Omni-beam assisted narrow-beam acquisition method and device for satellite uplink and storage medium
By employing an omnidirectional beam-assisted narrow beam acquisition method, initial acquisition and positioning are performed using an omnidirectional beam, and satellite and antenna coordinates are calculated. This solves the problems of long acquisition time and high power consumption in multi-beam navigation receivers, and achieves efficient satellite signal acquisition.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHANGSHA HAIGE BEIDOU INFORMATION TECH CO LTD
- Filing Date
- 2026-05-14
- Publication Date
- 2026-06-12
AI Technical Summary
Multi-beam navigation receivers require multiple scans during satellite signal acquisition, resulting in long processing times, high power consumption, and complex logic, making it difficult to acquire satellite signals efficiently.
The method employs an omnidirectional beam-assisted narrow beam acquisition approach. First, an omnidirectional beam is used for initial acquisition and positioning to calculate satellite coordinates and the antenna's own coordinates, thereby determining the antenna coordinates and target direction. Then, the method switches to narrow beam mode for precise acquisition, reducing the number of scans and the time required.
It shortens satellite signal acquisition time, reduces power consumption, improves acquisition efficiency, simplifies the acquisition process, and is suitable for engineering applications.
Smart Images
Figure CN122194196A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of satellite signal acquisition technology, specifically to an omnidirectional beam-assisted narrow beam acquisition method, apparatus, and storage medium for satellite uploading. Background Technology
[0002] Satellite navigation receivers typically need to acquire satellite signals first to identify usable satellites before proceeding with the tracking and positioning process. For multi-beam navigation receivers, multi-beam antennas can form highly directional beams, which is beneficial for improving satellite signal reception and anti-interference capabilities. However, due to the limited coverage area of narrow beams, if the direction of the satellite is unknown, directly using a narrow beam for acquisition and search requires continuously adjusting the beam direction over a large spatial area and scanning region by region to find the satellite signal.
[0003] Currently, multi-beam navigation receivers typically employ a method of first dividing the sky into multiple regions using a wide beam and searching each region individually to determine the approximate location of satellites. Then, the beam width is gradually reduced, and scanning continues within the approximate region to obtain a more precise satellite location. Finally, a narrow beam is used to perform a fine-tuned search within this region to complete the acquisition. While this method achieves satellite acquisition, it requires multiple scans, each potentially traversing multiple satellites to be acquired, resulting in a large number of searches and a significant overall time consumption. Furthermore, multiple beam scans increase the operating time of the receiver and antenna, leading to higher power consumption and greater complexity in the control flow and implementation logic, which is detrimental to engineering applications. Summary of the Invention
[0004] The purpose of this application is to provide an omnidirectional beam-assisted narrow beam acquisition method, apparatus, and storage medium for satellite uploading.
[0005] To achieve the above objectives, a first aspect of this application provides an omnidirectional beam-assisted narrow beam acquisition satellite acquisition method, comprising: the method being applied to a multi-beam navigation receiver and a multi-beam antenna connected thereto, the multi-beam navigation receiver being used to control the multi-beam antenna to switch between an omnidirectional beam mode and a narrow beam mode, the method comprising: Control the multi-beam antenna to switch to omnidirectional beam mode, and use the omnidirectional beam to acquire and search for the satellite to be acquired; The satellite coordinates of the captured satellites are calculated based on the ephemeris information of the captured satellites; Multibeam navigation receivers determine their own coordinates by using the satellite coordinates of the captured satellites for positioning. The antenna coordinates of the multi-beam navigation receiver are determined based on the self-coordinates of the multi-beam navigation receiver and the installation relationship of the multi-beam antenna relative to the multi-beam navigation receiver. Based on the satellite coordinates, antenna coordinates, and attitude information of the multi-beam antenna, determine the target direction of the captured satellite in the antenna plane coordinate system. The target direction includes at least the elevation angle and the incident azimuth angle. Control the multi-beam antenna to switch to narrow beam mode; Based on the target direction corresponding to the captured satellite, control one or more narrow beams to point to the corresponding target direction for acquisition.
[0006] In this embodiment of the application, calculating the satellite coordinates of the captured satellite based on the ephemeris information of the captured satellite further includes: If the satellite coordinates of the captured satellite cannot be calculated based on the ephemeris information of the captured satellite, the omnidirectional beam is used again to search for and capture the satellite.
[0007] In this embodiment of the application, the method further includes: Before controlling the multi-beam antenna to switch to omnidirectional beam mode, initialize the multi-beam navigation receiver.
