High-speed pointing method for portable satellite station based on adaptive control

Abstract

This invention discloses a high-speed satellite alignment method for portable satellite stations based on adaptive control, relating to the field of satellite communication technology. The method includes: collecting basic alignment parameters of the portable satellite station and unifying the time and coordinate references to form a basic parameter set; calculating the theoretical pointing angle of the target communication satellite using the basic parameter set; constructing and evaluating a pointing consistency model based on historical satellite communication link records to generate pointing reliability and a starting pointing angle set; parameterizing antenna installation deviations based on the starting pointing angle set; and constructing a joint constraint relationship between installation deviation parameters, antenna motion state, and servo drive capability based on the basic parameter set to generate an reachable angle domain. This invention, by constructing an online estimation model and evaluating the benefits of candidate control actions based on the reachable angle domain and pointing reliability, can quantify in real time the contribution of different control actions to shortening link establishment time during satellite alignment.

Description

Technical Field

[0001] This invention relates to the field of satellite communication technology, and in particular to a high-speed satellite alignment method for portable satellite stations based on adaptive control. Background Technology

[0002] As satellite communication applications expand to emergency communication, mobile communication, and rapid deployment in the field, the ability of portable satellite stations to achieve rapid and stable satellite alignment in non-fixed environments has become an important research direction in related fields. In existing technologies, portable satellite stations typically calculate the theoretical pointing angle based on geographical location, time information, and the target satellite's orbital parameters, and combine this with azimuth and elevation axis control of the antenna mechanism to achieve target satellite acquisition and tracking. Simultaneously, sensor fusion and control strategy improvements are gradually being introduced, focusing on attitude measurement, pointing calculation, and scanning strategy optimization, to enhance satellite alignment success rate and environmental adaptability.

[0003] In practical applications, due to the high randomness of the installation conditions of portable satellite stations, the superposition of factors such as antenna base attitude deviation, installation error and environmental disturbance, there is uncertainty between the theoretical pointing angle and the actual optimal pointing angle. Existing satellite acquisition methods mostly use fixed scanning range or preset scanning strategies for acquisition, which makes it difficult to dynamically converge the search process in the uncertain angular domain. This results in uncontrollable satellite acquisition time and search efficiency being greatly affected by the environment, which has become the main technical problem restricting the high-speed satellite acquisition performance of portable satellite stations. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a high-speed satellite alignment method for portable satellite stations based on adaptive control to solve the problem that portable satellite stations are difficult to achieve fast convergence and controllable timeliness in the satellite alignment process under pointing uncertainty.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: This invention provides a high-speed satellite alignment method for portable satellite stations based on adaptive control. The method includes: collecting basic satellite alignment parameters of the portable satellite station and unifying the time and coordinate references to form a basic parameter set; calculating the theoretical pointing angle of the target communication satellite using the basic parameter set, constructing and evaluating a pointing consistency model based on historical satellite communication link establishment records, and generating pointing reliability and a starting pointing angle set; parameterizing the antenna installation deviation based on the starting pointing angle set, constructing a joint constraint relationship between the installation deviation parameters, antenna motion state, and servo drive capability based on the basic parameter set, and generating an reachable angle domain; constructing an online estimation model with satellite communication link establishment time as the objective based on the reachable angle domain and pointing reliability, and outputting a satellite alignment time gain value; selecting a control action based on the satellite alignment time gain value and driving the antenna to perform adaptive coarse acquisition scanning, switching to high-speed fine tracking when the satellite communication link establishment conditions are met, obtaining a locked pointing angle, and forming a satellite communication alignment state; updating the antenna installation deviation compensation parameters based on the correction amount between the locked pointing angle and the theoretical pointing angle, and correcting the theoretical pointing angle and the reachable angle domain in the satellite communication alignment state.

[0007] As a preferred embodiment of the portable satellite station high-speed satellite alignment method based on adaptive control described in this invention, the basic satellite alignment parameters include geographical location information, time information, antenna base attitude information, target satellite orbital information, and historical satellite communication link establishment records.

[0008] As a preferred embodiment of the portable satellite station high-speed satellite alignment method based on adaptive control described in this invention, the specific steps for forming the basic parameter set are as follows: Perform unified time reference correction on the time information, and perform unified coordinate reference transformation on the geographical location information and attitude information to obtain the deployment information for satellite communication link alignment; Based on the deployment information, the target satellite orbital position information is read and converted into orbital position information consistent with the unified coordinate reference. Read historical satellite communication link establishment records and extract the time stamp information and theoretical pointing angle information corresponding to successful links to form communication link success characteristics; Deployment information, track position information, and successful communication link characteristics are encapsulated in a preset field order to form a basic parameter set.

[0009] As a preferred embodiment of the portable satellite station high-speed satellite alignment method based on adaptive control described in this invention, the specific steps for calculating the theoretical pointing angle of the target communication satellite are as follows: Based on the time information corresponding to the deployment information, the orbital position information is parsed and transformed according to the time information corresponding to the deployment information to obtain the spatial position; By performing vector difference calculation on the spatial location and the site spatial location represented in the deployment information, the line-of-sight direction of the site pointing to the target communication satellite is obtained, and the line-of-sight direction is represented as the communication link alignment direction in the station center coordinate system; The communication link alignment direction is decomposed and angle mapped to obtain the theoretical azimuth and theoretical elevation angles of the target communication satellite, which are then combined to form the theoretical pointing angle of the target communication satellite.

[0010] As a preferred embodiment of the portable satellite station high-speed satellite alignment method based on adaptive control described in this invention, the specific steps for generating the pointing confidence level and the starting pointing angle set are as follows: Historical satellite communication link establishment records are read from the basic parameter set, and the theoretical pointing angle information and time stamp information corresponding to each successful communication link establishment are extracted to form a historical successful pointing sample. Using the theoretical pointing angle as a reference, the pointing deviation between the historical successful pointing samples and the current theoretical pointing angle is calculated to form a communication link deviation set; Based on the time identifier information corresponding to the communication link deviation set, the time correlation of historical successful pointing samples under the current time conditions is corrected to form a time-series correction set; Based on the distribution characteristics, stability characteristics, and frequency of occurrence of the time series correction set, a statistical distribution consistency determination method is used for joint modeling to form a consistent model. Based on the consistent pointing model, the matching degree of the current theoretical pointing angle in the historical successful pointing distribution is calculated to generate the pointing credibility and select to form the starting point pointing angle set.

