Mobile carrier satellite communication antenna tracking method, system, equipment and medium

Abstract

The invention provides a mobile carrier satellite communication antenna tracking method and system, computer equipment and a storage medium, and relates to the technical field of satellite communication, and the method comprises the following steps: measuring and calculating attitude information of a mobile carrier in real time based on an inertial navigation technology; enabling an antenna axis to initially point to a satellite direction according to the attitude information; the satellite communication antenna is driven to conduct conical scanning around the calculation visual axis of the satellite communication antenna, carrier signal strength values are continuously collected, gradient analysis is conducted on the carrier signal strength to determine the relative direction of the actual direction of the strongest point of the signal center and the antenna calculation visual axis direction, and error correction is obtained; and taking the error correction as a feedback signal, performing fine adjustment on an antenna servo mechanism of the satellite communication antenna so as to align the strongest point of the signal center, and correcting an accumulated error generated in the attitude calculation process of the mobile carrier. According to the technical scheme provided by the invention, closed-loop feedback is carried out by combining an inertial navigation technology and a conical scanning technology, and blind area satellite alignment and dynamic satellite alignment can be realized.

Description

Technical Field

[0001] This invention relates to the field of satellite communication technology, and in particular to a method for tracking satellite communication antennas on a mobile carrier, a system for tracking satellite communication antennas on a mobile carrier, a computer device, and a computer-readable storage medium. Background Technology

[0002] As a new type of aircraft that relies on atmospheric buoyancy for lift, airships have shown broad application prospects in various fields, becoming a new general-purpose aerial platform after airplanes and helicopters, with good safety and economy. As a flight platform, airships can carry different types of sensors, and the large amount of data acquired by the sensors (such as L-band data, whose standard frequency range is 1-2 GHz and wavelength is 30-15 cm) is transmitted to the ground in real time.

[0003] L-band data backhaul is primarily achieved through an L-band high-gain omnidirectional antenna and an L-band fully automatic tracking antenna. The L-band high-gain omnidirectional antenna consists of a dual-sided radiating microstrip array, effectively widening the operating bandwidth through parallel dual-line electromagnetic coupling. It also employs a serpentine slow-wave feed structure to reduce the impact of frequency variations in antenna pointing. The L-band fully automatic tracking antenna utilizes a two-axis stepping servo tracking platform, using a circularly polarized microstrip antenna as the receiving platform. Compared to the omnidirectional antenna, it offers higher gain and a longer receiving distance.

[0004] Currently, the tracking methods for satellite communication antennas mounted on mobile carriers (such as airships) mainly include the following: The first type is monopulse tracking technology. This technology uses a multi-mode feed and compares the phase of satellite signals received from four directions (up, down, left, and right) to obtain the angle by which the antenna normal deviates from the satellite's pointing direction, thus enabling satellite alignment and tracking. This technology has good tracking performance within a small angle range, but it can only track within the antenna's half-power beam range, making re-acquisition difficult and impossible under high dynamic conditions.

[0005] The second method is conical scanning technology. This technology keeps the antenna rotating at small angles along the elevation and azimuth axes, in a conical scanning state. Based on the satellite signal amplitude in each scanning direction, it obtains the angle by which the antenna normal deviates from the satellite's pointing direction for satellite alignment and tracking. This technology has a scanning period of more than 500ms, resulting in an excessively long response time. This makes tracking difficult under high dynamic conditions and also introduces problems with fixed satellite alignment and tracking errors.

[0006] The third method uses fiber optic rate gyroscope-assisted satellite alignment and tracking technology. To address the inherent defects of single-pulse tracking and conical scanning technologies, fiber optic gyroscopes are installed on the azimuth and pitch axes of the antenna servo mechanism to obtain the rotation rates of the azimuth and pitch axes. This solves to some extent the tracking and satellite re-acquisition problems of single-pulse and conical scanning technologies in the case of large dynamic states of the carrier, but it cannot achieve functions such as blind-zone satellite alignment and dynamic satellite alignment. Summary of the Invention

[0007] This invention was completed to at least partially solve the technical problem that existing tracking methods for mobile carrier satellite communication antennas cannot achieve blind-zone and dynamic satellite alignment.

[0008] According to one aspect of the present invention, a method for tracking a satellite communication antenna on a mobile carrier is provided, comprising: The attitude information of the moving vehicle is measured and calculated in real time based on inertial navigation technology. Based on the calculated attitude information of the mobile carrier, the satellite communication antenna mounted on the mobile carrier performs coordinate transformation on the initial azimuth and initial elevation angles of the satellite and obtains the transformed pointing angle. Based on the transformed pointing angle, the antenna servo mechanism of the satellite communication antenna is driven so that the axis of the satellite communication antenna initially points towards the satellite. The satellite communication antenna is driven to perform a conical scan around its calculated line of sight with a preset small angle as the apex angle, and continuously acquires carrier signal strength values. Gradient analysis is performed on the carrier signal strength to determine the relative azimuth of the actual direction of the strongest signal center point and the antenna's calculated line of sight direction. An error correction amount is then derived based on this relative azimuth. The error correction amount is used as a feedback signal to fine-tune the antenna servo mechanism of the satellite communication antenna to align with the strongest signal center point and correct the accumulated error generated during the attitude calculation of the moving vehicle.

[0009] Optionally, the real-time measurement and calculation of the attitude information of the mobile carrier based on inertial navigation technology includes: Real-time measurement of the rotational angular rate and linear acceleration of a moving vehicle based on inertial navigation technology; The attitude matrix is ​​calculated in real time using the measured rotational angular rate of the mobile vehicle, and the measured linear acceleration of the mobile vehicle is converted into the navigation coordinate system using the attitude matrix. The attitude information of the mobile vehicle is obtained through navigation calculations.

[0010] Optionally, before measuring and calculating the attitude information of the mobile vehicle in real time based on inertial navigation technology, the method further includes: Acquire the position and heading information of the antenna base of the satellite communication antenna mounted on the mobile carrier; and, By combining the position and heading information of the antenna base with the preset satellite parameters, the initial azimuth and initial elevation angles of the satellite communication antenna relative to the satellite are calculated to determine the antenna's calculation line of sight. Specifically, the process of initially pointing the axis of the satellite communication antenna toward the satellite direction involves: Rotate the axis of the satellite communication antenna to the direction of the antenna's calculated line of sight to complete the initial pointing.

[0011] Optionally, the initial azimuth angle of the satellite communication antenna to the satellite is calculated using the following formula: A= 180° +arctan(tan(λ s -λ e ) / sin e ) ; in, A This represents the initial azimuth angle of the satellite communication antenna relative to the satellite. λ s The longitude of the satellite; λ e Longitude of the mobile carrier; e The latitude of the mobile carrier; The initial elevation angle of the satellite communication antenna relative to the satellite is calculated using the following formula: E = arctan[ (cosθ – R / (R+h)) / sinθ ] ; in, E This is the initial elevation angle of the satellite communication antenna relative to the satellite; θ The geocentric angle; R The radius of the Earth; h This is the satellite's altitude.