[0008] In this embodiment of the application, the target orientation of the captured satellite in the antenna plane coordinate system is determined based on the satellite coordinates, antenna coordinates, and attitude information of the multi-beam antenna, including: Based on the satellite coordinates and antenna coordinates, determine the direction of the captured satellite relative to the multi-beam antenna; Based on the attitude information of the multi-beam antenna, the orientation of the captured satellite relative to the multi-beam antenna is transformed to obtain the orientation of the captured satellite in the antenna plane coordinate system; Based on the direction of the captured satellite in the antenna plane coordinate system, determine the elevation angle and incident azimuth angle of the captured satellite in the antenna plane coordinate system; The elevation angle and incident azimuth angle are determined as the target direction of the captured satellite in the antenna plane coordinate system.
[0009] In this embodiment of the application, determining the orientation of the captured satellite relative to the multi-beam antenna based on satellite coordinates and antenna coordinates includes: Using the antenna coordinates as a reference, the direction of the captured satellite relative to the multi-beam antenna is determined based on the positional relationship between the satellite coordinates and the antenna coordinates.
[0010] In this embodiment of the application, the orientation of the captured satellite relative to the multi-beam antenna is converted based on the attitude information of the multi-beam antenna, including: Based on the attitude information of the multi-beam antenna, determine the attitude relationship between the antenna plane coordinate system and the direction of the acquired satellite; Based on the attitude relationship, the direction of the captured satellite relative to the multi-beam antenna is converted into the direction of the captured satellite in the antenna plane coordinate system.
[0011] In this embodiment of the application, determining the elevation angle and incident azimuth angle of the captured satellite in the antenna plane coordinate system based on the direction of the captured satellite in the antenna plane coordinate system includes: Based on the relationship between the direction of the captured satellite in the antenna plane coordinate system and its elevation relative to the antenna plane, determine the elevation angle of the captured satellite in the antenna plane coordinate system. Based on the orientation of the captured satellite in the antenna plane coordinate system relative to the antenna plane, the incident azimuth angle of the captured satellite in the antenna plane coordinate system is determined.
[0012] In this embodiment of the application, the antenna coordinates of the multi-beam navigation receiver are determined based on the receiver's own coordinates and the mounting relationship of the multi-beam antenna relative to the receiver, including: Based on the installation relationship between the multi-beam antenna and the multi-beam navigation receiver, the coordinates of the multi-beam navigation receiver are compensated to obtain the antenna coordinates of the multi-beam antenna.
[0013] A second aspect of this application provides an apparatus for capturing satellite signals, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing instructions, to implement an omnidirectional beam-assisted narrow beam acquisition uplink method.
[0014] A third aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform an omnidirectional beam-assisted narrow beam acquisition uplink method.
[0015] This application proposes an omnidirectional beam-assisted narrow beam satellite acquisition method. Leveraging the large coverage area of omnidirectional beams, the method first switches a multi-beam antenna to omnidirectional beam mode and uses the omnidirectional beam to search for and acquire the satellite, enabling the multi-beam navigation receiver to acquire the satellite even when its direction is unknown. The satellite coordinates are calculated based on the acquired satellite's ephemeris information, and positioning is performed based on these coordinates, allowing the multi-beam navigation receiver to determine its own coordinates. Finally, based on the multi-beam navigation receiver's own coordinates and the installation relationship of the multi-beam antenna relative to the receiver, the antenna coordinates of the multi-beam antenna are determined, facilitating subsequent target direction calculation. The system can use the actual position of the multi-beam antenna as a reference; based on the satellite coordinates, antenna coordinates, and attitude information of the multi-beam antenna, it determines the target direction of the acquired satellite in the antenna plane coordinate system, so that the target direction can be expressed in the form of elevation angle and incident azimuth angle, indicating the direction that the narrow beam needs to point to; finally, it controls the multi-beam antenna to switch to narrow beam mode, and controls one or more narrow beams to point to the corresponding target direction for acquisition according to the target direction, thereby avoiding large-scale step-by-step scanning of the narrow beam when the satellite direction is unknown, reducing the number of acquisition searches, shortening the acquisition time, reducing power consumption, and improving the efficiency of the multi-beam navigation receiver in acquiring satellite signals.