[0011] As a preferred embodiment of the portable satellite station high-speed satellite alignment method based on adaptive control described in this invention, the specific process for generating the reachable angle domain is as follows: Using the starting point pointing angle set as a reference, compare the current actual pointing state of the antenna, extract the offset between the azimuth and elevation directions, and form the installation deviation parameters; Read the azimuth and pitch axis angle status, angular velocity status and corresponding servo drive capability configuration parameters reported by the antenna controller from the basic parameter set, and obtain motion status and servo drive capability information. The installation deviation parameters are mapped to the correction requirements, and the feasibility of the correction requirements is determined by combining the current motion state of the antenna and the servo drive capability information, thus constructing a joint constraint relationship. Based on the joint constraint relationship, the candidate pointers around the starting point pointing angle set are judged and filtered to obtain the pointer set, forming the reachable angle domain.

[0012] As a preferred embodiment of the portable satellite station high-speed satellite alignment method based on adaptive control described in this invention, the satellite communication link establishment condition refers to determining whether the received signal is within a preset signal state range that allows the establishment of a satellite communication link.

[0013] As a preferred embodiment of the portable satellite station high-speed satellite alignment method based on adaptive control described in this invention, the specific process for outputting the satellite alignment time gain value is as follows: The reachability angle domain is used as the constraint range for candidate directions and candidate control actions, and the direction confidence is used as the prior reliability input of the candidate directions to form an online estimated candidate set; For each candidate control action in the candidate set, based on the current antenna motion state and servo drive capability information, the time for the candidate control action to reach the candidate pointing direction is estimated to form an action arrival time estimate; Based on the matching degree between the pointing credibility and historical successful pointing samples, the success probability of meeting the conditions for establishing a communication link is estimated. By jointly modeling the action arrival time estimation and the link success probability estimation, an online estimation model is constructed. Each candidate control action is evaluated and a revenue mapping is performed to output the satellite time revenue value.

[0014] As a preferred embodiment of the portable satellite station high-speed satellite alignment method based on adaptive control described in this invention, the specific process of obtaining the locked pointing angle and establishing the satellite communication alignment state is as follows: Read the satellite time gain value, and select the control action with the highest gain value from the candidate control actions as the current action to be executed; The current action is converted into control commands for the antenna's azimuth and pitch axes, driving the antenna to perform adaptive coarse acquisition scanning within the reachable angle domain; During the coarse acquisition scan, the signal stability index is continuously calculated and monitored, and when the signal stability index meets the preset conditions, the switch from coarse acquisition mode to high-speed fine tracking mode is triggered. In high-speed precision tracking mode, the antenna control parameters are adjusted online based on real-time signal observation, the antenna pointing is stably converged and the pointing angle is locked, thus forming a satellite communication alignment state.

[0015] As a preferred embodiment of the portable satellite station high-speed satellite alignment method based on adaptive control described in this invention, the specific process for correcting the theoretical pointing angle and reachable angle domain is as follows: In satellite communication pairing mode, the locked pointing angle is read and compared with the current theoretical pointing angle to obtain the pointing correction amount in the azimuth and elevation directions; The antenna installation deviation compensation parameters are updated based on the pointing correction amount, and the theoretical pointing angle calculation process is corrected. Based on the updated antenna installation deviation compensation parameters, the center position and boundary range of the reachable angle domain are readjusted to keep the reachable angle domain consistent with the corrected theoretical pointing angle.

[0016] The beneficial effects of this invention are as follows: By constructing an online estimation model and evaluating the benefits of candidate control actions based on reachability and pointing confidence, the contribution of different control actions to shortening link establishment time can be quantified in real time during satellite alignment; the antenna control is transformed from a fixed scanning or empirical strategy to a benefit-driven adaptive decision-making process, and the selection of control actions always converges around the direction of optimal time efficiency. In the presence of installation deviations and pointing uncertainties, invalid search paths are significantly reduced, and the satellite alignment process has clear optimization objectives and stable time predictability, thereby improving the overall controllability of high-speed satellite alignment for portable satellite stations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a high-speed satellite alignment method for portable satellite stations based on adaptive control.

[0019] Figure 2 This is a flowchart for a credibility assessment.

[0020] Figure 3 A flowchart for generating reachable corner regions.

[0021] Figure 4 This is a flowchart for adaptive satellite control. Detailed Implementation

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0025] Reference Figures 1-4 This is one embodiment of the present invention, which provides a high-speed satellite alignment method for portable satellite stations based on adaptive control, comprising the following steps: S1: Collect the basic satellite alignment parameters of the portable satellite station, and unify the time and coordinate references to form a basic parameter set.

[0026] S1.1: Perform unified time reference correction on the time information and perform unified coordinate reference transformation on the geographical location information and attitude information to obtain the deployment information for satellite communication link alignment.

[0027] Specifically, the collected time information, geographical location information, and antenna base attitude information are unified into the same reference system. By aligning the collected local time information with the unified reference time source, the time deviation is corrected. The geographical location and antenna base attitude information are then transformed according to the preset spatial coordinate reference system and uniformly expressed under the same spatial coordinate reference to obtain the deployment information for satellite communication link alignment calculation.

[0028] It should be noted that the preset spatial coordinate reference system is defined by selecting a unified geocentric coordinate system and covering the global spatial range required for satellite communication applications.

[0029] S1.2: Read the target satellite orbital information based on the deployment information, and convert the target satellite orbital information into orbital information consistent with the unified coordinate reference.

[0030] Specifically, based on the unified time reference determined in the deployment information, the target satellite orbital information is read. The spatial position of the target satellite at the current moment is obtained by matching the time identifier in the target satellite orbital information with the unified time reference. The spatial position is then transformed according to the preset spatial coordinate reference system to express the spatial position of the target communication satellite at the current moment as orbital information consistent with the deployment information.

[0031] S1.3: Read historical satellite communication link establishment records and extract the time stamp information and theoretical pointing angle information corresponding to successful links to form communication link success characteristics.

[0032] Specifically, the historical satellite communication link establishment records are traversed and read, and the records marked as successfully established are identified. The corresponding establishment time identifier information and the theoretical pointing angle information of the antenna at that time are extracted from each successful record. The extracted time identifier information and theoretical pointing angle information are then matched and organized one by one to form the communication link success characteristics.