[0012] Optionally, the step of performing gradient analysis on the carrier signal strength value to determine the relative azimuth between the actual direction of the strongest signal center point and the calculated line-of-sight direction of the antenna, and deriving an error correction amount based on the relative azimuth, includes: Within each scan cycle, sampling is performed at preset angle intervals to obtain estimated carrier signal strength values ​​for each sampling point; and, Using a preset weighted calculation formula, the elevation angle and azimuth angle error correction angular rate of the satellite communication antenna are calculated based on the estimated carrier signal strength values ​​of each sampling point, and the elevation angle and azimuth angle error correction angular rate are used as the error correction amount.

[0013] Optionally, when sampling is performed at 45-degree intervals, 8 sampling points are obtained per scan cycle; The elevation angle error correction angular rate of the satellite communication antenna is calculated using the following formula: WO(A0+A7-A3-A4)+W1(A1+A6-A2-A5); The azimuth error correction angular rate of the satellite communication antenna is calculated using the following formula: M1(A5+A6-A1-A2)+MO(A4+A7-A0-A3); The estimated carrier signal strength values ​​for the eight sampling points are A0, A1, A2, A3, A4, A5, A6, and A7, respectively. When analyzing the pitch angle error, the weights of the eight sampling points are WO, W1, W1, WO, WO, W1, W1, and WO, respectively. When analyzing the azimuth angle error, the weights of the eight sampling points are MO, M1, M1, MO, MO, M1, M1, and MO, respectively.

[0014] Optionally, the step of using the error correction amount as a feedback signal to fine-tune the antenna servo mechanism of the satellite communication antenna to align it with the strongest signal center includes: The pitch angle and azimuth angle error correction angular rates are converted into a first speed command and a second speed command via a digital-to-analog converter, respectively. The first speed command is sent to the pitch servo mechanism of the satellite communication antenna, so that the pitch servo mechanism drives the pitch servo motor to rotate at the pitch angle error correction angular rate according to the first speed command, and the pitch encoder of the pitch servo mechanism transmits the speed back in real time, forming a first speed closed loop; and the second speed command is sent to the azimuth servo mechanism of the satellite communication antenna, so that the azimuth servo mechanism drives the azimuth servo motor to rotate at the azimuth angle error correction angular rate according to the second speed command, and the azimuth encoder of the azimuth servo mechanism transmits the speed back in real time, forming a second speed closed loop; until the gradient of the carrier signal strength in both the pitch and azimuth directions approaches zero, and the axis of the satellite communication antenna is aligned with the strongest point of the signal center; And / or, the step of using the error correction amount as a feedback signal to correct the accumulated error generated during the attitude calculation of the moving vehicle includes: The azimuth error correction angular rate is sent as the heading drift amount to the attitude calculation module of the inertial navigation system, so that the attitude calculation module uses the heading drift amount as the observation value to make real-time corrections to the gyroscope zero bias or scaling factor, and corrects the cumulative error generated during the attitude calculation of the moving vehicle.

[0015] According to another aspect of the present invention, a mobile carrier satellite communication antenna tracking system is provided, comprising: An inertial navigation module is configured to measure and calculate the attitude information of the moving vehicle in real time based on inertial navigation technology. The initial satellite alignment module is configured to perform coordinate transformation on the initial azimuth and initial elevation angles of the satellite communication antenna mounted on the mobile carrier based on the calculated attitude information of the mobile carrier, and obtain the transformed pointing angle. Based on the transformed pointing angle, the antenna servo mechanism of the satellite communication antenna is driven so that the axis of the satellite communication antenna initially points towards the satellite. A conical scanning module is configured to drive the satellite communication antenna to perform a conical scan around its calculated line of sight at a preset small angle, continuously acquiring carrier signal strength values. It performs gradient analysis on the carrier signal strength to determine the relative azimuth of the actual direction of the strongest signal center point with respect to the antenna's calculated line of sight, and derives an error correction amount based on this relative azimuth. The error feedback module is configured to use the error correction amount as a feedback signal to fine-tune the antenna servo mechanism of the satellite communication antenna to align with the strongest signal center point and correct the cumulative error generated during the attitude calculation of the moving vehicle.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, wherein when the computer program is executed by a processor, the processor performs the aforementioned mobile carrier satellite communication antenna tracking method.

[0017] The technical solution provided by this invention may include the following beneficial effects: The mobile carrier satellite communication antenna tracking method and system provided by this invention combines inertial navigation technology with conical scanning technology for closed-loop feedback, which can drive the satellite communication antenna on the mobile carrier to accurately point to and track the satellite. At the same time, it corrects the accumulated errors generated during the attitude calculation of the mobile carrier. Moreover, it performs gradient analysis on the carrier signal strength rather than on the beacon signal strength, so it can maintain high-precision tracking for a long time even when the beacon signal is weak or lost, and receive the data information transmitted back by the satellite, thereby realizing blind-zone satellite tracking and dynamic satellite tracking.

[0018] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0019] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the technical solutions of the present invention, and do not constitute a limitation on the technical solutions of the present invention.

[0020] Figure 1 A flowchart illustrating the mobile carrier satellite communication antenna tracking method provided in an embodiment of the present invention; Figure 2 A flowchart illustrating the L-band airship satellite communication antenna tracking method provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of the L-band airship self-tracking antenna provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the L-band fault source component of the L-band airship self-tracking antenna provided in an embodiment of the present invention; Figure 5 for Figure 4 A sectional view; Figure 6 A schematic diagram of the segmented antenna surface assembly of the L-band airship self-tracking antenna provided in an embodiment of the present invention; Figure 7 A schematic diagram of the elevation servo mechanism and azimuth servo mechanism of the L-band airship self-tracking antenna provided in an embodiment of the present invention; Figure 8 for Figure 7 Partial structural diagram; Figure 9 A schematic diagram of the azimuth servo mechanism of the L-band airship self-tracking antenna provided in an embodiment of the present invention; Figure 10 for Figure 9 A sectional view; Figure 11 This is a schematic diagram of the support base assembly for the L-band airship self-tracking antenna provided in an embodiment of the present invention; Figure 12 A schematic diagram of the servo control system for the self-tracking antenna of an L-band aerostat provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the structure of a mobile carrier satellite communication antenna tracking system provided in an embodiment of the present invention; Figure 14 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention.