[0016] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description
[0017] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The schematic diagram illustrates a flow chart of an omnidirectional beam-assisted narrow beam acquisition satellite uplink method according to an embodiment of this application; Figure 2 This schematically illustrates the program initialization flowchart of an omnidirectional beam-assisted narrow beam acquisition satellite uploading method according to an embodiment of this application; Figure 3 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation
[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0019] Figure 1 A schematic flowchart illustrating an omnidirectional beam-assisted narrow beam acquisition satellite uplink method according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, an omnidirectional beam-assisted narrow beam acquisition satellite acquisition method is provided. The method is applied to a multi-beam navigation receiver and a multi-beam antenna connected thereto. The multi-beam navigation receiver is used to control the multi-beam antenna to switch between omnidirectional beam mode and narrow beam mode. The method includes the following steps: Step 102: Control the multi-beam antenna to switch to omnidirectional beam mode, and use the omnidirectional beam to acquire and search for the satellite to be acquired; Step 104: Calculate the satellite coordinates of the captured satellite based on the ephemeris information of the captured satellite; Step 106: The multi-beam navigation receiver performs positioning based on the satellite coordinates corresponding to the captured satellites to determine its own coordinates; Step 108: Determine the antenna coordinates of the multi-beam navigation receiver based on its own coordinates and the installation relationship of the multi-beam antenna relative to the multi-beam navigation receiver. Step 110: Based on the satellite coordinates, antenna coordinates, and attitude information of the multi-beam antenna, determine the target direction of the captured satellite in the antenna plane coordinate system. The target direction includes at least the elevation angle and the incident azimuth angle. Step 112: Control the multi-beam antenna to switch to narrow beam mode; Step 114: Based on the target direction corresponding to the captured satellite, control one or more narrow beams to point to the corresponding target direction for acquisition.
[0020] In one embodiment, the omnidirectional beam-assisted narrow beam satellite acquisition method is applied to a multi-beam navigation receiver and a multi-beam antenna connected to the multi-beam navigation receiver. The multi-beam navigation receiver can control the multi-beam antenna to switch between omnidirectional beam mode and narrow beam mode; when switching to one mode, the other mode is turned off. The multi-beam navigation receiver first controls the multi-beam antenna to switch to omnidirectional beam mode, using the omnidirectional beam to search for and acquire the satellite to be acquired. The omnidirectional beam has a large coverage area, allowing for the initial search of the sky for satellites to be acquired even without knowing the precise direction of the satellite, thus obtaining satellites that can be acquired.
[0021] After the omnidirectional beam acquires a satellite, the multi-beam navigation receiver calculates the satellite's coordinates based on the acquired satellite's ephemeris information. Ephemeris information characterizes the satellite's orbit, time, and other information, allowing the calculation of the satellite's position at a given moment. The multi-beam navigation receiver then uses these coordinates to determine its own coordinates. Because of the installation relationship between the multi-beam antenna and the multi-beam navigation receiver, after determining its own coordinates, the multi-beam navigation receiver can determine the antenna coordinates of the multi-beam antenna based on its own coordinates and the installation relationship between the multi-beam antenna and the receiver.
[0022] After determining the satellite and antenna coordinates, the multi-beam navigation receiver further combines the attitude information of the multi-beam antenna to determine the target direction of the acquired satellite in the antenna plane coordinate system. The target direction includes at least the elevation angle and the incident azimuth angle. The elevation angle indicates the altitude of the acquired satellite relative to the antenna plane, and the incident azimuth angle indicates the azimuth of the acquired satellite relative to the antenna plane. Based on the satellite and antenna coordinates, the multi-beam navigation receiver can obtain the direction of the acquired satellite relative to the multi-beam antenna. Then, combining this with the attitude information of the multi-beam antenna, it transforms this direction into the antenna plane coordinate system, thus obtaining the target direction that the narrow beam needs to point towards.
[0023] After determining the target direction, the multi-beam navigation receiver controls the multi-beam antenna to switch from omnidirectional beam mode to narrow beam mode. Narrow beams offer stronger directionality than omnidirectional beams. Based on the target direction corresponding to the captured satellite, the multi-beam navigation receiver controls one or more narrow beams to point towards the corresponding target direction for acquisition. If only one satellite is captured, one narrow beam can be controlled to point towards the target direction corresponding to that satellite. If multiple satellites are captured, multiple narrow beams can be controlled to point towards the directions corresponding to different satellites for acquisition, based on the target directions corresponding to each satellite. In this embodiment, initial acquisition and positioning are first achieved using an omnidirectional beam. Then, based on ephemeris information, positioning results, installation relationships, and attitude information, the target direction of the satellite relative to the multi-beam antenna is calculated. Finally, the narrow beam is controlled to directly point towards the target direction for acquisition. Compared to the method of first scanning a wide-beam area and then gradually narrowing the beam range, this embodiment does not require multiple rounds of traversal scanning of multiple sky regions, reducing the number of acquisition searches, shortening acquisition time, reducing power consumption, and simplifying the implementation process, making it suitable for practical engineering applications.