[0033] S1.4: Encapsulate deployment information, track position information, and communication link success characteristics in a preset field order to form a basic parameter set.

[0034] Specifically, according to the pre-set field order, the deployment information reflecting the current spatiotemporal status of the site, the orbital information representing the spatial position of the target communication satellite at the corresponding time, and the communication link success characteristics representing historical successful link establishment experience are matched, combined, and encapsulated item by item to form a set of basic parameters that are consistent in terms of time reference, spatial coordinate reference, and semantic meaning.

[0035] It should be noted that the fields are set in the order of deployment information, orbital position information and communication link success characteristics according to the data dependency relationship in the satellite calculation and control process. These fields include the corresponding time, spatial position, attitude and historical successful pointing angle information, respectively.

[0036] S2: Calculate the theoretical pointing angle of the target communication satellite using the basic parameter set, build a pointing consistency model based on historical satellite communication links and evaluate it, and generate pointing confidence and starting point pointing angle set.

[0037] S2.1: Based on the time information corresponding to the deployment information, the orbital position information is parsed and the coordinates are transformed under the time information corresponding to the deployment information to obtain the spatial position.

[0038] Specifically, based on the time information corresponding to the deployment information, orbital position records matching the time information corresponding to the deployment information are read from the orbital position information. Extrapolation is performed on the time identifiers in the orbital position records according to the time information corresponding to the deployment information, and the orbital position state consistent with the deployment information time is selected as the aligned orbital position record. The aligned orbital position record undergoes orbital position parsing processing to convert it into a spatial position representation of the target communication satellite at that time. After parsing, coordinate transformation processing is performed on the spatial position representation according to the deployment information to ensure consistency with the deployment information in coordinate axis definition, orientation, and dimensional expression, thus obtaining the spatial position.

[0039] S2.2: By performing vector difference calculation on the spatial location and the site spatial location represented in the deployment information, the line-of-sight direction of the site pointing to the target communication satellite is obtained, and the line-of-sight direction is represented as the communication link alignment direction in the station center coordinate system.

[0040] Specifically, based on spatial location, the site's spatial location is read from the deployment information, and vector difference calculation is performed on the spatial location and the site's spatial location under the same coordinate reference. Using the site's spatial location as the vector start point and the spatial location as the vector end point, the difference between the spatial location and the site's spatial location in each coordinate axis direction is calculated to obtain the line-of-sight direction from the site to the target communication satellite. The line-of-sight direction is then transformed from a vector expression under a unified coordinate reference to a directional component expression under the station-centered coordinate system. The line-of-sight direction is represented as the communication link alignment direction in the form of the axial component of the station-centered coordinate system.

[0041] S2.3: Perform direction decomposition and angle mapping processing on the alignment direction of the communication link to obtain the theoretical azimuth and theoretical elevation angles of the target communication satellite and combine them to form the theoretical pointing angle of the target communication satellite.

[0042] Specifically, the direction component of the communication link alignment direction in the station-centered coordinate system is read, and the direction component is normalized to eliminate dimensional differences and obtain the unit direction; angle mapping processing is performed on the communication link alignment direction, and the angle between the projection direction of the communication link alignment direction on the horizontal plane and the reference axis of the station-centered coordinate system is calculated to obtain the theoretical azimuth angle, and the angle between the communication link alignment direction and the horizontal plane is calculated to obtain the theoretical elevation angle; the theoretical azimuth angle and the theoretical elevation angle are combined and encapsulated according to the preset field order to form the theoretical pointing angle of the target communication satellite.

[0043] The theoretical azimuth angle is defined with the north axis of the station center coordinate system as the zero direction and clockwise as the positive direction, and its range is as follows: The theoretical pitch angle is defined with the horizontal plane as zero and upward as the positive direction, and its range is as follows: .

[0044] S2.4: Read historical satellite communication link establishment records from the basic parameter set, and extract the theoretical pointing angle information and time stamp information corresponding to each successful communication link establishment to form a historical successful pointing sample.

[0045] Specifically, the record fields of historical satellite communication link establishment records are located from the basic parameter set, and the historical satellite communication link establishment records are read one by one. During the reading process, the status fields that indicate the establishment status of the communication link in the historical satellite communication link establishment records are used to filter and select the record entries that have successfully established the communication link. The corresponding time identifier information and theoretical pointing angle information in the record entries are read respectively, and the time identifier information and theoretical pointing angle information are matched and sorted one by one. The matched time identifier information and theoretical pointing angle information are collected in the order of the record entries to form a historical successful pointing sample.

[0046] Among them, the theoretical pointing angle information refers to the theoretical azimuth and theoretical elevation angles corresponding to each successful link establishment, and the time stamp information refers to the timestamp under the unified time reference corresponding to the successful establishment of the communication link.

[0047] S2.5: Using the theoretical pointing angle as a reference, calculate the pointing deviation between the historical successful pointing samples and the current theoretical pointing angle to form a communication link deviation set.

[0048] Specifically, using the theoretical pointing angle as a reference, each set of theoretical pointing angle information in the historical successful pointing samples is read one by one, and aligned with the theoretical pointing angle at the angle field level, so that the azimuth field corresponds to the azimuth field and the pitch field corresponds to the pitch field.

[0049] After field alignment, angle difference calculation is performed on each set of theoretical pointing angle information to calculate the difference between the azimuth angle corresponding to the historical successful pointing sample and the azimuth angle corresponding to the theoretical pointing angle, as well as the difference between the elevation angle corresponding to the historical successful pointing sample and the elevation angle corresponding to the theoretical pointing angle, to obtain the pointing deviation between each historical successful pointing sample and the theoretical pointing angle. The pointing deviation of each historical successful pointing sample is associated with the time stamp information corresponding to the historical successful pointing sample and recorded in pairs with the corresponding time stamp information. The deviations are then collected in the traversal order of the historical successful pointing samples to form a communication link deviation set.

[0050] The formula for azimuth deviation is: ; In the formula, Indicates the first The historical data successfully points to the directional deviation of the sample in the orientation direction. This represents the azimuth component of the pointing angle. This indicates that historical success points to a sample. This indicates the function for handling angle wrapping. Indicates the first The historical success point points to the azimuth angle of the sample. This indicates that historical success points to the angle quantity in the sample. This indicates the theoretical azimuth angle corresponding to the theoretical pointing angle. This represents the angular quantity in the current theoretical pointing angle.

