Vehicle-mounted satellite terminal motion attitude comprehensive experiment platform construction method and system

Abstract

The invention relates to a vehicle-mounted satellite terminal motion attitude comprehensive experiment platform construction method and system, and the method comprises the steps: constructing a six-degree-of-freedom motion platform, and arranging a vehicle-mounted satellite terminal on the six-degree-of-freedom motion platform; the receiving antenna device is used for receiving a signal transmitted by the vehicle-mounted satellite terminal; the method comprises the following steps: acquiring IMU data in real time by using a vehicle-mounted satellite terminal, and performing terminal attitude calculation according to the IMU data to obtain an attitude calculation result; correcting the attitude resolving result in real time to obtain a corrected attitude; the receiving antenna device is used for receiving a signal which is transmitted by the vehicle-mounted satellite terminal and contains the corrected attitude and recording an RSSI value of the signal; applying external disturbance by using the six-degree-of-freedom motion platform, and recording an RSSI value after disturbance; and judging the real-time correction effect according to the RSSI value and the disturbed RSSI value. Compared with the prior art, the platform has the advantages of high platform integration degree and good attitude correction capability.

Description

Technical Field

[0001] This invention relates to the field of satellite communication, and in particular to a method and system for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal. Background Technology

[0002] With the continuous development of satellite communication technology, vehicle-mounted satellite communication has emerged as an important development direction, providing continuous and reliable satellite communication services while vehicles are in motion. However, existing vehicle-mounted satellite communication technologies are mainly designed for communication satellites in geostationary orbit (GEO), which is insufficient to meet the needs of low-Earth orbit (LEO) broadband communication satellites. LEO satellites fly at high speeds relative to the ground, and constellations composed of multiple satellites present challenges in satellite selection and acquisition, while also facing the problem of broadband communication satellite obstruction.

[0003] Furthermore, the motion attitude information of vehicle-mounted satellite terminals is a fundamental motion parameter for the vehicle to perform navigation, guidance, and trajectory planning tasks, directly impacting its accuracy, reliability, and continuity. However, existing motion attitude measurement and estimation schemes are mostly confined to the theoretical research stage, failing to fully consider engineering constraints and various interferences in practical application scenarios. Therefore, there is an urgent need for a comprehensive experimental platform for the motion attitude of vehicle-mounted satellite terminals that can provide continuous and reliable services in a low-Earth orbit broadband communication satellite environment while possessing accurate motion attitude measurement and estimation capabilities.

[0004] Several invention patents have been issued to address the issue of improving the performance of vehicle-mounted satellite communication. For example: CN116131915A discloses a vehicle-mounted satellite communication system, communication method, and vehicle. The system includes multiple satellite antennas distributed at different locations on the vehicle body; an attitude analysis module for analyzing the vehicle's attitude information; an antenna selection module for analyzing the signal of each satellite antenna based on the attitude information and current satellite position information to determine the target antenna; and a satellite communication module for communicating with the satellite through the target antenna. This invention can improve the satellite communication performance of vehicles. However, this patent relies on a limited number of antenna elements, which not only significantly increases the cost but also makes it difficult to cope with complex vehicle operating conditions.

[0005] CN112290216A provides an inertial navigation redundancy tracking method for mobile satellite communication antennas. The method includes: acquiring motion attitude data of the mobile carrier using a master inertial navigation system; calculating the carrier's velocity in the antenna dish coordinate system based on the motion attitude data; determining the rotational speed of the adjustment motor group in the antenna dish coordinate system to ensure the antenna dish remains aligned with the satellite direction during carrier movement; calculating the target rotational speed of the adjustment motor group driving the antenna dish rotation in the master inertial navigation coordinate system based on the rotational speed; and controlling the adjustment motor group to operate according to the target rotational speed, thereby locking the antenna dish onto the satellite direction. However, the motor group's velocity is insufficient to handle the complex high-frequency onboard conditions, the attitude correction accuracy is limited, and the long-term service life of the motor group is difficult to guarantee. Furthermore, this method is only applicable to high-orbit satellites with generally low angular velocities, and is unsuitable for low-orbit satellites.