[0024] like Figure 2 As shown, in one embodiment, after the multi-beam navigation receiver acquires a satellite using an omnidirectional beam, the receiver calculates the satellite coordinates based on the ephemeris information of the acquired satellite. Ephemeris information can be used to determine the satellite's position at a given time. If the ephemeris information is complete and valid, the multi-beam navigation receiver can calculate the satellite coordinates based on this information and continue with subsequent positioning, antenna coordinate determination, and target direction determination steps. If the satellite coordinates cannot be calculated based on the ephemeris information, it indicates that the currently acquired satellite cannot be used for subsequent positioning or target direction calculation. For example, the ephemeris information may not have been fully received, the ephemeris information may be invalid, or the ephemeris information may be insufficient to calculate the corresponding satellite's position. In this case, the multi-beam navigation receiver does not continue to perform narrow-beam pointing calculations based on this satellite, but instead re-uses the omnidirectional beam to search for and acquire the satellite again, in order to obtain a satellite signal that can be used to calculate the satellite coordinates. This avoids continuing subsequent calculations when satellite coordinates are unavailable, thereby reducing invalid narrow beam pointing operations and ensuring that satellites entering subsequent positioning and narrow beam acquisition processes have calculable satellite coordinates, thus improving the reliability of the acquisition process.
[0025] like Figure 2As shown, in one embodiment, before controlling the multi-beam antenna to switch to omnidirectional beam mode, the multi-beam navigation receiver first initializes. Initialization may include configuring the operating state of the multi-beam navigation receiver, enabling it to enter a state where it can control the multi-beam antenna to acquire satellites. After initialization, the multi-beam navigation receiver controls the multi-beam antenna to switch to omnidirectional beam mode, disables narrow-beam mode, and uses the omnidirectional beam to search for and acquire the satellite to be acquired. Specifically, after initialization, the multi-beam navigation receiver can enable omnidirectional beam satellite acquisition and search, and disable narrow-beam satellite acquisition and search. Since the narrow beam cannot directly point to the direction of the satellite before its precise direction is determined, narrow-beam acquisition is disabled first to avoid ineffective searches in unknown directions. The omnidirectional beam has a large coverage area and can be used to search for the satellite to be acquired, enabling the multi-beam navigation receiver to obtain the basic information needed for subsequent calculation of satellite coordinates and determination of target direction. By initializing the multi-beam navigation receiver before omnidirectional beam acquisition, the multi-beam navigation receiver, multi-beam antenna, and beam pattern can be in a clear initial working state, ensuring that subsequent omnidirectional beam acquisition, ephemeris calculation, positioning, target direction determination, and narrow beam acquisition are executed according to the predetermined process.
[0026] In one embodiment, after determining the satellite coordinates and antenna coordinates, the multi-beam navigation receiver determines the direction of the captured satellite relative to the multi-beam antenna based on these coordinates. The satellite coordinates represent the location of the captured satellite, and the antenna coordinates represent the location of the multi-beam antenna. Using the antenna coordinates as a reference, the direction from which the satellite signal arrives at the multi-beam antenna can be determined based on the positional relationship between the satellite coordinates and the antenna coordinates. After determining the direction of the captured satellite relative to the multi-beam antenna, the multi-beam navigation receiver further converts this direction based on the attitude information of the multi-beam antenna. The attitude information of the multi-beam antenna represents its current orientation and tilt state. Since the narrow beam ultimately needs to be pointed relative to the multi-beam antenna itself, knowing only the satellite's position and direction relative to the antenna coordinates is insufficient; it is also necessary to combine the attitude information of the multi-beam antenna to convert the satellite's direction relative to the multi-beam antenna into a direction in the antenna plane coordinate system. The antenna plane coordinate system can be understood as a coordinate system established based on the plane of the multi-beam antenna itself. In this coordinate system, the satellite's direction directly reflects the incident direction of the satellite signal relative to the multi-beam antenna. The multi-beam navigation receiver determines the elevation and azimuth angles of the acquired satellite in the antenna plane coordinate system based on the satellite's orientation in that system. The elevation angle indicates the satellite's vertical position relative to the antenna plane, while the azimuth angle indicates its azimuth position relative to the antenna plane.
[0027] After determining the elevation and azimuth angles, the multi-beam navigation receiver uses these angles to define the target direction of the acquired satellite in the antenna plane coordinate system. This target direction is the direction that the subsequent narrow beam needs to point towards. The multi-beam navigation receiver can control the narrow beam to point towards the acquired satellite based on this target direction, thereby reducing the search process for the narrow beam in unknown directions.
