An intelligent satellite tracking method, device, equipment and medium

Abstract

This application provides an intelligent satellite tracking method, apparatus, device, and medium. The method includes initializing a continuous overpass satellite tracking device, determining and acquiring current positioning and timing information, determining the position pointing value of the continuous overpass satellite tracking device, and obtaining the current azimuth; receiving orbit data of a non-synchronous orbit satellite to be tracked, determining, according to a satellite orientation strategy, whether this is the first time the orbit data of the non-synchronous orbit satellite has been calculated, and if not, retrieving the instantaneous orbit information obtained at the previous moment based on the unique information of the non-synchronous orbit satellite, calculating and determining the instantaneous orbit information of the non-synchronous orbit satellite at the current moment using an orbit calculation method, and saving it; calculating the instantaneous orbit of the non-synchronous orbit satellite from the current moment to a preset time period, and combining the positioning information and the longitude value of the non-synchronous orbit satellite to calculate and obtain the guidance data of the continuous overpass satellite tracking device; and using the generated guidance data to achieve dynamic tracking of the non-synchronous orbit satellite.

Description

Technical Field

[0001] This invention relates to the field of satellite tracking technology, and in particular to an intelligent satellite tracking method, device, equipment and medium. Background Technology

[0002] With the rapid development of my country's satellite technology and the increasing variety of satellites, high- and low-orbit satellites have been launched into space in recent years, and my country's satellites have gradually entered the high-throughput satellite communication industry.

[0003] With the development of satellite communication technology, the demand for bandwidth and data transfer from intelligent portable satellite station antennas has increased significantly. The construction of non-geostationary orbit satellites has also become a global focus. To meet future needs, portable satellite station antennas must be compatible with and support tracking of satellites in multiple orbits to adapt to the construction requirements of my country's next-generation satellite communication system. Furthermore, significant changes have occurred in new satellite communication modes. For non-geostationary orbit satellites, because they are constantly moving relative to the Earth, and each satellite's direction of motion is inconsistent, the tracking speed requirements for portable satellite stations are high, which existing portable satellite stations cannot meet.

[0004] To meet the need for rapid satellite alignment, traditional portable satellite stations add an additional positioning antenna and orientation resolution module to the existing positioning antenna for quick orientation. These two antennas enable rapid positioning, acquiring real-time antenna orientation information. After obtaining the theoretical azimuth value using a satellite-tracking algorithm, the portable satellite station can be directly moved to the theoretical position. However, portable satellite stations with two antennas are inconvenient to store and deploy. Therefore, there is an urgent need for a method that ensures compatibility with broadband satellites without adding an additional positioning antenna and orientation resolution module, enabling rapid tracking of satellites in different orbits. Summary of the Invention

[0005] To overcome the problems existing in related technologies, this disclosure provides an intelligent satellite tracking method, apparatus, device, and medium to solve the technical problems in related technologies.

[0006] This specification provides one or more embodiments of an intelligent satellite tracking method, including the following steps: 1) Initialize the over-the-top satellite continuous tracking device, determine the current positioning information and timing information, then track and lock onto the geostationary orbit satellite at the default fixed position, determine the position pointing value of the over-the-top satellite continuous tracking device, and obtain the current azimuth; 2) Receive orbit data of the non-synchronous orbit satellite to be tracked, and determine whether it is the first time to calculate the orbit data of the non-synchronous orbit satellite according to the satellite orientation strategy. If it is not the first time to calculate, retrieve the instantaneous orbit information obtained at the previous moment according to the unique information of the non-synchronous orbit satellite, and calculate and determine the instantaneous orbit information of the non-synchronous orbit satellite at the current moment using the orbit calculation method according to the Beidou time information of the overpass satellite continuous tracking device, and save it. 3) Calculate the instantaneous orbit of the non-synchronous orbit satellite from the current moment to the preset time period, and combine the positioning information and the longitude value of the non-synchronous orbit satellite to obtain the guidance data of the over-the-head satellite continuous tracking device through the azimuth and elevation angle formulas; 4) After synchronizing the generated guidance data in time, the attitude of the top satellite continuous tracking device is adjusted in real time based on the current position and the guidance data to achieve dynamic tracking of satellites in non-synchronous orbit.