[0051] The angle wrapping function normalizes the angle difference to... The interval is processed by adding or subtracting 360° cycles to eliminate discontinuities when crossing from 0° to 360° or ±180°, making the azimuth deviation continuously available in calculation and control.

[0052] The pitch direction deviation is calculated using the following formula: ; In the formula, Indicates the first The historical successful pointing sample shows pointing deviation in the pitch direction. This represents the pitch component of the pointing angle. Indicates the first The historical success points to the pitch angle of the sample. This represents the theoretical pitch angle corresponding to the theoretical pointing angle.

[0053] The pointing bias of a single historical sample is calculated using the following formula: ; In the formula, Indicates the first The pointing deviation vector of a historical successful pointing sample relative to the current theoretical pointing angle. This represents the pointing deviation of a single historical successful pointing sample relative to the current theoretical pointing angle.

[0054] Among them, the angle difference quantifies the deviation between historical samples and the current theoretical direction, and the surround function ensures the continuity of the deviation when crossing from 0° to 360° or ±180°; the azimuth direction pointing deviation formula, the pitch direction pointing deviation formula and the pointing deviation formula of a single historical sample all maintain dimensional consistency in physical meaning and mathematical expression, and are angular deviation quantities.

[0055] S2.6: Based on the time identifier information corresponding to the communication link deviation set, correct the time correlation of historical successful pointing samples under the current time conditions to form a time-series correction set.

[0056] Specifically, the time information corresponding to the current time condition is read, and time difference calculation is performed on each time identifier in the communication link deviation set to obtain the time interval between each historical successful pointing sample and the current time condition.

[0057] For each historical successful pointing sample, a time correlation correction process is performed. The time interval is converted into a time correlation correction weight and associated with the corresponding pointing deviation. The corresponding time correlation correction weight is calculated based on the time interval of each historical successful pointing sample. The time correlation correction weight is higher when the time interval is close to the current time condition, and lower when the time interval is far from the current time condition. The time correlation correction weight and the pointing deviation in the communication link deviation set are collected and organized in a one-to-one correspondence manner to form a time-series correction set.

[0058] The weight for adjusting the degree of time correlation is calculated using an exponential decay function.

[0059] S2.7: Based on the distribution characteristics, stability characteristics and occurrence frequency of the time series correction set, a statistical distribution consistency determination method is used for joint modeling to form a consistent model.

[0060] Specifically, the time-series correction set is fed into the distribution feature calculation layer, the stable feature calculation layer, and the occurrence frequency statistics layer, respectively. The distribution feature calculation layer calculates a weighted distribution statistic for the pointing deviation in the azimuth and pitch directions, generating a distribution feature vector. The weighting factor is adjusted with time correlation to highlight recent historical successful pointing samples. The stable feature calculation layer performs statistical calculations on the fluctuation of the time correlation adjustment weight over time, generating a stable feature vector and maintaining a corresponding positional relationship with the distribution features. The occurrence frequency statistics layer counts the number of times the pointing deviation occurs within the preset angle bin interval, generating an occurrence frequency vector, and corresponding it item by item with the distribution features and stable features.

[0061] The distribution feature vector, stable feature vector, and occurrence frequency vector are fed into the consistency determination layer to perform statistical distribution consistency test, forming a consistency determination benchmark and constraining the credibility range of the distribution feature and stable feature. The distribution feature, stable feature, and occurrence frequency are aligned with the consistency determination benchmark according to the azimuth and elevation directions, and weighted and fused in the statistical space to generate a unified pointing consistency model.

[0062] Among them, the statistical distribution consistency judgment method adopts the JS divergence test threshold based on the distribution of historical successful pointing samples to compare and judge the consistency of distribution characteristics under different time windows. The JS divergence test threshold is obtained from the quantile of the statistic corresponding to the historical successful pointing samples.

[0063] The preset angle division interval is divided according to the defined range of azimuth and elevation angles using a fixed angle step, where the azimuth angle is within... Within the range of compartments, pitch angle is Binning is performed within a range, and the binning step size is obtained from the angular resolution or statistical density of historically successful pointing samples (e.g., the example value is 1° to 5°).

[0064] A better approach, compared to simply averaging or time-weighted statistical processing of historical pointing deviations, is to jointly model the distribution characteristics, stability characteristics, and frequency of occurrence of the time-series correction set, and select stable and reliable pointing distribution structures based on statistical distribution consistency judgment methods, thereby improving the accuracy of star starting point reliability assessment and the robustness of high-speed star pointing.

[0065] S2.8: Based on the pointing consistency model, calculate the matching degree of the current theoretical pointing angle in the historical successful pointing distribution, generate pointing credibility, and filter to form the starting point pointing angle set.

[0066] Specifically, based on the pointing consistency model, the theoretical pointing angle is read and the theoretical azimuth and theoretical elevation angles of the theoretical pointing angle are mapped to the statistical expression space of the azimuth and elevation distribution features corresponding to the pointing consistency model, respectively, to obtain the position expression of the theoretical pointing angle.

[0067] The positional representation of the theoretical pointing angle is processed by matching degree calculation. The positional representation of the theoretical pointing angle is compared item by item with the distribution center region, distribution discrete range and high-density region of occurrence formed by the time-series correction set, and the pointing confidence is output. Based on the high-density pointing deviation region recorded in the pointing consistency model, the theoretical pointing angle is combined with the corresponding pointing deviation. The azimuth and elevation angles of the theoretical pointing angle are respectively added to the azimuth and elevation deviations of the high-density deviation region in the pointing consistency model to generate multiple candidate starting point pointing angles. The multiple candidate starting point pointing angles are sorted and filtered according to pointing confidence to form a set of starting point pointing angles.

[0068] Among them, the pointing confidence reflects the reliability of each candidate angle. When generating the starting point pointing angle set, high confidence angles are retained first and sorted by confidence.

[0069] S3: Parameterize the antenna installation deviation based on the starting point pointing angle set, and construct a joint constraint relationship between the installation deviation parameters, antenna motion state and servo drive capability based on the basic parameter set to generate the reachable angle domain.

[0070] S3.1: Using the starting point pointing angle set as a reference, compare the current actual pointing state of the antenna, extract the offset between the azimuth and elevation directions, and form the installation deviation parameters.