[0006] 1. Existing vehicle-mounted satellite communication technologies are mainly designed for communication satellites in geostationary orbit (GEO), and are insufficient to meet the needs of low-Earth orbit (LEO) broadband communication satellites. LEO satellites fly at high speeds relative to the ground, and constellations of multiple satellites present challenges in satellite selection and acquisition, while also facing the problem of broadband communication satellite blockage.

[0007] 2. The motion attitude information of vehicle-mounted satellite terminals is a fundamental motion parameter for the vehicle to perform navigation, guidance, and trajectory planning tasks, directly affecting its accuracy, reliability, and continuity. However, existing motion attitude measurement and estimation schemes are mostly still in the theoretical research stage, and cannot fully consider the engineering constraints and various interferences in the context of practical applications.

[0008] 3. Existing vehicle-mounted satellite communication systems still have shortcomings in the analysis accuracy and precision of attitude analysis modules, making it difficult to meet the needs of practical applications.

[0009] 4. The measurement accuracy of the existing vehicle-mounted satellite terminals still needs improvement in the main control inertial navigation module and the upper inertial navigation module, which affects the accuracy and stability of satellite tracking.

[0010] 5. Existing vehicle-mounted satellite communication systems lack support for multiple communication protocols, which limits their communication flexibility and reliability in different satellite environments. Summary of the Invention

[0011] The purpose of this invention is to overcome the defects of the existing technology and provide a method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal.

[0012] The objective of this invention can be achieved through the following technical solutions: A method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal includes: Step 1: Construct a six-degree-of-freedom motion platform, and install a vehicle-mounted satellite terminal on the six-degree-of-freedom motion platform; install a receiving antenna device to receive the signal transmitted by the vehicle-mounted satellite terminal; Step 2: Using the vehicle-mounted satellite terminal, IMU data is collected in real time, and terminal attitude is calculated based on the IMU data to obtain the attitude calculation result; the attitude calculation result is corrected in real time to obtain the corrected attitude; the receiving antenna device is used to receive the signal containing the corrected attitude transmitted by the vehicle-mounted satellite terminal and record the RSSI value of the signal. Step 3: Apply an external disturbance using the six-degree-of-freedom motion platform, repeat Step 2, and record the RSSI value after the disturbance; determine the effect of the real-time correction based on the RSSI value and the RSSI value after the disturbance.

[0013] Furthermore, the integrated experimental platform includes an anechoic chamber system, which provides a closed area for the integrated experimental platform, shields it from external electromagnetic interference, and avoids multipath reflections.

[0014] Furthermore, the anechoic chamber system includes anechoic chamber a, anechoic chamber b, and pipes connecting anechoic chamber a and anechoic chamber b; The six-degree-of-freedom motion platform is installed in the anechoic chamber a; the receiving antenna device is installed in the anechoic chamber b.

[0015] Furthermore, the vehicle-mounted satellite terminal includes an inertial measurement unit (IMU) for real-time acquisition of the IMU data; the IMU data specifically includes measurement data from a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer.

[0016] Furthermore, the vehicle-mounted satellite terminal is equipped with a phased array antenna, which is used to quickly adjust the antenna beam direction through electronic beam control, so as to realize real-time correction of the attitude calculation results.

[0017] Furthermore, the process for judging the effectiveness of real-time correction specifically includes: Set the fluctuation range of the RSSI value; when the six-degree-of-freedom motion platform is subjected to external disturbance, compare the RSSI value with the RSSI value after the disturbance, and determine whether the fluctuation of the RSSI value exceeds the fluctuation range, so as to determine the effect of the real-time correction.

[0018] Furthermore, the process of applying external disturbances to the six-degree-of-freedom motion platform specifically includes: Set the number of vibration cycles; the six-degree-of-freedom motion platform starts vibrating at a selected angle, determines whether the number of vibration cycles has reached the set number of vibration cycles, and records the RSSI value after the disturbance. If so, compare the RSSI value with the RSSI value after the disturbance, and output RSSI analysis and packet loss rate analysis; otherwise, the six-degree-of-freedom motion platform changes angle and continues to vibrate, repeating the process of judging the number of vibrations.