[0021] Among them, 1-L-band airship self-tracking antenna; 2-segmented antenna surface assembly; 3-segmented antenna surface; 4-segmented antenna surface fixing flange; 5-hand-tightening screw; 6-azimuth support flange; 7-bracket strut; 7A-bracket connecting rod; 8-L-band source assembly; 9-magnetic foot; 10-leveling mechanism; 11-coaxial interface; 12-quick-install threaded sleeve; 13-feed tube; 14-reflector cavity; 15-symmetrical vibrator; 16-dielectric support; 17-feed tube inner conductor; 18-feed cover; 19-tilt sensor; 20-azimuth encoder pinion; 21-bracket base assembly; 22-azimuth servo mechanism; 23-azimuth plate; 23A-azimuth center body; 24-azimuth encoder; 25-pitch servo mechanism; 26-azimuth four-point contact gear bearing; 27-azimuth pinion; 28-conductive slip ring; 29- Beidou positioning and orientation board; 30-Azimuth servo motor; 31-Right pitch support plate; 32-Left pitch support plate; 33-Left pitch counterweight plate; 34-Channel equipment; 35-Right pitch counterweight plate; 36-Channel power amplifier; 37-Pitch rotation bracket; 38-Handle; 39-Pitch encoder gear; 40-Pitch sector gear; 41-Pitch servo motor gear; 42-Right pitch rotation support ear; 43-Switch; 44-Driver; 45-Antenna control unit; 46-Right pitch support bearing; 47-Pitch encoder; 48-Pitch servo motor; 49-Upper pitch switch; 50-Lower pitch switch; 51-Upper pitch bracket; 52-Lower pitch bracket; 53-Antenna support plate; 54-Left pitch support bearing; 55-Left pitch rotation support ear; 56-Pitch servo motor bracket; 57-Front cover plate. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the specific implementation methods of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation methods described herein are for illustration and explanation only and are not intended to limit the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence; furthermore, in the absence of conflict, the embodiments and features in the embodiments of this invention can be arbitrarily combined with each other. In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the convenience of describing this invention and has no specific meaning in itself. Therefore, "module," "part," or "unit" can be used interchangeably.

[0024] Current tracking methods for satellite communication antennas on mobile vehicles suffer from the technical problem of being unable to achieve blind-zone and dynamic satellite alignment, resulting in poor adaptability to "blind zones" and "weak signals": when the satellite beacon signal is extremely weak due to obstruction or atmospheric attenuation, the system may lose lock. To solve the above problems, this invention provides a tracking method for satellite communication antennas on mobile vehicles, which is described in detail below through specific embodiments.

[0025] Figure 1 This is a flowchart illustrating a mobile carrier satellite communication antenna tracking method provided in an embodiment of the present invention. Figure 1 As shown, the method includes the following steps S101 to S104.

[0026] S101. The attitude information of the moving vehicle is measured and calculated in real time based on inertial navigation technology; S102. Based on the calculated attitude information of the mobile carrier, the satellite communication antenna mounted on the mobile carrier performs coordinate transformation on the initial azimuth and initial elevation angles of the satellite and obtains the transformed pointing angle. Based on the transformed pointing angle, the antenna servo mechanism of the satellite communication antenna is driven so that the axis of the satellite communication antenna initially points towards the satellite direction. S103. Drive the satellite communication antenna to perform a conical scan around its calculated line of sight (LOS) with a preset small angle as the apex and continuously collect carrier signal strength values. Perform gradient analysis on the carrier signal strength to determine the relative orientation of the actual direction of the strongest point of the signal center and the direction of the antenna's calculated line of sight, and derive the error correction amount based on the relative orientation. S104. The error correction amount is used as a feedback signal to fine-tune the antenna servo mechanism of the satellite communication antenna to align with the strongest signal center point and correct the accumulated error generated during the attitude calculation of the moving vehicle.

[0027] The mobile carrier satellite communication antenna tracking method provided in this embodiment combines inertial navigation technology with conical scanning technology for closed-loop feedback. This enables the satellite communication antenna on the mobile carrier to accurately point to and track the satellite, while correcting the accumulated errors generated during the attitude calculation of the mobile carrier. Moreover, it performs gradient analysis on the carrier signal strength rather than on the beacon signal strength, maintaining high-precision tracking for a long time even when the beacon signal is weak or lost, and receiving data information transmitted back from the satellite, thereby achieving blind-zone satellite tracking and dynamic satellite tracking.

[0028] In one specific embodiment, step S101 includes the following steps S1011 to S1013.

[0029] S1011. Real-time measurement of the rotational angular rate and linear acceleration of a moving vehicle based on inertial navigation technology; S1012. Real-time attitude matrix calculation is performed using the measured rotational angular rate of the mobile vehicle, and the measured linear acceleration of the mobile vehicle is converted into the navigation coordinate system using the attitude matrix; S1013. The attitude information of the mobile vehicle is obtained through navigation calculation.

[0030] In this embodiment, the rotational angular rate and linear acceleration information of the mobile vehicle can be accurately measured by the MEMS inertial navigation system on the mobile vehicle satellite communication system, and transmitted to the antenna control unit of the satellite communication antenna for real-time attitude matrix calculation. The attitude matrix converts the linear acceleration information measured by the accelerometer in the inertial navigation system to the dynamic reference coordinate system used for navigation, and then navigation calculations are performed. The attitude information of the mobile vehicle can be obtained through navigation calculations, which drives the antenna servo mechanism of the satellite communication antenna, so that the axis of the satellite communication antenna initially points towards the satellite.

[0031] In one specific embodiment, before step S101, the following steps S01 and S02 are also included.

[0032] S01. Obtain the position and heading information of the antenna base of the satellite communication antenna mounted on the mobile carrier; S02. Based on the position and heading information of the antenna base, as well as the preset satellite parameters, calculate the initial azimuth and initial elevation angles of the satellite communication antenna relative to the satellite, in order to determine the antenna's calculated line of sight.

[0033] This requires pre-selecting the satellite to be communicated with and obtaining its longitude and altitude parameters. The initial position of the mobile vehicle (such as longitude and latitude) can be obtained through external input or through GNSS (Global Navigation Satellite System) information.

[0034] Accordingly, step S102, which initially points the axis of the satellite communication antenna toward the satellite, specifically involves rotating the axis of the satellite communication antenna to the direction of the antenna's calculated line of sight, in order to complete the initial pointing.

[0035] In this embodiment, when the carrier is in motion, the attitude information of the carrier is measured and calculated in real time by the MEMS inertial navigation system. After the antenna control unit of the satellite communication antenna processes the calculated attitude information, it drives the antenna servo mechanism to rotate the axis of the satellite communication antenna to the direction of the antenna calculation line of sight, thereby completing the initial satellite alignment.

[0036] In one specific implementation, the initial azimuth angle of the satellite communication antenna relative to the satellite is calculated using the following formula: A= 180° +arctan(tan(λ s -λ e ) / sin e ) ; in, A This represents the initial azimuth angle of the satellite communication antenna relative to the satellite. λ s The longitude of the satellite; λ e Longitude of the mobile carrier; e The latitude of the mobile carrier.

[0037] In one specific implementation, the initial elevation angle of the satellite communication antenna relative to the satellite is calculated using the following formula: E = arctan[ (cosθ – R / (R+h)) / sinθ ] ; in, E This is the initial elevation angle of the satellite communication antenna relative to the satellite; θ The geocentric angle; R The radius of the Earth; h This is the satellite's altitude.

[0038] Furthermore, the geocentric angle θ The following formula can be used to calculate it: θ = arccos[ cos e × cos(λ s -λ e ) ] ; in, θ The geocentric angle; e The latitude of the mobile carrier; λ s The longitude of the satellite; λ e The longitude of the mobile carrier.