[0007] Furthermore, step 2) specifically includes the following steps: Step S21: Receive the transmitted non-synchronous orbit satellite orbit data, determine whether the received non-synchronous orbit satellite orbit data is the first calculation for the non-synchronous orbit satellite orbit data, if it is the first time, execute step S22; if not, obtain the instantaneous orbit information of the non-synchronous orbit satellite saved at the previous moment according to the non-synchronous orbit satellite ID, and execute step S23. Step S22: Based on the orbital information of the non-synchronous orbit satellite and the BeiDou time synchronization information, derive the instantaneous orbital information of the non-synchronous orbit satellite at the current moment and save it; Step S23: Based on the instantaneous orbit information and the time evolution model, predict the orbit change information of each tracking step in the subsequent preset time period, and calculate the satellite instantaneous orbit information of each tracking step according to the six elements to determine the orbit position information; then combine the current positioning information of the over-the-top satellite continuous tracking device, substitute it into the azimuth and elevation angle calculation formulas, and obtain the guidance data required for antenna control of the current tracking step. Step S24: After time synchronization based on the guidance data, control the antenna azimuth and pitch motor to point to the corresponding position at the specified time to achieve real-time tracking of satellites in non-synchronous orbit.

[0008] Furthermore, the guidance data of the over-the-top satellite continuous tracking device is calculated as follows: ; ; In the above formula, Indicates satellite longitude, Indicates the longitude of the antenna. The latitude of the antenna for the over-the-top satellite continuous tracking device.

[0009] Furthermore, it also includes the following steps: After locking onto a non-synchronous orbit satellite, the channel equipment demodulates the satellite signal and feeds back the signal strength in the form of signal level to the antenna of the over-the-head satellite continuous tracking device. The antenna uses scanning detection technology to determine the beam pointing error based on the signal level, and corrects the motor control parameters in real time to compensate for transmission and control errors.

[0010] Furthermore, step 1) includes the following steps: Equipment placement and initialization: Place the over-the-top satellite continuous tracking device facing south, and complete the power-on initialization of the device, including peripheral startup, main control module self-test, and acquisition of BeiDou positioning and timing information; Theoretical parameter calculation: Based on the satellite tracking algorithm, combined with the latitude and longitude information of the antenna of the current top satellite continuous tracking device and the latitude and longitude information of the target geostationary orbit satellite obtained by Beidou positioning, the theoretical azimuth, elevation and polarization values ​​required for the over-the-top satellite continuous tracking device to track the satellite are calculated. Attitude pre-adjustment: The servo control system drives the corresponding motors according to the calculated theoretical pitch and polarization values ​​to move the pitch and polarization of the over-the-top satellite continuous tracking device to the target position; Azimuth wide-range scan: After the elevation and polarization have been adjusted to the target position, the servo control system controls the over-the-head satellite continuous tracking device to perform a wide-range scan in azimuth and continuously detect the satellite signal strength; Signal locking and stable tracking: When the location with the strongest satellite signal is detected, the position of the top satellite continuous tracking device is fixed at that location to lock onto the geostationary orbit satellite.

[0011] This specification provides one or more embodiments of an intelligent satellite tracking device, including: The tracking device initialization module is used to initialize the over-the-head satellite continuous tracking device, determine the current positioning information and timing information, then track and lock onto the geostationary orbit satellite at the default fixed position, determine the position pointing value of the over-the-head satellite continuous tracking device, and obtain the current azimuth. The instantaneous orbit information determination module is used to receive orbit data of the non-synchronous orbit satellite to be tracked, determine whether it is the first time the orbit data of the non-synchronous orbit satellite is calculated according to the satellite orientation strategy, and if it is not the first time, retrieve the instantaneous orbit information obtained at the previous moment according to the unique information of the non-synchronous orbit satellite, and calculate and determine the instantaneous orbit information of the non-synchronous orbit satellite at the current moment using the orbit calculation method according to the BeiDou time information of the overpass satellite continuous tracking device, and feed back the guidance data determination module and save it; The guidance data determination module is used to calculate the instantaneous orbit of the non-synchronous orbit satellite from the current time to the preset time period. Combining the positioning information and the longitude value of the non-synchronous orbit satellite, the guidance data of the over-the-head satellite continuous tracking device is obtained by calculating the azimuth and elevation angle formulas. The control module is used to synchronize the generated guidance data in time, and then adjust the attitude of the top satellite continuous tracking device in real time based on the guidance data, starting from the current position, so as to realize dynamic tracking of satellites in non-synchronous orbit.