[0019] Furthermore, the real-time correction process specifically includes: calculating the real-time attitude of the terminal using an attitude fusion algorithm based on the IMU data, obtaining the attitude calculation result, and generating a correction command; and, based on the correction command, implementing rapid adjustment of the antenna beam pointing to achieve real-time correction of the attitude calculation result.

[0020] Furthermore, the six-degree-of-freedom motion platform is electrically driven and can perform programmable motion within a range of three translational degrees of freedom and three rotational degrees of freedom. The three translational degrees of freedom are specifically in the X-axis, Y-axis, and Z-axis directions; the three rotational degrees of freedom are specifically in the pitch, roll, and yaw directions.

[0021] An experimental platform for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal as described above includes: A six-degree-of-freedom motion platform is used to set up the vehicle-mounted satellite terminal and receiving antenna device; it is used to apply external disturbances to simulate the complex dynamic attitude of the vehicle during driving. The vehicle-mounted satellite terminal is equipped with a phased array antenna, which is used to quickly adjust the antenna beam pointing through electronic beam control, so as to realize real-time correction of the attitude calculation results; Anechoic chamber system, including anechoic chamber a, anechoic chamber b, and a pipe connecting anechoic chamber a and anechoic chamber b; the six-degree-of-freedom motion platform is installed in anechoic chamber a; the receiving antenna device is installed in anechoic chamber b; used to provide a closed area for the integrated experimental platform, shielding external electromagnetic interference and avoiding multipath reflection; A receiving antenna device is used to receive signals transmitted by a vehicle-mounted satellite terminal and to determine the effect of the real-time correction by continuously monitoring the RSSI value.

[0022] Compared with the prior art, the present invention has the following advantages: (1) This invention constructs a comprehensive test platform for the motion attitude of a vehicle-mounted satellite terminal, comprising a six-degree-of-freedom motion platform, a vehicle-mounted satellite terminal, an anechoic chamber system, and a receiving antenna device. By simulating complex vehicle operating conditions through the six-degree-of-freedom motion platform, and combining electronic beam control of the phased array antenna with real-time attitude calculation from the terminal's own IMU sensor, accurate and stable tracking of the vehicle's real-time attitude and stable tracking and communication with low-orbit broadband satellites are achieved. This invention can comprehensively verify the attitude correction and beam tracking capabilities of the vehicle-mounted satellite terminal in a controllable experimental environment, avoiding the high cost and uncontrollability of relying on actual road environments for testing. Therefore, it provides an efficient and reliable test platform for the research and development and verification of vehicle-mounted satellite communication terminals.

[0023] (2) This invention equips the vehicle-mounted satellite terminal with a phased array antenna and uses attitude fusion algorithm and electronic beam control to achieve angle correction on the basis of the original star orientation, which significantly improves the accuracy and robustness of attitude correction.

[0024] (3) By setting external disturbances on a six-degree-of-freedom motion platform and superimposing random vibrations to enhance the realism of the working conditions, this invention can accurately simulate the complex dynamic postures generated by the vehicle during driving; it can also perform quantitative evaluation by the stability of the signal strength at the receiving end, thus laying the foundation for the application of low-orbit broadband satellite communication in the vehicle environment. Attached Figure Description

[0025] Figure 1 This is a flowchart illustrating a method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal, as provided in this embodiment of the invention. Figure 2 This is a platform structure diagram of a method for constructing a comprehensive experimental platform for motion attitude of a vehicle-mounted satellite terminal provided in Embodiment 2 of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0028] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0029] Example 1 This embodiment provides a method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal, including: S1: Construct a six-degree-of-freedom motion platform, and install a vehicle-mounted satellite terminal on the six-degree-of-freedom motion platform; install a receiving antenna device to receive the signal transmitted by the vehicle-mounted satellite terminal; Specifically, The integrated experimental platform includes an anechoic chamber system, which provides a closed area for the integrated experimental platform, shields it from external electromagnetic interference, and avoids multipath reflections.

[0030] Specifically, The anechoic chamber system includes anechoic chamber a, anechoic chamber b, and pipes connecting anechoic chamber a and anechoic chamber b; A six-degree-of-freedom motion platform is installed in anechoic chamber a; a receiving antenna device is installed in anechoic chamber b.

