetic performance; the foldable structure of the servo turntable subsystem 2, combined with dual BeiDou-ultrasonic positioning technology, balances portability and high precision; and the quick-locking foldable tripod unit 3 significantly improves deployment efficiency. The synergistic effect of these three components gives the antenna system the core advantages of being "light, small, accurate, and fast." Weighing only 6kg and requiring only 2 minutes to set up, it fills the gap in the application of existing portable antennas in complex outdoor scenarios. It simultaneously overcomes five major technical bottlenecks: "ultra-thin flat panel, rapid setup, intelligent target alignment, lightweighting, and modularity," effectively solving the problems of existing portable antennas such as large size, cumbersome setup, low level of intelligent attitude adjustment, excessive weight, and insufficient modular design.

[0105] To better understand the antenna system provided in the embodiments of this application, the flow of the servo control system is illustrated below:

[0106] For example, Figure 13 This is a flowchart illustrating the servo control system provided in an embodiment of this application. Figure 13As can be seen from the process: First, the software in the servo control system is initialized, and the antenna subsystem is controlled to point to the default angle, while receiving angle commands from the host computer. If the angle command indicates manual mode, the current elevation angle of the antenna subsystem is calculated according to the distance-angle conversion algorithm. If the angle command indicates automatic mode, the current elevation angle of the antenna subsystem is calculated according to the longitude and latitude information of the target, combined with the distance-angle conversion algorithm. Then, based on the current elevation angle, the control quantity is calculated, and then the output pulse width modulation (PWM) frequency is converted and driven to drive the elevation motor. Next, the position closed loop is checked, and it is determined whether the pointing is in place (i.e., whether it is aligned with the target). If the pointing is in place, it enters the standby state. If the pointing is not in place, it continues to point until it is in place and enters the standby state.

[0107] The following example illustrates the turntable control function of the antenna system:

[0108] For example, Figure 14 This is a schematic diagram of the turntable control function of the antenna system provided in an embodiment of this application. From... Figure 14 As can be seen, when the antenna system is powered on, it performs a self-test to determine whether it is in a normal state. If not, it will directly issue an alarm; if so, it will enter the main menu, which includes reset, digital guidance, system status, parameter devices, and help. The digital guidance mode includes manual and automatic modes. In manual mode, the servo control system can calculate the current elevation angle of the antenna subsystem based on the distance-angle conversion algorithm. In automatic mode, the servo control system can calculate the current elevation angle of the antenna subsystem based on the longitude and latitude information of the target, combined with the distance-angle conversion algorithm.

[0109] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0110] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A novel slotted planar scattering portable antenna system, characterized in that, include: The antenna surface subsystem, the servo turntable subsystem mounted on the back plate of the antenna surface subsystem, and the foldable tripod unit, the foldable tripod unit being used to support the servo turntable system; The antenna surface subsystem is used to transmit and receive electromagnetic wave signals, and includes, from top to bottom, an antenna radome, a radiating slot layer, a coupling cavity layer, and an HT-type broadband ridge waveguide feed network layer. The servo turntable subsystem is used to support and drive the antenna surface subsystem to rotate in azimuth and pitch, and includes an azimuth component, a pitch component, an ultrasonic sensor, and a servo control system; wherein, the azimuth component and the pitch component are connected by a first hinge, the first hinge adopting a single arm and D-shaped base cooperation structure; the pitch component and the antenna surface subsystem are connected by a second hinge, the second hinge adopting a single arm and L-shaped plate cooperation structure; The ultrasonic sensor is fixed on a support arm that does not move with pitch and is set vertically toward the back plate of the antenna surface subsystem. It is used to measure the real-time distance L from the ultrasonic sensor to the back plate. The servo control system is used to obtain the current azimuth angle of the antenna surface subsystem during the azimuth rotation controlled by the azimuth component; and simultaneously, during the pitch rotation controlled by the pitch component, to determine the current pitch angle of the antenna surface subsystem according to the real-time distance L and a distance-angle conversion algorithm. If the current azimuth angle and the current elevation angle meet the preset conditions that the antenna surface subsystem is aligned with the target, the azimuth component and the elevation component are controlled to stop operating.