[0039] In one specific embodiment, step S103 specifically includes the following steps S1031 to S1033.

[0040] S1031. Drive the satellite communication antenna to perform a conical scan around its calculated line of sight with a preset small angle as the apex and continuously collect carrier signal strength values; S1032. Sample at a preset angle interval during each scanning cycle to obtain the estimated carrier signal strength at each sampling point; S1033. Using a preset weighted calculation formula, calculate the elevation angle and azimuth angle error correction angular rate of the satellite communication antenna based on the estimated carrier signal strength of each sampling point, and use the elevation angle and azimuth angle error correction angular rate as the error correction amount.

[0041] In this embodiment, when the satellite communication antenna rotates around the calculated line-of-sight direction around the antenna with a small angle θ (e.g., 1°~2°) as the cone apex angle to scan the generatrix of the cone, gradient analysis is performed on the carrier signal strength acquired during the scanning period to confirm the relative azimuth between the actual direction of the strongest signal center point and the calculated line-of-sight direction. Then, based on the relative azimuth between the actual direction of the strongest signal center point and the calculated line-of-sight direction, the deviation between the calculated line-of-sight direction and the actual direction of the strongest signal center point is corrected, while simultaneously correcting the heading error of the MEMS inertial navigation. In this way, closed-loop control is formed for both the MEMS inertial navigation heading and the antenna pointing.

[0042] In one specific implementation, when sampling is performed at 45-degree intervals, 8 sampling points are obtained per scan cycle.

[0043] Accordingly, the elevation angle error correction angular rate of the satellite communication antenna in step S1033 is calculated using the following formula: WO(A0+A7-A3-A4)+W1(A1+A6-A2-A5); The azimuth error correction angular rate of the satellite communication antenna in step S1033 is calculated using the following formula: M1(A5+A6-A1-A2)+MO(A4+A7-A0-A3); The estimated carrier signal strength values ​​for the eight sampling points are A0, A1, A2, A3, A4, A5, A6, and A7, respectively. When analyzing the pitch angle error, the weights of the eight sampling points are WO, W1, W1, WO, WO, W1, W1, and WO, respectively. When analyzing the azimuth angle error, the weights of the eight sampling points are MO, M1, M1, MO, MO, M1, M1, and MO, respectively.

[0044] In this embodiment, the signal gradient analysis of the carrier signal strength specifically involves continuously statistically analyzing the carrier signal strength (S / N value) while the driven antenna rotates around the antenna's calculated line of sight direction at a small angle θ as the apex angle of the cone. Starting from the 0-degree line of sight (defined as the line directly above the antenna's calculated line of sight direction), sampling is performed every 45 degrees (the angle direction is defined the same as the antenna's line of sight direction). The carrier signal strength of each sample is estimated to obtain the estimated value of the carrier signal strength for that sample. A total of eight sampled estimates can be obtained in each scanning cycle. After each sampling, the eight existing sampled estimates are further analyzed to obtain the real-time change of the signal gradient direction and the correction angular rate of the antenna's calculated line of sight direction.

[0045] In one specific embodiment, step S104 includes the following steps S1041 to S1043.

[0046] S1041. The pitch angle and azimuth angle error correction angular rates are converted into a first speed command and a second speed command respectively via a digital-to-analog converter; The first speed command is sent to the pitch servo mechanism of the satellite communication antenna, so that the pitch servo mechanism drives the pitch servo motor to rotate at the pitch angle error correction angular rate according to the first speed command, and the pitch encoder of the pitch servo mechanism transmits the speed back in real time, forming a first speed closed loop; and the second speed command is sent to the azimuth servo mechanism of the satellite communication antenna, so that the azimuth servo mechanism drives the azimuth servo motor to rotate at the azimuth angle error correction angular rate according to the second speed command, and the azimuth encoder of the azimuth servo mechanism transmits the speed back in real time, forming a second speed closed loop; until the gradient of the carrier signal strength in both the pitch and azimuth directions approaches zero, and the axis of the satellite communication antenna is aligned with the strongest point of the signal center; S1043. The azimuth error correction angular rate is sent as the heading drift amount to the attitude calculation module of the inertial navigation system, so that the attitude calculation module uses the heading drift amount as the observation value to make real-time corrections to the gyroscope zero bias or scaling factor, and corrects the cumulative error generated during the attitude calculation of the moving vehicle.

[0047] As can be seen from the above description, the present invention is based on the closed-loop fusion of inertial navigation technology and conical scanning to construct a dual closed-loop control system, which can achieve high-precision and high-robust tracking.

[0048] First closed loop (inertial navigation coarse tracking loop): Initial satellite alignment: The precise position and heading angle of the antenna base are obtained through the BeiDou positioning and orientation board. Combined with the preset satellite orbit parameters, the initial pointing of the satellite communication antenna (initial azimuth angle + initial elevation angle) is calculated, and the antenna calculation line of sight is determined.

[0049] The MEMS inertial navigation system measures the rotational angular rate and linear acceleration of the mobile vehicle in real time, and inputs them to the antenna control unit for attitude calculation to obtain the real-time attitude information of the mobile vehicle.

[0050] The antenna control unit drives the azimuth and pitch servo motors based on the real-time attitude information of the mobile carrier, so that the antenna axis roughly points in the direction of the satellite.

[0051] Second closed loop (conical scan fine tracking and error correction loop): After the satellite communication antenna is initially pointed according to the first closed loop, a conical scan is initiated, driving the antenna to perform a conical scan around its calculated line of sight (provided by the first closed loop) with a small angle θ as the apex angle.

[0052] During the scan cycle, the carrier signal strength (S / N value) output by the modem is continuously acquired, rather than the traditional beacon signal strength. This signal reflects the link quality more directly and can still work even when the beacon is weak.

[0053] Samples are taken at preset angles (e.g., 45 degrees) to obtain estimated carrier signal strength values ​​for multiple sampling points.

[0054] Using a preset weighted calculation formula, the error correction angular rate of the antenna elevation and azimuth angles is obtained based on the estimated carrier signal strength at each sampling point.

[0055] Closed-loop fusion: The error correction angular rate of the antenna elevation and azimuth angles is used as a feedback signal. This signal is not only used to drive the antenna servo mechanism to make fine adjustments to accurately align with the strongest signal center, but more importantly, it is injected back into and corrects the attitude calculation module of the MEMS inertial navigation system to correct its accumulated errors. For example, if the conical scan detects a deviation in the attitude information calculated by the inertial navigation system, the corresponding deviation is fed back to the attitude calculation module of the inertial navigation system to correct its zero bias or scaling factor.

[0056] This embodiment uses the high dynamic response conical scan extreme value tracking results as feedback signals to continuously correct the low-frequency inertial navigation system, which suffers from cumulative errors, thus forming a closed-loop fusion mechanism of "using precision to guide coarseness and using coarseness to maintain precision." This not only achieves precise tracking but also fundamentally solves the problem of accuracy degradation of inertial navigation under long-term operation, ensuring the stability of the communication link between the mobile carrier (such as an airship) and the satellite during long-term flight.