[0028] In one embodiment, when a multi-beam navigation receiver determines the direction of a captured satellite relative to a multi-beam antenna based on satellite coordinates and antenna coordinates, the calculation is performed using the antenna coordinates as a reference. Satellite coordinates represent the location of the captured satellite, and antenna coordinates represent the location of the multi-beam antenna. Using the antenna coordinates as a reference, the multi-beam antenna can be used as the starting point for direction calculation, and the captured satellite as the target point, thereby determining the direction from the multi-beam antenna to the captured satellite. Specifically, when the satellite coordinates and antenna coordinates are expressed in the same coordinate system, the direction of the captured satellite relative to the multi-beam antenna can be determined based on the positional relationship between the satellite coordinates and the antenna coordinates. For example, when the difference between the satellite coordinates and the antenna coordinates is large in a certain direction, it can be determined that the captured satellite is mainly located on that side of the multi-beam antenna. By combining the positional relationships of the satellite coordinates and the antenna coordinates in different directions, the overall direction of the captured satellite relative to the multi-beam antenna can be obtained. By determining the direction based on the antenna coordinates, the direction calculation result can directly reflect the direction of the satellite signal relative to the multi-beam antenna. This direction is not the final target direction for narrow beam pointing; it needs to be further transformed into the antenna plane coordinate system in conjunction with the attitude information of the multi-beam antenna. Only the direction obtained in the antenna plane coordinate system after transformation can be used to determine the elevation angle and the incident azimuth angle.
[0029] In one embodiment, after determining the direction of the acquired satellite relative to the multi-beam antenna, the multi-beam navigation receiver transforms that direction based on the attitude information of the multi-beam antenna. The attitude information of the multi-beam antenna represents its current attitude state relative to an external directional reference, such as its pitch, roll, and azimuth. Since the multi-beam antenna may tilt or rotate with the mounting platform, the position and direction of the acquired satellite relative to the multi-beam antenna cannot be directly used as the pointing basis for the narrow beam and needs to be further converted to the antenna plane coordinate system. Specifically, the multi-beam navigation receiver determines the attitude relationship between the antenna plane coordinate system and the direction of the acquired satellite based on the attitude information of the multi-beam antenna. This attitude relationship represents the relative angular relationship between the antenna plane coordinate system and the direction of the acquired satellite. Through this attitude relationship, it can be determined whether the direction of the acquired satellite is above, below, to the left, to the right, or in another direction relative to the multi-beam antenna plane. After determining the attitude relationship, the multi-beam navigation receiver converts the direction of the acquired satellite relative to the multi-beam antenna into the satellite's direction in the antenna plane coordinate system. The converted direction, based on the antenna plane coordinate system, directly reflects the incident direction of the satellite signal relative to the multi-beam antenna plane. This direction can then be used to determine the elevation and azimuth angles of the acquired satellite in the antenna plane coordinate system.
[0030] In one embodiment, after obtaining the direction of the acquired satellite in the antenna plane coordinate system, the multi-beam navigation receiver determines the elevation and azimuth angles of the acquired satellite in the antenna plane coordinate system based on this direction. The antenna plane coordinate system is referenced to the antenna plane of the multi-beam antenna; therefore, the elevation and azimuth angles obtained in this coordinate system can be directly used to describe the incident direction of the satellite signal relative to the multi-beam antenna. Specifically, the multi-beam navigation receiver determines the elevation angle of the acquired satellite in the antenna plane coordinate system based on the elevation relationship between the acquired satellite's direction in the antenna plane and the antenna plane. The elevation angle represents the degree of elevation of the acquired satellite's direction relative to the antenna plane. When the acquired satellite's direction is higher than the antenna plane, the corresponding elevation angle is larger; when the acquired satellite's direction is closer to the antenna plane, the corresponding elevation angle is smaller. Thus, the elevation angle can represent the pointing requirements of the narrow beam in the elevation direction. The multi-beam navigation receiver also determines the incident azimuth angle of the acquired satellite in the antenna plane coordinate system based on the satellite's orientation relative to the antenna plane. The incident azimuth angle indicates the azimuth position of the acquired satellite within the antenna plane. Using the incident azimuth angle, the azimuth direction the narrow beam needs to point towards within the antenna plane can be determined. After determining the elevation angle and incident azimuth angle, the multi-beam navigation receiver can use these angles as the target direction of the acquired satellite in the antenna plane coordinate system. Subsequently, when the multi-beam antenna is switched to narrow-beam mode, the narrow beam can be pointed and acquired based on this target direction.