[0012] Furthermore, it also includes a correction module: after locking onto a non-synchronous orbit satellite, the channel equipment demodulates the satellite signal and feeds back the signal strength in the form of signal level to the antenna of the over-the-head satellite continuous tracking device. The antenna uses scanning detection technology to determine the beam pointing error based on the signal level, corrects the motor control parameters in real time, and compensates for transmission and control errors.

[0013] Furthermore, the instantaneous orbit information determination includes a data judgment submodule, an initial calculation submodule, a guiding data calculation submodule, and a control submodule; The data judgment submodule is used to receive the transmitted non-synchronous orbit satellite orbit data, determine whether the received non-synchronous orbit satellite orbit data is the first calculation for the non-synchronous orbit satellite orbit data, and then feed it back to the first calculation submodule. If not, it retrieves the instantaneous orbit information of the non-synchronous orbit satellite saved at the previous moment based on the non-synchronous orbit satellite ID, and feeds it back to the guidance data calculation submodule. The initial calculation submodule is used to determine and save the instantaneous orbit information of the non-synchronous orbit satellite based on the satellite's orbit information and BeiDou time synchronization information. The guidance data calculation submodule is used to predict the orbit change information of each tracking step in the subsequent preset time period based on the instantaneous orbit information and the time evolution model, and calculate the satellite instantaneous orbit information of each tracking step based on the six elements to determine the orbit position information; then, combined with the current positioning information of the over-the-top satellite continuous tracking device, the azimuth and elevation angle calculation formulas are substituted to obtain the guidance data required for antenna control of the current tracking step. The control submodule is used to synchronize the time based on the guidance data, and then control the antenna azimuth and pitch motors to point to the corresponding positions at a specified time, so as to realize the real-time tracking of satellites in non-synchronous orbits.

[0014] This specification provides one or more embodiments of a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the intelligent satellite tracking method as described in any of the preceding embodiments.

[0015] This specification provides one or more embodiments of a computer-readable storage medium storing a computer program that, when executed by a processor, implements the intelligent satellite tracking method as described in any of the preceding claims.

[0016] This disclosure provides an intelligent satellite tracking method, device, equipment, and medium. Its advantages lie in the use of a top-over-the-head continuous satellite tracking device. This increases the elevation structure and supports a wider range of applications. It not only achieves low-Earth orbit tracking but also addresses the limitations of traditional over-the-head continuous satellite tracking devices, which have relatively small azimuth angles and cannot distinguish orientation when high-Earth orbit satellites are near the equator. Furthermore, when placed beyond the azimuth range, the device cannot correctly track the satellite. The over-the-head continuous satellite tracking device supports a wide range of movements, has no orientation restrictions, and can be placed arbitrarily for satellite tracking. It obtains the initial azimuth by locking onto a default geostationary orbit satellite without adding a positioning antenna or orientation resolution module, achieving rapid initial azimuth confirmation without increasing costs. The intelligent satellite orientation strategy is then used for satellite positioning and tracking. During the calculation process, a preprocessing mechanism that saves the instantaneous orbit information from the first calculation and reuses the instantaneous orbit information from subsequent calculations simplifies the calculation process, shortens the calculation time for tracking satellites in non-geostationary orbits, reduces the computational requirements of the main control chip, and enables rapid tracking of satellites in non-geostationary orbits. Considering the limited computing power of the control module of the overhead satellite continuous tracking device and the timeliness of emergency communication, it is impossible to quickly calculate the ephemeris. Because the calculation time of traditional satellite ephemeris is very long if the existing portable satellite station uses traditional methods, the satellite orientation strategy proposed in this paper solves the problem that the existing overhead satellite continuous tracking device cannot quickly point to the target satellite, which will not meet the needs of practical applications. Attached Figure Description

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

[0018] Figure 1 A flowchart illustrating an intelligent satellite tracking method provided for one or more embodiments of this specification; Figure 2 A block diagram of an intelligent satellite tracking device provided for one or more embodiments of this specification; Figure 3 This is a schematic diagram of the structure of a computer device provided for one or more embodiments of this specification. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this invention.