[0057] The mobile carrier satellite communication antenna tracking method provided in this invention solves the problem of attitude accumulation error during long-term tracking: by performing closed-loop feedback and fusion of the output of inertial navigation and the extreme value tracking results of conical scanning, the attitude error of inertial navigation is continuously corrected using the real-time high-precision signal strength information of conical scanning, thereby maintaining high-precision tracking for a long time; it also solves the tracking problem in low signal-to-noise ratio (SNR) environments: when the beacon signal is weak or lost, extreme value tracking is performed by scanning the carrier signal strength (S / N value) output by the modem instead of relying on the beacon, thus expanding the adaptability of the scheme; and it achieves a stable communication link with high gain and strong anti-interference: by using a parabolic antenna to achieve high directivity, combined with the above tracking method, a stable communication link is established and maintained in complex environments where the mobile carrier (such as an airship) drifts slowly and changes attitude.

[0058] Figure 2 This is a flowchart illustrating the L-band airship satellite communication antenna tracking method provided in an embodiment of the present invention, applied to an L-band airship self-tracking antenna. Figure 2 As shown, the method includes the following steps S201 to S207.

[0059] S201: The position and heading information of the antenna base are obtained by the BeiDou positioning and orientation board of the L-band airship self-tracking antenna. Combined with the preset satellite parameters (longitude + altitude), the initial pointing (azimuth angle + elevation angle) of the antenna is calculated to determine the antenna calculation line of sight. S202: Start the MEMS inertial navigation system to measure and calculate the attitude information of the airship in real time, and combine the attitude information of the airship to drive the antenna servo mechanism so that the antenna axis roughly points to the direction of the satellite; S203: Drive the antenna to perform a small-angle conical scan around the antenna calculation line of sight determined in step S201; S204: During the scanning cycle, continuously acquire the carrier signal strength S / N value output by the modem and sample at preset angle intervals to obtain the estimated S / N value for each sampling point; S205: Based on the S / N estimates of each sampling point, calculate the error correction amount of the antenna pointing azimuth and elevation angles using a preset weighting algorithm; S206: The error correction amount is used as a feedback signal to drive the antenna servo mechanism to make fine adjustments and accurately align with the strongest signal point; on the other hand, the error correction amount is input in reverse to the attitude calculation module of the MEMS inertial navigation system to correct its accumulated error.

[0060] S207: Repeat steps S203 to S206 to achieve continuous and accurate tracking of the satellite.

[0061] The following is combined with Figures 3-11 Describe in detail the structure of the L-band aerostat self-tracking antenna.

[0062] like Figure 3 As shown, the L-band aerostat self-tracking antenna 1 includes an L-band feed assembly 8, a segmented antenna surface assembly 2, a support base assembly 21, an azimuth servo mechanism 22, and a pitch servo mechanism 25.

[0063] The system comprises a support base assembly 21 mounted on the airship, an azimuth servo mechanism 22 mounted on the support base assembly 21, an elevation servo mechanism 25 mounted on the azimuth servo mechanism 22, a segmented antenna surface assembly 2 mounted on the azimuth servo mechanism 22, and an L-band feed assembly 8 mounted on the segmented antenna surface assembly 2. The azimuth servo mechanism 22 drives the elevation servo mechanism 25 to rotate continuously 360°, and the elevation servo mechanism 25 drives the segmented antenna surface assembly 2 to rotate in elevation from 0° to 90°. Automatic satellite tracking is achieved through the rotational movements of azimuth and elevation combined with data provided by the airship. The lightweight and modular design of the L-band airship's self-tracking antenna meets portability requirements.

[0064] like Figure 4 and Figure 5 As shown, the L-band feed assembly 8 includes a coaxial interface 11, a feed tube 13, a symmetrical vibrator 15, a reflector cavity 14, a dielectric support 16, an inner conductor of the feed tube 17, a quick-install threaded sleeve 12, and a feed cover 18.

[0065] The coaxial interface 11 feeds electromagnetic signals into the feed tube 13, which then transmits the signals along the feed tube 13 to the symmetrical dipole 15 located within the reflector cavity 14. The symmetrical dipole 15 resonates with the reflector cavity 14, converting the TEM (Transverse Electro-Magnetic) mode in the coaxial line to the TE (Transverse Electric) mode in the resonant cavity, and radiating it outwards through the feed cover 18. The dielectric support 16 is fixed to a position relative to the outer side of the conductor 17 inside the feed tube. The quick-install threaded sleeve 12 is rotated clockwise to lock the L-band feed assembly 8. When the L-band feed assembly 8 is inserted into the feed mating hole at the bottom of the split antenna surface assembly 2, simply rotating the quick-install threaded sleeve 12 clockwise quickly locks the feed, ensuring reliable operation.

[0066] like Figure 6 As shown, the segmented antenna surface assembly 2 includes a segmented antenna surface 3, a segmented antenna surface mounting flange 4, and hand-tightening screws 5. The segmented antenna surface 3 includes eight-lobed antennas, and each lobe of the antenna in the segmented antenna surface 3 is sequentially mounted on the segmented antenna surface mounting flange 4 and fixed by hand-tightening screws 5.

[0067] like Figure 7 and Figure 8 As shown, the pitch servo mechanism 25 includes a pitch rotation bracket 37, a left pitch support plate 32, a right pitch support plate 31, a left pitch rotation support ear 55, a right pitch rotation support ear 42, a left pitch support bearing 54, a right pitch support bearing 46, a left pitch counterweight plate 33, a right pitch counterweight plate 35, a pitch servo motor gear 41, a pitch sector gear 40, a pitch encoder gear 39, a pitch servo motor bracket 56, a pitch servo motor 48, a pitch encoder 47, a pitch encoder gear 39, a pitch upper limit bracket 51, a pitch lower limit bracket 52, a pitch upper limit switch 49, and a pitch lower limit switch 50.

[0068] The pitch servo motor 48 is fixed on the pitch servo motor bracket 56, the pitch servo motor bracket 56 is fixed on the azimuth plate 23, and the pitch servo motor gear 41 is mounted on the output shaft of the pitch servo motor 48. The resulting drive assembly is used to drive the pitch motion.

[0069] The pitch encoder gear 39 is mounted on the pitch servo motor bracket 56, and the pitch sector gear 40 meshes with the pitch servo motor gear 41 and the pitch encoder gear 39 respectively, forming a pitch gear transmission system.

[0070] The pitch sector gear 40 is mounted in the bearing mounting hole of the left pitch support plate 32 via the left pitch support bearing 54, and the right pitch support bearing 46 is mounted in the bearing mounting hole of the right pitch support plate 31. The left and right pitch support bearings 54 and 46 are a pair of angular contact bearings. The left end of the pitch rotation bracket 37 is fixed with a left pitch rotation support lug 55, and the right end of the pitch rotation bracket 37 is fixed with a right pitch rotation support lug 42. The left and right pitch support plates 31 and 32 and the antenna support plate 53 together constitute the support structure for the pitch movement of the segmented antenna surface 3.