2. The novel slotted planar scattering portable antenna system according to claim 1, characterized in that, The servo control system is used to determine the current elevation angle of the antenna subsystem based on the real-time distance L and according to a distance-angle conversion algorithm, including: The servo control system is specifically used to obtain the initial distance L0 between the ultrasonic sensor and the backplate when the initial pitch angle of the antenna surface subsystem is 0°, and to obtain the fixed distance D between the ultrasonic sensor and the pitch axis, wherein the pitch axis is the intersection point between the azimuth axis of the azimuth component and the pitch axis of the pitch component. Based on the real-time distance L, the initial distance L0, and the fixed distance D, the current pitch angle is determined according to the distance-angle conversion algorithm; The calculation formula for the distance-angle conversion algorithm is: θ=arcsin((L-L0) / D); θ represents the current pitch angle; L represents the real-time distance; L0 represents the initial distance; and D represents the fixed distance.

3. The novel slotted planar scattering portable antenna system according to claim 1, characterized in that, The servo turntable subsystem also includes a dual BeiDou positioning module, which contains two BeiDou navigation receivers, used to receive BeiDou-2 satellite signals and BeiDou-3 satellite signals respectively for positioning, and to obtain the longitude and latitude information of the target. The servo control system is configured to control the azimuth component and the elevation component to stop operating when the current azimuth angle and the current elevation angle meet the preset conditions that the antenna surface subsystem is aligned with the target, including: The servo control system is specifically used to calculate the position information of the target based on the longitude information and the latitude information; and to calculate the theoretical azimuth and theoretical elevation angles of the antenna subsystem aligned with the target based on the position information. If the difference between the current azimuth angle and the theoretical azimuth angle is less than a first preset threshold, and the difference between the current pitch angle and the theoretical pitch angle is less than a second preset threshold, the azimuth component and the pitch component shall be controlled to stop operating.

4. The novel slotted planar scattering portable antenna system according to claim 3, characterized in that, The orientation component includes an orientation motor, a gear set, and a worm gear mechanism. The orientation motor drives the worm gear mechanism through the gear set, thereby controlling the gimbal base plate of the servo control system to rotate in orientation around the gimbal base axis of the servo control system.

5. The novel slotted planar scattering portable antenna system according to claim 4, characterized in that, The pitch assembly includes a custom pitch motor with a lead screw and a lead screw nut. The lead screw nut is connected to the antenna surface subsystem. The pitch motor drives the lead screw nut to move along the lead screw, controlling the antenna surface subsystem to pitch and rotate around the pitch axis.

6. The novel slotted planar scattering portable antenna system according to claim 5, characterized in that, The servo control system includes a serial port controller and a motor drive controller; the serial port controller is connected to the main control unit via an RS232 interface, and the motor drive controller is integrated into the main control unit to receive feedback data from the azimuth motor and the pitch motor.

7. The novel slotted planar scattering portable antenna system according to claim 6, characterized in that, The servo turntable subsystem has an unfolded state and a folded state; in the folded state, the azimuth component and the pitch component are folded into a straight line, the L-shaped plate is folded inward, and the pitch motor is folded into the single arm.

8. The novel slotted planar scattering portable antenna system according to claim 7, characterized in that, The servo control system has three operating modes: standby mode, position pointing mode, and digital guidance mode. In the standby mode, the actuation of the azimuth component and the pitch component is disabled; In the position pointing mode, the target azimuth angle and target elevation angle are input through the human-machine interface to control the antenna surface subsystem to operate to the designated position. The current elevation angle of the antenna surface subsystem is calculated by the distance-angle conversion algorithm based on the real-time distance L measured by the ultrasonic sensor. In the digital guidance mode, the antenna surface subsystem receives azimuth and elevation commands from external station control software and controls the antenna surface subsystem to turn to the guidance position.

9. The novel slotted planar scattering portable antenna system according to any one of claims 1-4, characterized in that, The folding operation of the second hinge is achieved by manually pressing down the spring block, which compresses the built-in spring and releases the stop, causing the pitch assembly to rotate and fold relative to the azimuth assembly. The folding operation of the first hinge is achieved by manually rotating the locking handle, which disengages the handle from the orientation component, causing the orientation component and the pitch component to rotate relative to each other to a parallel position.

10. The novel slotted planar scattering portable antenna system according to any one of claims 1-4, characterized in that, The azimuth component has a rotation range of [-185°, 185°] and a rotation speed adjustment range of [0.1° / s, 3° / s]; the elevation component has a rotation range of [-8°, 10°] and a rotation speed adjustment range of [0.1° / s, 3° / s]; the pointing control accuracy of the antenna surface subsystem is less than or equal to 0.1°.

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