[0071] Specifically, taking the starting point pointing angle set as a reference, the azimuth axis angle state and elevation axis angle state in the current actual pointing state of the antenna are read, and the current actual pointing state of the antenna is aligned with each candidate starting point pointing angle in the starting point pointing angle set according to the azimuth angle field and elevation angle field; for each candidate starting point pointing angle, angle difference calculation processing is performed to calculate the angle difference between the azimuth angle corresponding to the candidate starting point pointing angle and the current azimuth axis angle state to obtain the azimuth direction angle difference; and the angle difference between the elevation angle corresponding to the candidate starting point pointing angle and the current elevation axis angle state to obtain the elevation direction angle difference.

[0072] Consistency screening is performed on the azimuth and pitch angle differences. The absolute deviation rule based on the median of the statistical distribution of angle differences is used to remove angle differences that deviate significantly and retain the set of angle differences that match the candidate starting point pointing angles of the starting point pointing angle set. Statistical convergence processing is then performed on the azimuth and pitch angle differences based on the retained set of angle differences. The average or weighted average of the retained azimuth and pitch angle difference sets is calculated to obtain the installation deviation parameters.

[0073] S3.2: Read the azimuth and pitch axis angle status, angular velocity status, and corresponding servo drive capability configuration parameters reported by the antenna controller from the basic parameter set, and obtain motion status and servo drive capability information.

[0074] Specifically, the antenna controller reports fields from the basic parameter set and reads the azimuth axis angle status, pitch axis angle status, azimuth axis angular velocity status, and pitch axis angular velocity status. At the same time, it reads the servo drive capability configuration parameters corresponding to the azimuth and pitch axes. It performs time stamp consistency verification on the azimuth axis angle status, pitch axis angle status, azimuth axis angular velocity status, and pitch axis angular velocity status, removes records with inconsistent time stamps, and retains records with consistent time stamps.

[0075] Perform a dimension consistency check on the retained record entries, converting the azimuth axis angle state and pitch axis angle state into a unified angular unit expression, and converting the azimuth axis angular velocity state and pitch axis angular velocity state into a unified angular velocity unit expression.

[0076] Perform field integrity verification on the servo drive capability configuration parameters. Verify whether the servo drive capability configuration parameters of the azimuth axis and the pitch axis correspond one-to-one with the fields reported by the antenna controller. If the servo drive capability configuration parameters of the azimuth axis or the pitch axis correspond one-to-one with the fields reported by the antenna controller during the verification process, they are considered valid and retained; otherwise, they are considered inconsistent records and are discarded or marked as abnormal. The azimuth axis angle status, pitch axis angle status, azimuth axis angular velocity status, and pitch axis angular velocity status are aggregated into motion status according to the preset field order, and the servo drive capability configuration parameters are associated with the motion status according to the corresponding axis to obtain servo drive capability information.

[0077] Among them, the servo drive capability configuration parameters include at least the maximum angular velocity, maximum angular acceleration, and maximum drive margin or equivalent torque parameters corresponding to the azimuth axis and the pitch axis, which are reported by the antenna controller or obtained based on the factory calibration information.

[0078] Motion state refers to the current antenna attitude and motion information composed of the azimuth axis angle state, pitch axis angle state, azimuth axis angular velocity state, and pitch axis angular velocity state; servo drive capability information refers to parameters such as the maximum angular velocity, maximum angular acceleration, and drive margin corresponding to the azimuth and pitch axes.

[0079] S3.3: Map the installation deviation parameters to the pointing correction requirements, and combine the current motion state of the antenna and the servo drive capability information to determine the feasibility of the correction requirements and construct a joint constraint relationship.

[0080] Specifically, the installation deviation parameters are converted into the target displacement and target rate of change of the antenna's azimuth and elevation axes. The feasibility is then determined by comparing the current angular velocity state and servo drive capability axis by axis, forming a pointing correction requirement. This requirement is then associated with the candidate starting pointing angles in the starting pointing angle set one by one. The azimuth axis angle state, elevation axis angle state, azimuth axis angular velocity state, and elevation axis angular velocity state in the current motion state of the antenna are read. Combined with the servo drive capability information, the pointing correction requirement is converted into the target displacement and target rate of change of the azimuth and elevation axes.

[0081] The feasibility of the target displacement and rate of change of the azimuth and pitch axes is compared with the corresponding angular velocity state and servo drive capability information. Pointing correction requirements that can be completed under the constraints of the current motion state and servo drive capability information are selected. The pointing correction requirements are then correlated with the corresponding feasibility constraint judgment results to construct a joint constraint relationship.

[0082] The feasibility constraint determination conclusion is obtained by comparing the target displacement and target change rate corresponding to the azimuth and pitch axes with the angular velocity state and servo drive capability information read from the basic parameter set, one axis at a time.

[0083] Joint constraint relationship refers to the set of executable constraints formed by associating the target displacement and target change rate of the azimuth and pitch axes corresponding to the correction requirement with the angle state, angular velocity state and servo drive capability information in the current motion state axis by axis.

[0084] The angular velocity states of the azimuth and pitch axes and their corresponding servo drive capabilities are all uniformly expressed in degrees and seconds, ensuring consistency in motion state assessment and pointing correction feasibility determination.

[0085] A better approach is to explicitly convert the installation deviation into the target displacement and target rate of change of the azimuth and pitch axes, and compare and determine the feasibility of each axis with the current angular velocity status and servo drive capability information. This constructs a joint constraint relationship that changes in real time with the motion state, upgrading the pointing correction judgment from static angle restriction to dynamic reachability assessment. This avoids unexecutable correction paths and improves the reliability of the satellite tracking process.

[0086] S3.4: Based on the joint constraint relationship, determine the candidate pointers around the starting point pointing angle set, filter them to obtain the pointer set, and form the reachable angle domain.

[0087] Specifically, based on the joint constraint relationship, candidate pointers are generated in the azimuth and pitch directions with the starting point pointing angle set as the center. Each candidate pointer is converted into the target displacement and target rate of change corresponding to the azimuth and pitch axes. At the same time, the target displacement and target rate of change are compared and judged on an axis-by-axis feasibility basis with the azimuth angle state, pitch angle state, angular velocity state and servo drive capability information read from the basic parameter set. The candidate pointers that pass the judgment are collected into a pointer set according to the preset field order, and the boundary envelope of the pointer set is used as the reachable angle domain.

[0088] Boundary envelope refers to the minimum and maximum reachable values ​​in the azimuth and pitch directions, respectively, within the candidate pointing set.