[0031] Specifically, The vehicle-mounted satellite terminal includes an inertial measurement unit (IMU) for real-time data acquisition. The IMU data specifically includes measurement data from a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer.

[0032] S2: Using the vehicle-mounted satellite terminal, IMU data is collected in real time, and the terminal attitude is calculated based on the IMU data to obtain the attitude calculation result; the attitude calculation result is corrected in real time to obtain the corrected attitude; the receiving antenna device is used to receive the signal containing the corrected attitude transmitted by the vehicle-mounted satellite terminal and record the RSSI value of the signal. Specifically, The vehicle-mounted satellite terminal includes an inertial measurement unit (IMU) for real-time data acquisition. The IMU data specifically includes measurement data from a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer.

[0033] Specifically, The vehicle-mounted satellite terminal is equipped with a phased array antenna, which is used to quickly adjust the antenna beam pointing through electronic beam control, so as to correct the attitude calculation results in real time.

[0034] Specifically, The process for judging the effectiveness of real-time correction specifically includes: Set the fluctuation range of RSSI value; when an external disturbance is applied to the six-DOF motion platform, compare the RSSI value with the RSSI value after the disturbance, and determine whether the fluctuation of the RSSI value exceeds the fluctuation range, so as to judge the effect of real-time correction.

[0035] S3: Apply an external disturbance using a six-degree-of-freedom motion platform, repeat step two, and record the RSSI value after the disturbance; judge the effect of real-time correction based on the RSSI value and the RSSI value after the disturbance.

[0036] Preferred, The process of applying external disturbances to a six-degree-of-freedom motion platform specifically includes: Set the number of vibration cycles; the six-degree-of-freedom motion platform starts vibrating at a selected angle, determines whether the number of vibration cycles has been reached, and records the RSSI value after the disturbance. If yes, compare the RSSI value with the RSSI value after the disturbance, and output the RSSI analysis and packet loss rate analysis; otherwise, the six-degree-of-freedom motion platform changes angle and continues to vibrate, repeating the process of judging the number of vibrations.

[0037] Preferred, The real-time correction process specifically includes: calculating the terminal's real-time attitude based on IMU data using an attitude fusion algorithm to obtain the attitude calculation result and generate a correction command; and, based on the correction command, using electronic beam control to rapidly adjust the antenna beam direction in order to achieve real-time correction of the attitude calculation result.

[0038] Preferred, The six-degree-of-freedom motion platform is electrically driven and can perform programmable motion within three translational degrees of freedom and three rotational degrees of freedom. The three translational degrees of freedom are specifically in the X, Y, and Z axes; the three rotational degrees of freedom are specifically in the pitch, roll, and yaw directions.

[0039] Example 2 This embodiment provides a method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal, as described in Embodiment 1. The comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal includes: A six-degree-of-freedom motion platform is used to set up the vehicle-mounted satellite terminal and receiving antenna device; it is used to apply external disturbances to simulate the complex dynamic attitude of the vehicle during driving. The vehicle-mounted satellite terminal is equipped with a phased array antenna, which is used to quickly adjust the antenna beam pointing through electronic beam control in order to correct the attitude calculation results in real time. The anechoic chamber system includes anechoic chamber a, anechoic chamber b, and pipes connecting anechoic chamber a and anechoic chamber b; a six-degree-of-freedom motion platform is installed in anechoic chamber a; a receiving antenna device is installed in anechoic chamber b; it is used to provide a closed area for the integrated experimental platform, shielding it from external electromagnetic interference and avoiding multipath reflections.

[0040] The receiving antenna device is used to receive signals transmitted by the vehicle-mounted satellite terminal and to determine the effect of real-time correction by continuously monitoring the RSSI value.

[0041] This invention provides a comprehensive test platform for the motion attitude of a vehicle-mounted satellite terminal. The platform includes a six-degree-of-freedom motion platform, a vehicle-mounted satellite terminal, an anechoic chamber system, and a receiving antenna device. The six-degree-of-freedom motion platform is used to simulate the complex dynamic attitudes of a vehicle during operation, including translational and rotational motions, and can superimpose random vibrations to enhance the realism of the operating conditions. The vehicle-mounted satellite terminal is equipped with a phased array antenna, and the antenna beam pointing can be rapidly adjusted through electronic beam control.