[0031] In one embodiment, after the multi-beam navigation receiver completes positioning based on the satellite coordinates corresponding to the captured satellite, it can obtain its own coordinates. Since there is usually a difference in installation distance or position between the multi-beam antenna and the multi-beam navigation receiver, the multi-beam navigation receiver's own coordinates are not necessarily equivalent to the antenna coordinates of the multi-beam antenna. Therefore, it is necessary to compensate for the multi-beam navigation receiver's own coordinates according to the installation relationship between the multi-beam antenna and the multi-beam navigation receiver, thereby obtaining the antenna coordinates of the multi-beam antenna. Specifically, the installation relationship can be used to represent the installation position of the multi-beam antenna relative to the multi-beam navigation receiver. After the multi-beam navigation receiver determines its own coordinates, it corrects its own coordinates according to this installation relationship, so that the corrected coordinates can represent the actual location of the multi-beam antenna. This corrected coordinate is the antenna coordinate of the multi-beam antenna. Since the direction of the captured satellite relative to the multi-beam antenna needs to be determined subsequently based on the satellite coordinates and the antenna coordinates, the accuracy of the antenna coordinates will affect the calculation result of the target direction. If the coordinates of the multi-beam navigation receiver are directly used as the antenna coordinates of the multi-beam antenna, a discrepancy between the calculated target direction and the actual satellite incident direction may occur if there are differences in the installation positions of the multi-beam antenna and the multi-beam navigation receiver. This embodiment compensates for the coordinates of the multi-beam navigation receiver by adjusting the installation relationship, thus making the obtained antenna coordinates closer to the actual position of the multi-beam antenna.
[0032] In one embodiment, after acquiring a satellite using an omnidirectional beam, the multi-beam navigation receiver calculates the satellite coordinates based on the satellite's ephemeris information and performs positioning based on these coordinates to determine its own coordinates. The multi-beam navigation receiver further determines the antenna coordinates of the multi-beam antenna based on its own coordinates and the installation relationship of the multi-beam antenna relative to the receiver.
[0033] After obtaining the satellite and antenna coordinates, the multi-beam navigation receiver calculates the orientation of the captured satellite relative to the multi-beam antenna. Specifically, the multi-beam navigation receiver can first obtain the elevation angle of the captured satellite in the geographic coordinate system n based on the satellite and antenna coordinates. and azimuth Geographic coordinate system An elevation angle is a coordinate system used to describe the satellite's orientation relative to the ground. and azimuth This indicates the captured satellite relative to the multi-beam antenna in the geographic coordinate system. Downward direction.
[0034] The multi-beam navigation receiver also acquires the attitude information of the multi-beam antenna. This attitude information describes the current attitude state of the multi-beam antenna. In this embodiment, the attitude information of the multi-beam antenna can be expressed in the carrier coordinate system. Geographic coordinate system and antenna plane coordinate system The attitude relationships between them are determined. Among them, the carrier coordinate system... The coordinate system corresponding to the multi-beam antenna mounting platform, and the antenna plane coordinate system. This is a coordinate system based on the multi-beam antenna plane.
[0035] After initial alignment using inertial navigation and orientation information, the carrier coordinate system can be obtained. In geographic coordinate system The pitch angle, roll angle, and azimuth angle are denoted as follows: Based on the pitch angle, roll angle, and azimuth angle, a geographic coordinate system can be established. To the carrier coordinate system rotation matrix Rotation matrix The orientation of the captured satellites is indicated by the geographic coordinate system. Transform to the carrier coordinate system The attitude transition relationship used at that time.
[0036] Simultaneously, based on the installation relationship between the multi-beam antenna and the multi-beam navigation receiver, the carrier coordinate system can be obtained. In the antenna plane coordinate system The pitch angle, roll angle, and azimuth angle are denoted as follows: Based on the elevation, roll, and azimuth angles, an antenna plane coordinate system can be established. To the carrier coordinate system rotation matrix Rotation matrix Represents the antenna plane coordinate system With the carrier coordinate system The relationship between the installation posture conversions.
[0037]
[0038]
[0039] After obtaining the rotation matrix and rotation matrix Afterwards, the multi-beam navigation receiver will and By combining the transpose matrices, we obtain the geographic coordinate system. to the antenna plane coordinate system rotation matrix The correspondence is as follows:
[0040] in, express The transpose of . Used to represent geographic coordinate systems to the antenna plane coordinate system The transformation relationship is used to convert the direction of the captured satellite relative to the multi-beam antenna into the satellite's coordinates in the antenna plane. Downward direction.