[0071] The pitch upper limit bracket 51 and the pitch lower limit bracket 52 are mounted on the right pitch support plate 31. The pitch upper limit switch 49 is mounted on the pitch upper limit bracket 51, and the pitch lower limit switch 50 is mounted on the pitch lower limit bracket 52. The two limit switches 49 and 50 provide soft limit trigger signals for the entire control system.

[0072] The left and right pitch counterweight plates 33 and 35 are mounted on the pitch rotation bracket 37. The channel device 34 and channel amplifier 36 are respectively installed at the ends of the two counterweight plates, which not only achieves pitch counterweight but also provides a reasonable layout for the channel device 34 and channel amplifier 36.

[0073] like Figure 9 and Figure 10As shown, the azimuth servo mechanism includes an azimuth center body 23A, an azimuth four-point contact gear bearing 26, a conductive slip ring 28, an azimuth plate 23, an azimuth pinion 27, an azimuth servo motor 30, an azimuth encoder 24, and an azimuth encoder pinion 20.

[0074] The azimuth center body 23A is mounted on the support base assembly 21. The azimuth four-point contact gear bearing 26 is mounted on the azimuth center body 23A. The azimuth four-point contact bearing 26 is an external gear bearing, possessing both bearing and gear characteristics. The azimuth plate 23 is mounted on the azimuth four-point contact gear bearing 26. The azimuth pinion 27 and encoder pinion 20 mesh with the azimuth four-point contact gear bearing 26 respectively, forming an azimuth gear transmission system. The azimuth servo motor 30 and azimuth encoder 24 are mounted on the azimuth plate 23. The pitch support left plate 32 is fixed to one side of the azimuth plate 23 (e.g., ...). Figure 7 (As shown on the left), the pitch support right plate 31 is fixed to the opposite side of the azimuth plate 23 (as shown on the left). Figure 7 (As shown on the right).

[0075] The L-band aerostat self-tracking antenna 1 also includes: an antenna control unit 45, two drivers 44, a tilt sensor 19, and a BeiDou positioning and orientation board 29. The antenna control unit 45, tilt sensor 19, and BeiDou positioning and orientation board 29 are important components for the aerostat's sensor data backhaul. During aerostat flight, they control the antenna to track and align with the satellite in real time. A 6Mbps communication bandwidth link can be established between the satellite and the aerostat to receive backhauled data from the aerostat.

[0076] like Figures 8-10 As shown, the antenna control unit 45 is installed inside the pitch rotation bracket 37, the tilt sensor 19 is installed on the azimuth plate 23, and the two drivers 44 are installed on the front cover plate 57. The antenna control unit 45, the two drivers 44, the tilt sensor 19, and the Beidou positioning and orientation board 29 are electrically connected to each other. The two drivers 44 are electrically connected to the azimuth servo motor 30 and the pitch servo motor 48, respectively.

[0077] The tilt sensor 19 and the Beidou positioning and orientation board 29 are used to measure the carrier parameters of the aerostat (i.e., the mobile carrier) and transmit them to the antenna control unit 45. The antenna control unit 45 calculates the data (including the aerostat's longitude, latitude, and altitude) provided by the aerostat in conjunction with the carrier parameters, and then sends corresponding control pulses to the two drivers 44. The two drivers 44 drive the azimuth servo motor 30 and the pitch servo motor 48 to their respective target positions according to the control pulses they receive, thereby achieving automatic tracking of the satellite. The feedback of the target positions of the azimuth servo motor 30 and the pitch servo motor 48 is achieved through the azimuth encoder 24 and the pitch encoder 47, respectively.

[0078] Tilt sensor 19 is used to collect the horizontal tilt angle data of the airship, including both X and Y directions. Beidou positioning and orientation board 29 is used to measure the heading and position information of the airship, providing the antenna control unit 45 with the position of the antenna base and the heading angle of the base relative to true north. Azimuth encoder 24 is used to measure the antenna azimuth angle, and elevation encoder 47 is used to measure the antenna elevation angle. Both encoders are absolute encoders.

[0079] like Figure 11 As shown, the bracket base assembly 21 includes four bracket struts 7, four bracket connecting rods 7A, four leveling mechanisms 10, four magnetic feet 9, and one orientation support flange 6.

[0080] The antenna consists of four support struts 7 and four connecting rods 7A fixed to four magnetic feet 9, forming a support system to support the entire antenna. Four leveling mechanisms 10 adjust the height of one end of each of the four support struts 7 by adjusting hand-tightened bolts. An azimuth support flange 6 is mounted on a column (not shown in the diagram), which is installed at the end of each of the four support struts 7. Each support strut 7 and connecting rod 7A is made of carbon fiber, which is lightweight and high-strength.

[0081] The L-band aerostat satellite communication antenna tracking method provided in this invention employs satellite alignment and tracking technology based on inertial navigation and a conical scanning mechanism. It accurately measures and calculates the aerostat's attitude information based on inertial navigation technology. When the communication satellite beacon signal strength is low or absent, extreme value tracking is performed by scanning the carrier signal strength (S / N value) of the modem. The antenna control unit performs matrix transformation on the aerostat's attitude information and the antenna's two-axis angle information obtained from the angle encoders (azimuth and pitch encoders). Calculations are then performed using a dual quaternion control method to achieve accurate satellite alignment and real-time tracking under conditions such as blind spots, obstructions, high dynamic range, and complex environments.

[0082] Figure 13 This is a schematic diagram of the structure of a mobile carrier satellite communication antenna tracking system provided in an embodiment of the present invention. Figure 13 As shown, the system includes: an inertial navigation module 1301, a preliminary satellite alignment module 1302, a conical scanning module 1303, and an error feedback module 1304.

[0083] The inertial navigation module 1301 is configured to measure and calculate the attitude information of the mobile carrier in real time based on inertial navigation technology; the preliminary satellite alignment module 1302 is configured to perform coordinate transformation on the initial azimuth and initial elevation angles of the satellite communication antenna mounted on the mobile carrier according to the calculated attitude information of the mobile carrier, and obtain the transformed pointing angle, and drive the antenna servo mechanism of the satellite communication antenna based on the transformed pointing angle, so that the axis of the satellite communication antenna initially points towards the satellite; the conical scanning module 1303 is configured to drive the satellite communication antenna to perform conical scanning around its calculated line of sight with a preset small angle as the apex angle and continuously collect the carrier signal strength value, perform gradient analysis on the carrier signal strength to determine the relative azimuth of the actual direction of the strongest point of the signal center and the direction of the antenna's calculated line of sight, and obtain the error correction amount based on the relative azimuth; the error feedback module 1304 is configured to use the error correction amount as a feedback signal to fine-tune the antenna servo mechanism of the satellite communication antenna to align with the strongest point of the signal center and correct the cumulative error generated during the attitude calculation of the mobile carrier.

[0084] In one specific embodiment, the inertial navigation module 1301 includes a measurement unit, a solution unit, and a first calculation unit.