[0042] The vehicle-mounted satellite terminal further includes an inertial measurement unit (IMU) for real-time acquisition of data from a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, and for attitude calculation based on this data. The terminal's attitude calculation results, combined with the beam control module of the phased array antenna, enable real-time correction of the original beam pointing, thereby maintaining accurate tracking of low-Earth orbit satellites under complex motion conditions.

[0043] The anechoic chamber system consists of three parts: the first part is anechoic chamber a, which houses the motion platform and vehicle-mounted terminal; the second part is anechoic chamber b, which houses the receiving antenna; and the third part is a long, narrow cylindrical pipe connecting anechoic chamber a and anechoic chamber b. The inner walls of both the anechoic chamber and the pipe are covered with absorbing material to shield against external electromagnetic interference and prevent multipath reflection.

[0044] The receiving antenna is used to receive signals transmitted by the vehicle-mounted satellite terminal, and the stability of the Received Signal Strength Indication (RSSI) is used as an evaluation index of the attitude correction effect. When random motion disturbances are applied to the moving platform, if the received signal remains stable, it indicates that the attitude correction method is effective.

[0045] In one specific implementation, the six-degree-of-freedom motion platform employs an electric drive mechanism, enabling programmable motion within a range of three translational degrees of freedom (X, Y, Z directions) and three rotational degrees of freedom (pitch, roll, yaw directions). By inputting random motion commands, it can simulate complex operating conditions of a vehicle on actual roads, such as bumps, acceleration, braking, and steering.

[0046] In one specific implementation, the phased array antenna built into the vehicle-mounted satellite terminal has a planar structure, enabling rapid beam steering by adjusting the phase difference of the array elements. The terminal also includes a data processing module that receives data from a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer from the IMU, calculates the terminal's real-time attitude using an attitude fusion algorithm, and generates correction commands that are input to the beam control module, thereby correcting the angle based on the original satellite alignment direction.

[0047] In another specific implementation, the anechoic chamber system is equipped with highly efficient absorbing materials, and the length and diameter of the elongated pipe are designed to suppress the transmission of signals along non-linear paths. The electromagnetic signal path between the moving platform and the receiving antenna is established solely through the elongated pipe, thus ensuring the single-path propagation characteristics of the experimental environment.

[0048] In one application example, when the motion platform is subjected to large-scale random perturbations, the receiving antenna continuously monitors the RSSI value. If the RSSI value remains stable within a set fluctuation range, it indicates that the attitude correction algorithm can effectively compensate for beam deviations caused by motion, achieving stable communication. By comparing the RSSI changes under no attitude correction and attitude correction, the reliability of the platform in evaluating the attitude correction effect can be intuitively reflected.

[0049] Definitions: Phased array antennas are advanced antenna systems that electronically control beam pointing. They consist of a large number of regularly arranged antenna elements, each connected to an independent phase shifter. By precisely controlling the phase relationship of the signals in each element through a computer, and utilizing the principle of electromagnetic wave coherence, the beam can achieve inertial-free scanning in space. This allows for rapid target tracking and simultaneous observation of multiple targets without mechanical rotation, and is widely used in radar, satellite communications, and 5G fields.

[0050] RSSI value: This is a key indicator of the strength of a wireless signal received. Its value is usually expressed as a negative dBm, with a smaller absolute value representing a stronger signal. This parameter is obtained by measuring the signal power of the radio frequency front-end. Although susceptible to multipath fading and obstruction effects, it remains a fundamental basis for rough distance estimation, area sensing, and fingerprint positioning, and has wide applicability in IoT positioning and network optimization.

[0051] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal, characterized in that, include: Step 1: Construct a six-degree-of-freedom motion platform and install an onboard satellite terminal on the six-degree-of-freedom motion platform; A receiving antenna device is provided to receive signals transmitted by the vehicle-mounted satellite terminal; Step 2: Using the vehicle-mounted satellite terminal, IMU data is collected in real time, and the terminal attitude is calculated based on the IMU data to obtain the attitude calculation result; The attitude calculation results are corrected in real time to obtain the corrected attitude; The receiving antenna device is used to receive the signal containing the corrected attitude transmitted by the vehicle-mounted satellite terminal and to record the RSSI value of the signal; Step 3: Apply an external disturbance using the six-degree-of-freedom motion platform, repeat Step 2, and record the RSSI value after the disturbance; determine the effect of the real-time correction based on the RSSI value and the RSSI value after the disturbance.