[0041] Multi-beam navigation receivers based on rotation matrix Calculate the antenna plane coordinate system based on the elements at the corresponding positions. In geographic coordinate system pitch angle Roll angle and azimuth The specific calculation method is as follows:
[0042]
[0043]
[0044] in, ] represents a rotation matrix The element in the second row and first column of the matrix is used, with rows and columns numbered starting from 0. The antenna plane coordinate system can be obtained through this method. Relative to geographic coordinate system The attitude relationship. This attitude relationship belongs to the attitude information of the multi-beam antenna and can be used to convert the orientation of the acquired satellite relative to the multi-beam antenna.
[0045] After obtaining the captured satellite in the geographic coordinate system downward angle of elevation and azimuth and antenna plane coordinate system In geographic coordinate system pitch angle and azimuth Then, the multi-beam navigation receiver calculates the captured satellite's position in the antenna plane coordinate system. downward angle of elevation and incident azimuth angle The specific calculation method is as follows:
[0046]
[0047] in, This indicates the elevation angle of the captured satellite in the antenna plane coordinate system. This indicates the incident azimuth angle of the captured satellite in the antenna plane coordinate system. Multi-beam navigation receivers will use the elevation angle... and incident azimuth angle The target direction of the captured satellite in the antenna plane coordinate system is determined.
[0048] After determining the target direction, the multi-beam navigation receiver controls the multi-beam antenna to switch to narrow-beam mode, and controls one or more narrow beams to point to the corresponding elevation angle based on the target direction corresponding to the acquired satellite. and incident azimuth angle This method allows for narrow-beam acquisition of the captured satellites. By converting the satellite information obtained during the omnidirectional beam acquisition phase into a narrow beam pointing towards the desired target direction, the narrow beam can be directly pointed at the precise area corresponding to the captured satellite, thereby reducing the number of narrow-beam scans and improving acquisition efficiency.
[0049] Compared with existing technologies, this application proposes an omnidirectional beam-assisted narrow beam satellite acquisition method. Leveraging the large coverage area of omnidirectional beams, the method first switches the multi-beam antenna to omnidirectional beam mode and uses the omnidirectional beam to search for and acquire the satellite, enabling the multi-beam navigation receiver to acquire the satellite even when its direction is unknown. The satellite coordinates are calculated based on the acquired satellite's ephemeris information, and positioning is performed based on these coordinates, allowing the multi-beam navigation receiver to determine its own coordinates. Finally, based on the multi-beam navigation receiver's own coordinates and the installation relationship of the multi-beam antenna relative to the receiver, the antenna coordinates of the multi-beam antenna are determined, enabling subsequent target acquisition... The direction calculation can be based on the actual position of the multi-beam antenna. According to the satellite coordinates, antenna coordinates, and attitude information of the multi-beam antenna, the target direction of the acquired satellite in the antenna plane coordinate system is determined, so that the target direction can be expressed in the form of elevation angle and incident azimuth angle. Finally, the multi-beam antenna is controlled to switch to narrow beam mode, and one or more narrow beams are controlled to point to the corresponding target direction for acquisition according to the target direction. This avoids the narrow beam performing large-scale step-by-step scanning when the satellite direction is unknown, reduces the number of acquisition searches, shortens the acquisition time, reduces power consumption, and improves the efficiency of the multi-beam navigation receiver in acquiring satellite signals.
[0050] Figure 1 This is a flowchart illustrating an omnidirectional beam-assisted narrow beam acquisition satellite uplink method in one embodiment. It should be understood that, although... Figure 1The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.
[0051] This application provides an apparatus for capturing satellite signals, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing instructions, to implement a satellite acquisition method based on omnidirectional beam-assisted narrow beam acquisition.
[0052] This application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform an omnidirectional beam-assisted narrow beam acquisition uplink method.
[0053] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 3 As shown, the computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The network interface A02 is used for communication with external terminals via a network connection. When executed by the processor A01, the computer program B02 implements an omnidirectional beam-assisted narrow beam acquisition satellite uplink method.
[0054] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0055] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0056] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0057] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0058] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0059] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0060] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.
[0061] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.