[0085] The measurement unit is configured to measure the rotational angular rate and linear acceleration of the mobile carrier in real time based on inertial navigation technology; the calculation unit is configured to perform real-time attitude matrix calculation using the measured rotational angular rate of the mobile carrier, and use the attitude matrix to convert the measured linear acceleration of the mobile carrier into the navigation coordinate system; the first calculation unit is configured to calculate the attitude information of the mobile carrier through navigation.

[0086] In one specific embodiment, the system further includes an initial angle calculation module.

[0087] The initial angle calculation module is configured to acquire the position and heading information of the antenna base of the satellite communication antenna mounted on the mobile carrier; and, in combination with the position and heading information of the antenna base and preset satellite parameters, calculate the initial azimuth and initial elevation angles of the satellite communication antenna relative to the satellite, so as to determine the antenna calculation line of sight.

[0088] Accordingly, the initial configuration of the satellite module 1302 is to rotate the axis of the satellite communication antenna to the direction of the antenna's calculated line of sight, so as to complete the initial pointing.

[0089] In one specific embodiment, the initial azimuth angle of the satellite communication antenna to the satellite is calculated using the following formula: A= 180° +arctan(tan(λ s -λ e ) / sin e ) ; in, A This represents the initial azimuth angle of the satellite communication antenna relative to the satellite. λ s The longitude of the satellite; λ e Longitude of the mobile carrier; e The latitude of the mobile carrier; The initial elevation angle of the satellite communication antenna relative to the satellite is calculated using the following formula: E = arctan[ (cosθ – R / (R+h)) / sinθ ] ; in, E This is the initial elevation angle of the satellite communication antenna relative to the satellite; θ The geocentric angle; R The radius of the Earth; h This is the satellite's altitude.

[0090] In one specific embodiment, the conical scanning module 1303 includes a driving unit, a sampling unit, and a second calculation unit.

[0091] The driving unit is configured to drive the satellite communication antenna to perform a conical scan around its calculation line of sight with a preset small angle as the apex and continuously collect carrier signal strength values; the sampling unit is configured to sample at preset angle intervals in each scanning cycle to obtain estimated carrier signal strength values ​​for each sampling point; the second calculation unit is configured to use a preset weighted calculation formula to calculate the elevation angle and azimuth angle error correction angular rate of the satellite communication antenna based on the estimated carrier signal strength values ​​for each sampling point, and use the elevation angle and azimuth angle error correction angular rate as the error correction amount.

[0092] In one specific implementation, when the sampling unit samples at 45-degree intervals, 8 sampling points are obtained in each scanning cycle.

[0093] Accordingly, the second calculation unit calculates the elevation angle error correction angular rate of the satellite communication antenna using the following formula: WO(A0+A7-A3-A4)+W1(A1+A6-A2-A5); The second calculation unit calculates the azimuth error correction angular rate of the satellite communication antenna using the following formula: M1(A5+A6-A1-A2)+MO(A4+A7-A0-A3); The estimated carrier signal strength values ​​for the eight sampling points are A0, A1, A2, A3, A4, A5, A6, and A7, respectively. When analyzing the pitch angle error, the weights of the eight sampling points are WO, W1, W1, WO, WO, W1, W1, and WO, respectively. When analyzing the azimuth angle error, the weights of the eight sampling points are MO, M1, M1, MO, MO, M1, M1, and MO, respectively.

[0094] In one specific embodiment, the error feedback module 1304 includes: a conversion unit, a first feedback unit, and a second feedback unit.

[0095] The conversion unit is configured to convert the pitch angle and azimuth error correction angular rate into a first speed command and a second speed command respectively via a digital-to-analog converter; the first feedback unit is configured to send the first speed command to the pitch servo mechanism of the satellite communication antenna, so that the pitch servo mechanism drives the pitch servo motor to rotate at the pitch angle error correction angular rate according to the first speed command, and the pitch encoder of the pitch servo mechanism transmits the speed back in real time, forming a first speed closed loop; and the second speed command is sent to the azimuth servo mechanism of the satellite communication antenna, so that the azimuth servo mechanism rotates according to the second speed command. The azimuth servo motor is driven to rotate at the azimuth error correction angular rate, and the azimuth encoder of the azimuth servo mechanism transmits the speed back in real time, forming a second speed closed loop; until the gradient of the carrier signal strength in both the pitch and azimuth directions approaches zero, and the axis of the satellite communication antenna is aligned with the strongest point of the signal center; the second feedback unit is set to send the azimuth error correction angular rate as the heading drift amount into the attitude calculation module of the inertial navigation system, so that the attitude calculation module uses the heading drift amount as the observation value to correct the gyroscope zero bias or scaling factor in real time, and correct the cumulative error generated during the attitude calculation of the moving vehicle.

[0096] The mobile carrier satellite communication antenna tracking system provided in this invention solves the problem of attitude accumulation error during long-term tracking: by performing closed-loop feedback and fusion of the output of inertial navigation and the extreme value tracking results of conical scanning, the attitude error of inertial navigation is continuously corrected using the real-time high-precision signal strength information of conical scanning, thereby maintaining high-precision tracking for a long time; it also solves the tracking problem in low signal-to-noise ratio (SNR) environments: when the beacon signal is weak or lost, extreme value tracking is performed by scanning the carrier signal strength (S / N value) output by the modem instead of relying on the beacon, thus expanding the adaptability of the solution; and it achieves a stable communication link with high gain and strong anti-interference: by using a parabolic antenna to achieve high directivity, combined with the above tracking method, a stable communication link is established and maintained in complex environments where the mobile carrier (such as an airship) drifts slowly and changes attitude.

[0097] Based on the same technical concept, embodiments of the present invention also provide a computer device, such as... Figure 14 As shown, the computer device includes a memory 1401 and a processor 1402. The memory 1401 stores a computer program. When the processor 1402 runs the computer program stored in the memory 1401, the processor 1402 executes the aforementioned mobile carrier satellite communication antenna tracking method.

[0098] Based on the same technical concept, the present invention also provides a computer-readable storage medium storing a computer program thereon, wherein when the computer program is executed by a processor, the processor executes the aforementioned mobile carrier satellite communication antenna tracking method.

[0099] In summary, the mobile carrier satellite communication antenna tracking method, system, computer equipment, and storage medium provided in this embodiment of the invention can maintain high-precision tracking for a long time and establish and maintain a stable communication link by performing closed-loop feedback and fusion of the output of inertial navigation and the extreme value tracking results of conical scanning. It is suitable for fields such as emergency communication support and communication support for major events. For example, it can be applied to a UAV video acquisition platform, where the high-definition video signal acquired in real time by the UAV video acquisition platform is received through the L-band airship self-tracking antenna of this invention to realize the backhaul of video images.