[0089] S4: Based on reachability and pointing confidence, construct an online estimation model with satellite communication link establishment time as the objective, and output satellite time gain value.

[0090] S4.1: Using the reachable angle domain as the constraint range for candidate directions and candidate control actions, and using the direction credibility as the prior reliability input for candidate directions, a candidate set for online estimation is formed.

[0091] Specifically, the range of candidate pointers is limited by the reachability angle domain. Candidate pointers that satisfy the reachability angle domain constraint are enumerated in the azimuth and pitch directions, and a corresponding candidate control action is generated for each candidate pointer. The pointer confidence level corresponding to each candidate pointer is read from the pointer consistency model. The pointer confidence level is used as prior information to measure the reliability of the candidate pointers. It is then associated with the candidate control actions one by one to form an online estimated candidate set.

[0092] S4.2: For each candidate control action in the candidate set, based on the current antenna motion state and servo drive capability information, estimate the time for the candidate control action to reach the candidate pointing direction, and form an action arrival time estimate.

[0093] Specifically, for each candidate control action in the candidate set, the azimuth axis angle state, pitch axis angle state, azimuth axis angular velocity state, and pitch axis angular velocity state in the current antenna motion state are read. Combined with servo drive capability information, the target pointing corresponding to the candidate control action is converted into the target displacement and target change rate of the azimuth axis and pitch axis. Based on the target displacement, target change rate, and current angular velocity state, the motion time required to complete the candidate control action is estimated axis by axis. The motion time of the azimuth axis and pitch axis is integrated to obtain the motion arrival time estimate of the candidate control action to reach the candidate pointing.

[0094] S4.3: Based on the matching degree between the pointing credibility and historical successful pointing samples, the success probability of meeting the conditions for establishing a communication link is estimated.

[0095] Specifically, for each candidate pointer in the candidate set, the pointer confidence level corresponding to the candidate pointer in the pointer consistency model is read, and the position of the candidate pointer in the azimuth and elevation directions is aligned and compared with the angle deviation distribution, occurrence frequency distribution and time correlation correction information formed by the historical successful pointer samples. The matching strength obtained after comprehensively comparing the azimuth and elevation positions of the candidate pointer with the angle deviation distribution, occurrence frequency and time correlation correction information of the historical successful pointer samples is normalized and mapped, and the normalized matching strength is used as the success probability of the candidate pointer satisfying the communication link establishment conditions to form a link success probability estimate.

[0096] S4.4: Jointly model the action arrival time estimation and link success probability estimation to build an online estimation model, evaluate each candidate control action and perform a revenue mapping, and output the satellite time revenue value.

[0097] Specifically, for each candidate control action, the corresponding action arrival time estimate and link success probability estimate are read. The action arrival time estimate is used as a time cost factor and normalized proportionally according to the value range within the candidate set. The link success probability estimate is used as a success factor and mapped to the same numerical range. Under a unified dimension, the time cost factor and success factor are correlated and combined to form a comprehensive evaluation value. The comprehensive evaluation value is then mapped to a satellite time gain value that characterizes satellite alignment efficiency and success probability.

[0098] In this context, the revenue-based mapping normalizes the action arrival time estimate into an interval. Time score, using link success probability as interval A successful score.

[0099] S5: Select the control action based on the satellite alignment time gain value, and drive the antenna to perform adaptive coarse acquisition scan. When the conditions for establishing a satellite communication link are met, switch to high-speed fine tracking to obtain the locking pointing angle and form a satellite communication alignment state.

[0100] S5.1: Read the satellite alignment time gain value and select the control action with the highest gain value from the candidate control actions as the current action to be executed.

[0101] Specifically, the corresponding satellite alignment time benefit value is read one by one from the candidate control action set. The satellite alignment time benefit value of each candidate control action is sorted and compared. The satellite alignment time benefit value corresponding to each candidate control action is placed in the same numerical comparison space for size comparison and arranged in order according to the preset benefit value priority rule. The candidate control action with the highest benefit value is selected as the current action to be executed.

[0102] Among them, the preset benefit value priority rule obtains the relative weight or sorting order of the time cost factor and success factor in advance during the star-alignment time benefit value construction stage, and sets a fixed benefit value size rule; the benefit value priority rule means that the candidate control actions are sorted according to the size of the star-alignment time benefit value, and the action with the largest star-alignment time benefit value is selected as the current action to be executed.

[0103] S5.2: Convert the currently executed action into control commands for the antenna azimuth and pitch axes, driving the antenna to perform adaptive coarse acquisition scanning within the reachable angle domain.

[0104] Specifically, the target pointing information corresponding to the current action is read, and the target pointing information is decomposed into the target change in the azimuth and pitch directions. Based on the azimuth and pitch angle states recorded in the basic parameter set, the target change is converted into the corresponding axial control quantity, forming azimuth and pitch control commands. During the conversion process, the amplitude and rate of change of the control quantity are checked, and the control commands are limited to the pointing range defined by the reachable angle domain. The azimuth and pitch control commands are issued according to the preset control timing sequence, and the antenna is continuously adjusted around the target pointing within the reachable angle domain to perform adaptive coarse acquisition scanning.

[0105] The preset control timing is set based on the servo drive capability configuration parameters and angular velocity status recorded in the basic parameter set. The value range is limited to the minimum control cycle and the maximum stable response cycle allowed by the servo drive capability. For example, the range can be from the minimum refresh cycle supported by the controller to the maximum safe cycle that does not cause overshoot.

[0106] S5.3: During the coarse acquisition scan, continuously calculate and monitor the signal stability index, and trigger the switch from coarse acquisition mode to high-speed fine tracking mode when the signal stability index meets the preset conditions.

[0107] Specifically, during the coarse acquisition scan, the received signal status is continuously read at preset time intervals. Based on the continuously read received signal status, a signal stability index characterizing the stability of the signal is calculated, and time series monitoring processing is performed on the signal stability index. When the signal stability index remains within a preset allowable range for multiple consecutive calculation cycles, it is determined that the current antenna pointing has met the conditions for stable tracking, and the satellite control is triggered to switch from the coarse acquisition scan mode to the high-speed fine tracking mode.

[0108] The preset time interval is set based on the update cycle of the antenna control loop and the refresh cycle of the received signal, and its value range is limited to the time scale of one angle fine adjustment and signal response change for complete coverage. The preset allowable interval is set based on the statistical distribution of signal stability indicators in the historical satellite communication link establishment records, and the value range is limited to the continuous stable interval of the corresponding signal stability indicator when the communication link is successfully established.