2. The method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal according to claim 1, characterized in that, The integrated experimental platform includes an anechoic chamber system, which provides a closed area for the integrated experimental platform, shields it from external electromagnetic interference, and avoids multipath reflection.

3. The method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal according to claim 2, characterized in that, The anechoic chamber system includes anechoic chamber a, anechoic chamber b, and pipes connecting anechoic chamber a and anechoic chamber b; The six-degree-of-freedom motion platform is installed in the anechoic chamber a; the receiving antenna device is installed in the anechoic chamber b.

4. The method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal according to claim 1, characterized in that, The vehicle-mounted satellite terminal includes an inertial measurement unit (IMU) for real-time acquisition of IMU data; the IMU data specifically includes measurement data from a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer.

5. The method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal according to claim 1, characterized in that, The vehicle-mounted satellite terminal is equipped with a phased array antenna, which is used to quickly adjust the antenna beam direction through electronic beam control, so as to correct the attitude calculation results in real time.

6. The method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal according to claim 1, characterized in that, The process for judging the effectiveness of the real-time correction specifically includes: Set the fluctuation range of the RSSI value; when the six-degree-of-freedom motion platform is subjected to external disturbance, compare the RSSI value with the RSSI value after the disturbance, and determine whether the fluctuation of the RSSI value exceeds the fluctuation range, so as to determine the effect of the real-time correction.

7. The method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal according to claim 6, characterized in that, The process of applying external disturbance to the six-degree-of-freedom motion platform specifically includes: Set the number of vibration cycles; the six-degree-of-freedom motion platform starts vibrating at a selected angle, determines whether the number of vibration cycles has reached the set number of vibration cycles, and records the RSSI value after the disturbance. If so, compare the RSSI value with the RSSI value after the disturbance, and output RSSI analysis and packet loss rate analysis; otherwise, the six-degree-of-freedom motion platform changes angle and continues to vibrate, repeating the process of judging the number of vibrations.

8. The method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal according to claim 5, characterized in that, The real-time correction process specifically includes: calculating the real-time attitude of the terminal using an attitude fusion algorithm based on the IMU data, obtaining the attitude calculation result, and generating a correction command; and, based on the correction command, using electronic beam control to rapidly adjust the antenna beam pointing in order to achieve real-time correction of the attitude calculation result.

9. The method for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal according to claim 1, characterized in that, The six-degree-of-freedom motion platform is electrically driven and can perform programmable motion within a range of three translational degrees of freedom and three rotational degrees of freedom. The three translational degrees of freedom are specifically in the X-axis, Y-axis, and Z-axis directions; the three rotational degrees of freedom are specifically in the pitch, roll, and yaw directions.

10. An experimental platform for constructing a comprehensive experimental platform for the motion attitude of a vehicle-mounted satellite terminal as described in any one of claims 1-9, characterized in that, include: A six-degree-of-freedom motion platform is used to mount the vehicle-mounted satellite terminal and receiving antenna device; Used to apply external disturbances to simulate the complex dynamic attitude of a vehicle during driving; The vehicle-mounted satellite terminal is equipped with a phased array antenna, which is used to quickly adjust the antenna beam pointing through electronic beam control, so as to realize real-time correction of the attitude calculation results; An anechoic chamber system includes anechoic chamber a, anechoic chamber b, and a pipe connecting anechoic chamber a and anechoic chamber b; the six-degree-of-freedom motion platform is installed in anechoic chamber a; and the receiving antenna device is installed in anechoic chamber b. This is used to provide a closed area for the integrated experimental platform, shielding it from external electromagnetic interference and preventing multipath reflections; A receiving antenna device is used to receive signals transmitted by a vehicle-mounted satellite terminal and to determine the effect of the real-time correction by continuously monitoring the RSSI value.

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