[0100] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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 or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for tracking satellite communication antennas on a mobile carrier, characterized in that, include: The attitude information of the moving vehicle is measured and calculated in real time based on inertial navigation technology. Based on the calculated attitude information of the mobile carrier, the satellite communication antenna mounted on the mobile carrier performs coordinate transformation on the initial azimuth and initial elevation angles of the satellite and obtains the transformed pointing angle. Based on the transformed pointing angle, the antenna servo mechanism of the satellite communication antenna is driven so that the axis of the satellite communication antenna initially points towards the satellite. The satellite communication antenna is driven to perform a conical scan around its calculated line of sight with a preset small angle as the apex and continuously collect the carrier signal strength value. Gradient analysis is performed on the carrier signal strength to determine the actual direction of the strongest point of the signal center and the relative position of the antenna's calculated line of sight. The error correction amount is then derived based on the relative position. as well as, The error correction amount is used as a feedback signal to fine-tune the antenna servo mechanism of the satellite communication antenna to align with the strongest signal center point and correct the accumulated error generated during the attitude calculation of the moving vehicle.

2. The method according to claim 1, characterized in that, The real-time measurement and calculation of the attitude information of the mobile vehicle based on inertial navigation technology includes: Real-time measurement of the rotational angular rate and linear acceleration of a moving vehicle based on inertial navigation technology; The attitude matrix is ​​calculated in real time using the measured rotational angular rate of the moving vehicle, and the measured linear acceleration of the moving vehicle is converted into the navigation coordinate system using the attitude matrix; and, The attitude information of the mobile vehicle is obtained through navigation calculations.

3. The method according to claim 1, characterized in that, Before measuring and calculating the attitude information of the moving vehicle in real time based on inertial navigation technology, the following steps are also included: Acquire the position and heading information of the antenna base of the satellite communication antenna mounted on the mobile carrier; and, By combining the position and heading information of the antenna base with the preset satellite parameters, the initial azimuth and initial elevation angles of the satellite communication antenna relative to the satellite are calculated to determine the antenna's calculation line of sight. Specifically, the process of initially pointing the axis of the satellite communication antenna toward the satellite direction involves: Rotate the axis of the satellite communication antenna to the direction of the antenna's calculated line of sight to complete the initial pointing.

4. The method according to claim 3, characterized in that, The initial azimuth angle of the satellite communication antenna relative to the satellite is calculated using the following formula: A= 180° +arctan(tan(λ s -λ e ) / sin e ) ； in, A This represents the initial azimuth angle of the satellite communication antenna relative to the satellite. λ s The longitude of the satellite; λ e Longitude of the mobile carrier; e The latitude of the mobile carrier; The initial elevation angle of the satellite communication antenna relative to the satellite is calculated using the following formula: E = arctan[ (cosθ – R / (R+h)) / sinθ ] ； in, E This is the initial elevation angle of the satellite communication antenna relative to the satellite; θ The geocentric angle; R The radius of the Earth; h This is the satellite's altitude.

5. The method according to claim 1, characterized in that, The step of performing gradient analysis on the carrier signal strength value to determine the relative azimuth between the actual direction of the strongest signal center point and the calculated line-of-sight direction of the antenna, and deriving the error correction amount based on the relative azimuth, includes: Within each scan cycle, sampling is performed at preset angle intervals to obtain estimated carrier signal strength values ​​for each sampling point; and, Using a preset weighted calculation formula, the elevation angle and azimuth angle error correction angular rate of the satellite communication antenna are calculated based on the estimated carrier signal strength values ​​of each sampling point, and the elevation angle and azimuth angle error correction angular rate are used as the error correction amount.

6. The method according to claim 5, characterized in that, With sampling at 45-degree intervals, 8 sampling points are obtained per scan cycle; The elevation angle error correction angular rate of the satellite communication antenna is calculated using the following formula: WO(A0+A7-A3-A4)+W1(A1+A6-A2-A5); The azimuth error correction angular rate of the satellite communication antenna is calculated using the following formula: M1(A5+A6-A1-A2)+MO(A4+A7-A0-A3); The estimated carrier signal strength values ​​for the eight sampling points are A0, A1, A2, A3, A4, A5, A6, and A7, respectively. When analyzing the pitch angle error, the weights of the eight sampling points are WO, W1, W1, WO, WO, W1, W1, and WO, respectively. When analyzing the azimuth angle error, the weights of the eight sampling points are MO, M1, M1, MO, MO, M1, M1, and MO, respectively.

7. The method according to claim 5 or 6, characterized in that, The step of using the error correction amount as a feedback signal to fine-tune the antenna servo mechanism of the satellite communication antenna to align it with the strongest signal center includes: The pitch angle and azimuth angle error correction angular rates are converted into a first speed command and a second speed command via a digital-to-analog converter, respectively. The first speed command is sent to the pitch servo mechanism of the satellite communication antenna, so that the pitch servo mechanism drives the pitch servo motor to rotate at the pitch angle error correction angular rate according to the first speed command, and the pitch encoder of the pitch servo mechanism transmits the speed back in real time, forming a first speed closed loop; and the second speed command is sent to the azimuth servo mechanism of the satellite communication antenna, so that the azimuth servo mechanism drives the azimuth servo motor to rotate at the azimuth angle error correction angular rate according to the second speed command, and the azimuth encoder of the azimuth servo mechanism transmits the speed back in real time, forming a second speed closed loop; until the gradient of the carrier signal strength in both the pitch and azimuth directions approaches zero, and the axis of the satellite communication antenna is aligned with the strongest point of the signal center; And / or, the step of using the error correction amount as a feedback signal to correct the accumulated error generated during the attitude calculation of the moving vehicle includes: The azimuth error correction angular rate is sent as the heading drift amount to the attitude calculation module of the inertial navigation system, so that the attitude calculation module uses the heading drift amount as the observation value to make real-time corrections to the gyroscope zero bias or scaling factor, and corrects the cumulative error generated during the attitude calculation of the moving vehicle.

8. A mobile carrier satellite communication antenna tracking system, characterized in that, include: An inertial navigation module is configured to measure and calculate the attitude information of the moving vehicle in real time based on inertial navigation technology. The initial satellite alignment module is configured to perform coordinate transformation on the initial azimuth and initial elevation angles of the satellite communication antenna mounted on the mobile carrier based on the calculated attitude information of the mobile carrier, and obtain the transformed pointing angle. Based on the transformed pointing angle, the antenna servo mechanism of the satellite communication antenna is driven so that the axis of the satellite communication antenna initially points towards the satellite. The conical scanning module is configured to drive the satellite communication antenna to perform a conical scan around its calculated line of sight with a preset small angle as the apex and continuously collect carrier signal strength values. It performs gradient analysis on the carrier signal strength to determine the actual direction of the strongest point of the signal center and the relative azimuth of the antenna's calculated line of sight, and derives the error correction amount based on the relative azimuth. as well as, The error feedback module is configured to use the error correction amount as a feedback signal to fine-tune the antenna servo mechanism of the satellite communication antenna to align with the strongest signal center point and correct the cumulative error generated during the attitude calculation of the moving vehicle.

9. A computer device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the mobile carrier satellite communication antenna tracking method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the processor performs the mobile carrier satellite communication antenna tracking method according to any one of claims 1 to 7.

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