[0109] The signal stability index is obtained by calculating the variance, mean square error, or mean absolute value of the received signal strength or signal-to-noise ratio within a time window. When the signal stability index falls within the upper and lower limits of the allowable range obtained from the statistics of historical successful link establishment samples within a continuous calculation period, it serves as a preset condition to trigger the switch from coarse acquisition mode to high-speed fine tracking mode.

[0110] S5.4: In high-speed precision tracking mode, the antenna control parameters are adjusted online based on real-time signal observation, the antenna pointing is stably converged and the pointing angle is locked, and the satellite communication alignment is established.

[0111] Specifically, in high-speed precision tracking mode, the real-time signal observations corresponding to the received signal are continuously read, and the real-time signal observations are correlated with the current antenna pointing error for calculation. The changes in pointing errors of the azimuth axis and pitch axis are compared cycle by cycle within the continuous control cycle. When the changes in both the azimuth axis pointing error and the pitch axis pointing error within the control cycle remain within the allowable range, and the changes in the corresponding real-time signal observations within the time window remain within the pointing error change threshold and the signal observation fluctuation threshold, the antenna control parameters are stopped from being adjusted further. The current antenna pointing angle is used as the locked pointing angle, and the stable working state corresponding to the locked pointing angle is used to characterize the satellite communication pairing status.

[0112] The pointing error change threshold limits the allowable range of the pointing error change of the azimuth and pitch axes, in degrees. The signal observation fluctuation threshold limits the allowable fluctuation range of the received signal strength or signal-to-noise ratio, in dB. The antenna pointing is considered to be stably locked only when both the pointing error change threshold and the signal observation fluctuation threshold are met simultaneously within a continuous control cycle.

[0113] S6: In satellite communication alignment mode, based on the correction amount of the locked pointing angle and the theoretical pointing angle, update the antenna installation deviation compensation parameters and correct the theoretical pointing angle and reachable angle domain.

[0114] S6.1: Read the locked pointing angle in satellite communication pairing mode and compare it with the current theoretical pointing angle to obtain the pointing correction amount in the azimuth and elevation directions.

[0115] Specifically, in satellite communication alignment mode, the locked pointing angle output from the high-speed precision tracking mode is read and aligned item by item with the current theoretical pointing angle according to the azimuth and elevation fields. Then, angle difference calculation is performed on the azimuth and theoretical azimuth of the locked pointing angle respectively. The azimuth and theoretical azimuth of the locked pointing angle are algebraically differed within the same angle expression range and angle wrapping processing is performed to obtain the azimuth direction angle correction. Angle difference calculation is performed on the elevation and theoretical elevation of the locked pointing angle. The elevation and theoretical elevation of the locked pointing angle are directly algebraically differed to obtain the elevation direction angle correction. The azimuth and elevation direction angle corrections are normalized according to the angle value range to obtain the pointing correction in the azimuth and elevation directions.

[0116] The angle value range is preset to be the azimuth angle within... Within the interval, the pitch angle is Within the interval, both azimuth and elevation angles are uniformly expressed in degrees.

[0117] S6.2: Update the antenna installation deviation compensation parameters based on the pointing correction amount, and correct the theoretical pointing angle calculation process.

[0118] Specifically, during satellite communication alignment, the pointing correction values ​​in the azimuth and elevation directions are read and written into the antenna installation deviation compensation parameters according to the corresponding angle fields. The original antenna installation deviation compensation parameters are then incrementally updated. During the theoretical pointing angle calculation, the updated antenna installation deviation compensation parameters are incorporated into the calculation of the theoretical azimuth and theoretical elevation angles. The original theoretical pointing angle obtained from orbital position analysis and line-of-sight direction calculations is then corrected for deviation.

[0119] S6.3: Based on the updated antenna installation deviation compensation parameters, the center position and boundary range of the reachable angle domain are readjusted to keep the reachable angle domain consistent with the corrected theoretical pointing angle.

[0120] Specifically, the updated antenna installation deviation compensation parameters are used as the starting point pointing angle calculation step in the reachable angle domain generation process. The center pointing angle corresponding to the original reachable angle domain is corrected by offset in the same direction. Based on the starting pointing angle, the candidate pointing in the azimuth and elevation directions are re-performed by joint constraint judgment. By comparing the target displacement and rate of change of the azimuth and elevation angles of each candidate pointing with the current antenna motion state and servo drive capability information axis by axis, the pointing that can be achieved under the constraint conditions is selected, the reachable boundary is obtained, and the boundary range of the reachable angle domain in the azimuth and elevation directions is adjusted simultaneously. The adjusted reachable angle domain is kept consistent with the corrected theoretical pointing angle in terms of center position and coverage area.

[0121] In summary, this invention constructs an online estimation model and evaluates the benefits of candidate control actions based on reachability and pointing confidence. This allows for real-time quantification of the contribution of different control actions to shortening link establishment time during satellite alignment. It transforms antenna control from fixed scanning or empirical strategies into a benefit-driven adaptive decision-making process. The selection of control actions always converges towards the direction with optimal time efficiency. This significantly reduces invalid search paths even with installation deviations and pointing uncertainties, providing the satellite alignment process with clear optimization objectives and stable time predictability, thus improving the overall controllability of high-speed satellite alignment for portable satellite stations.

[0122] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A portable satellite station high-speed pointing method based on adaptive control, characterized in that: include, Collect basic satellite alignment parameters from portable satellite stations and unify the time and coordinate references to form a basic parameter set; The theoretical pointing angle of the target communication satellite is calculated using a set of basic parameters. A pointing consistency model is constructed and evaluated based on historical satellite communication links, generating pointing reliability and a set of starting pointing angles. The antenna installation deviation is parameterized based on the starting point pointing angle set. A joint constraint relationship between the installation deviation parameters, antenna motion state and servo drive capability is constructed based on the basic parameter set to generate the reachable angle domain. Based on reachability and pointing confidence, an online estimation model is constructed with the satellite communication link establishment time as the objective, and the satellite time gain value is output. The control action is selected based on the satellite alignment time gain value, and the antenna is driven to perform adaptive coarse acquisition scan. When the conditions for establishing a satellite communication link are met, it switches to high-speed fine tracking to obtain the locking pointing angle and form a satellite communication alignment state. In satellite communication alignment mode, based on the correction amount of the locked pointing angle and the theoretical pointing angle, the antenna installation deviation compensation parameters are updated, and the theoretical pointing angle and reachable angle domain are corrected.