[0062] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0063] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
Claims
1. A method for omnidirectional beam-assisted narrow beam acquisition of satellites, characterized in that, The method is applied to a multi-beam navigation receiver and a multi-beam antenna connected thereto, the multi-beam navigation receiver being used to control the multi-beam antenna to switch between omnidirectional beam mode and narrow beam mode, the method comprising: Control the multi-beam antenna to switch to omnidirectional beam mode, and use the omnidirectional beam to acquire and search for the satellite to be acquired; The satellite coordinates of the captured satellites are calculated based on the ephemeris information of the captured satellites; The multi-beam navigation receiver is positioned based on the satellite coordinates corresponding to the captured satellites in order to determine its own coordinates; The antenna coordinates of the multi-beam navigation receiver are determined based on the self-coordinates of the multi-beam navigation receiver and the installation relationship of the multi-beam antenna relative to the multi-beam navigation receiver. Based on the satellite coordinates, the antenna coordinates, and the attitude information of the multi-beam antenna, the target direction of the captured satellite in the antenna plane coordinate system is determined, and the target direction includes at least the elevation angle and the incident azimuth angle. Control the multi-beam antenna to switch to narrow beam mode; Based on the target direction corresponding to the captured satellite, control one or more narrow beams to point to the corresponding target direction for acquisition.
2. The omnidirectional beam-assisted narrow beam acquisition satellite acquisition method according to claim 1, characterized in that, The calculation of the satellite coordinates of the captured satellite based on the captured satellite's ephemeris information also includes: If the satellite coordinates of the captured satellite cannot be calculated based on the ephemeris information of the captured satellite, the omnidirectional beam is used again to search for and capture the satellite.
3. The omnidirectional beam-assisted narrow beam acquisition satellite acquisition method according to claim 1, characterized in that, The method further includes: Before controlling the multi-beam antenna to switch to omnidirectional beam mode, the multi-beam navigation receiver is initialized.
4. The omnidirectional beam-assisted narrow beam acquisition satellite acquisition method according to claim 1, characterized in that, Determining the target orientation of the captured satellite in the antenna plane coordinate system based on the satellite coordinates, the antenna coordinates, and the attitude information of the multi-beam antenna includes: The direction of the captured satellite relative to the multi-beam antenna is determined based on the satellite coordinates and the antenna coordinates. Based on the attitude information of the multi-beam antenna, the orientation of the captured satellite relative to the multi-beam antenna is transformed to obtain the orientation of the captured satellite in the antenna plane coordinate system; Based on the direction of the captured satellite in the antenna plane coordinate system, determine the elevation angle and incident azimuth angle of the captured satellite in the antenna plane coordinate system; The elevation angle and the incident azimuth angle are determined as the target direction of the captured satellite in the antenna plane coordinate system.
5. The omnidirectional beam-assisted narrow beam acquisition satellite uplink method according to claim 4, characterized in that, Determining the orientation of the captured satellite relative to the multi-beam antenna based on the satellite coordinates and the antenna coordinates includes: Using the antenna coordinates as a reference, the direction of the captured satellite relative to the multi-beam antenna is determined based on the positional relationship between the satellite coordinates and the antenna coordinates.
6. The omnidirectional beam-assisted narrow beam acquisition satellite uplink method according to claim 4, characterized in that, The step of converting the orientation of the captured satellite relative to the multi-beam antenna based on the attitude information of the multi-beam antenna includes: Based on the attitude information of the multi-beam antenna, determine the attitude relationship between the antenna plane coordinate system and the direction of the captured satellite; Based on the attitude relationship, the orientation of the captured satellite relative to the multi-beam antenna is converted into the orientation of the captured satellite in the antenna plane coordinate system.
7. The omnidirectional beam-assisted narrow beam acquisition satellite acquisition method according to claim 4, characterized in that, The step of determining the elevation angle and incident azimuth angle of the captured satellite in the antenna plane coordinate system based on the satellite's orientation in the antenna plane coordinate system includes: Based on the relationship between the direction of the captured satellite in the antenna plane coordinate system and the height of the antenna plane, determine the elevation angle of the captured satellite in the antenna plane coordinate system. Based on the orientation of the captured satellite in the antenna plane coordinate system relative to the antenna plane, the incident azimuth angle of the captured satellite in the antenna plane coordinate system is determined.
8. The omnidirectional beam-assisted narrow beam acquisition satellite acquisition method according to claim 1, characterized in that, Determining the antenna coordinates of the multi-beam navigation receiver based on its own coordinates and the installation relationship of the multi-beam antenna relative to the multi-beam navigation receiver includes: Based on the installation relationship between the multi-beam antenna and the multi-beam navigation receiver, the coordinates of the multi-beam navigation receiver are compensated to obtain the antenna coordinates of the multi-beam antenna.
9. A device for capturing satellite signals, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the omnidirectional beam-assisted narrow beam acquisition satellite uplink method according to any one of claims 1 to 8.
10. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, this instruction causes the processor to be configured to perform the omnidirectional beam-assisted narrow beam acquisition uplink method according to any one of claims 1 to 8.