2. The method of claim 1, wherein the method further comprises: determining a satellite in view of the portable satellite station; and determining a satellite in view of the portable satellite station based on the determined satellite in view of the portable satellite station. The basic parameters for satellite alignment include geographical location information, time information, antenna base attitude information, target satellite orbital information, and historical satellite communication link establishment records.

3. The high-speed satellite alignment method for portable satellite stations based on adaptive control as described in claim 2, characterized in that: The specific steps for forming the basic parameter set are as follows: Perform unified time reference correction on the time information, and perform unified coordinate reference transformation on the geographical location information and attitude information to obtain the deployment information for satellite communication link alignment; Based on the deployment information, the target satellite orbital position information is read and converted into orbital position information consistent with the unified coordinate reference. Read historical satellite communication link establishment records and extract the time stamp information and theoretical pointing angle information corresponding to successful links to form communication link success characteristics; Deployment information, track position information, and successful communication link characteristics are encapsulated in a preset field order to form a basic parameter set.

4. The high-speed satellite alignment method for portable satellite stations based on adaptive control as described in claim 3, characterized in that: The specific steps for calculating the theoretical pointing angle of the target communication satellite are as follows: Based on the time information corresponding to the deployment information, the orbital position information is parsed and transformed according to the time information corresponding to the deployment information to obtain the spatial position; By performing vector difference calculation on the spatial location and the site spatial location represented in the deployment information, the line-of-sight direction of the site pointing to the target communication satellite is obtained, and the line-of-sight direction is represented as the communication link alignment direction in the station center coordinate system; The direction decomposition and angle mapping processes are performed on the alignment direction of the communication link to obtain the theoretical azimuth and theoretical elevation angles of the target communication satellite, which are then combined to form the theoretical pointing angle of the target communication satellite.

5. The high-speed satellite alignment method for portable satellite stations based on adaptive control as described in claim 4, characterized in that: The specific steps for generating the pointer confidence level and the starting point pointer angle set are as follows. Historical satellite communication link establishment records are read from the basic parameter set, and the theoretical pointing angle information and time stamp information corresponding to each successful communication link establishment are extracted to form a historical successful pointing sample. Using the theoretical pointing angle as a reference, the pointing deviation between the historical successful pointing samples and the current theoretical pointing angle is calculated to form a communication link deviation set; Based on the time identifier information corresponding to the communication link deviation set, the time correlation of historical successful pointing samples under the current time conditions is corrected to form a time-series correction set; Based on the distribution characteristics, stability characteristics, and frequency of occurrence of the time series correction set, a statistical distribution consistency determination method is used for joint modeling to form a consistent model. Based on the consistent pointing model, the matching degree of the current theoretical pointing angle in the historical successful pointing distribution is calculated to generate the pointing credibility and select to form the starting point pointing angle set.

6. The high-speed satellite alignment method for portable satellite stations based on adaptive control as described in claim 5, characterized in that: The specific process for generating reachable corner regions is as follows. Using the starting point pointing angle set as a reference, compare the current actual pointing state of the antenna, extract the offset between the azimuth and elevation directions, and form the installation deviation parameters; Read the azimuth and pitch axis angle status, angular velocity status and corresponding servo drive capability configuration parameters reported by the antenna controller from the basic parameter set, and obtain motion status and servo drive capability information. The installation deviation parameters are mapped to the correction requirements, and the feasibility of the correction requirements is determined by combining the current motion state of the antenna and the servo drive capability information, thus constructing a joint constraint relationship. Based on the joint constraint relationship, the candidate pointers around the starting point pointing angle set are judged and filtered to obtain the pointer set, forming the reachable angle domain.

7. The high-speed satellite alignment method for portable satellite stations based on adaptive control as described in claim 6, characterized in that: The specific process for outputting the star-tracking time gain value is as follows. The reachability angle domain is used as the constraint range for candidate directions and candidate control actions, and the direction confidence is used as the prior reliability input of the candidate directions to form an online estimated candidate set; For each candidate control action in the candidate set, based on the current antenna motion state and servo drive capability information, the time for the candidate control action to reach the candidate pointing direction is estimated to form an action arrival time estimate; Based on the matching degree between the pointing credibility and historical successful pointing samples, the success probability of meeting the conditions for establishing a communication link is estimated. By jointly modeling the action arrival time estimation and the link success probability estimation, an online estimation model is constructed. Each candidate control action is evaluated and a revenue mapping is performed to output the satellite time revenue value.

8. The high-speed satellite alignment method for portable satellite stations based on adaptive control as described in claim 7, characterized in that: The satellite communication link establishment condition refers to determining whether the received signal is within a preset signal state range that allows the establishment of a satellite communication link.

9. The high-speed satellite alignment method for portable satellite stations based on adaptive control as described in claim 8, characterized in that: The specific process of obtaining the locked pointing angle and establishing satellite communication alignment is as follows. Read the satellite time gain value, and select the control action with the highest gain value from the candidate control actions as the current action to be executed; The current action is converted into control commands for the antenna's azimuth and pitch axes, driving the antenna to perform adaptive coarse acquisition scanning within the reachable angle domain; During the coarse acquisition scan, the signal stability index is continuously calculated and monitored, and when the signal stability index meets the preset conditions, the switch from coarse acquisition mode to high-speed fine tracking mode is triggered. In high-speed precision tracking mode, the antenna control parameters are adjusted online based on real-time signal observation, the antenna pointing is stably converged and the pointing angle is locked, thus forming a satellite communication alignment state.

10. The high-speed satellite alignment method for portable satellite stations based on adaptive control as described in claim 9, characterized in that: The specific process for determining the pointing angle and reachable angle domain in the revised theory is as follows. In satellite communication pairing mode, the locked pointing angle is read and compared with the current theoretical pointing angle to obtain the pointing correction amount in the azimuth and elevation directions; The antenna installation deviation compensation parameters are updated based on the pointing correction amount, and the theoretical pointing angle calculation process is corrected. Based on the updated antenna installation deviation compensation parameters, the center position and boundary range of the reachable angle domain are readjusted to keep the reachable angle domain consistent with the corrected theoretical pointing angle.

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