[0020] The present invention will now be described in detail with reference to specific embodiments and accompanying drawings.

[0021] Method Implementation Examples According to embodiments of the present invention, an intelligent satellite tracking method is provided, such as... Figure 1 The diagram shown is a flowchart of the intelligent satellite tracking method provided in this embodiment. The intelligent satellite tracking method according to this embodiment includes the following steps: Step S1: Initialize the over-the-top satellite continuous tracking device, determine the current positioning information and timing information, then track and lock onto the geostationary orbit satellite at the default fixed position, determine the position pointing value of the over-the-top satellite continuous tracking device, and obtain the current azimuth. Step S2: Receive the orbit data of the non-synchronous orbit satellite to be tracked. Based on the satellite orientation strategy, determine whether this is the first time the orbit data of the non-synchronous orbit satellite has been calculated. If it is not the first time, retrieve the instantaneous orbit information obtained at the previous moment based on the unique information of the non-synchronous orbit satellite. Based on the BeiDou time synchronization information of the overpass satellite continuous tracking device, use the orbit calculation method to calculate and determine the instantaneous orbit information of the non-synchronous orbit satellite at the current moment, and save it. Step S3: Calculate the instantaneous orbit of the non-synchronous orbit satellite from the current moment to the preset time period. Combine the positioning information and the longitude value of the non-synchronous orbit satellite, and use the azimuth and elevation angle formulas to calculate the guidance data of the over-the-head satellite continuous tracking device. Step S4: After synchronizing the generated guidance data with time, the attitude of the top satellite continuous tracking device is adjusted in real time based on the guidance data, starting from the current azimuth, to achieve dynamic tracking of satellites in non-geosynchronous orbits. The time synchronization process in this embodiment ensures that the antenna movement and the target satellite movement are relatively synchronized, so as to ensure accurate pointing to the target satellite.

[0022] The intelligent satellite tracking method provided in this embodiment uses a top-over-the-head continuous tracking device to track satellites. The increased elevation structure supports a wider range of applications. It not only achieves low-Earth orbit tracking, but also addresses the limitations of traditional over-the-head continuous tracking devices, which have relatively small azimuth angles and cannot distinguish orientation when high-Earth orbit satellites are near the equator. When placed beyond the azimuth range, they cannot correctly track the satellite. The over-the-head continuous tracking device supports a wide range of movements, has no orientation restrictions, and can be placed arbitrarily for satellite tracking. Without adding a positioning antenna or orientation resolution module, it obtains the initial azimuth by locking onto a default geostationary orbit satellite, eliminating the need for additional positioning antennas and orientation resolution modules, and achieving rapid initial azimuth confirmation without increasing costs. Furthermore, an intelligent satellite orientation strategy is employed to achieve satellite positioning and tracking. During the calculation process, a preprocessing mechanism that saves the instantaneous orbit information from the first calculation and reuses the instantaneous orbit information from subsequent calculations simplifies the solution process, shortens the calculation time for tracking satellites in non-geostationary orbits, reduces the computational requirements of the main control chip, and enables rapid tracking of satellites in non-geostationary orbits. Considering the limited computing power of the control module of the overhead satellite continuous tracking device and the timeliness of emergency communication, it is impossible to quickly calculate the ephemeris. Because the calculation time of traditional satellite ephemeris is very long if the existing portable satellite station uses traditional methods, the satellite orientation strategy proposed in this paper solves the problem that the existing overhead satellite continuous tracking device cannot quickly point to the target satellite, which will not meet the needs of practical applications.

[0023] In step S1 of this embodiment, the over-the-head satellite continuous tracking device is initialized, the current positioning information and timing information are determined, and then tracking and locking are performed based on the geostationary orbit satellite at the default fixed position. The position pointing value of the over-the-head satellite continuous tracking device is determined to obtain the current azimuth. The specific steps are as follows: Step 11, Equipment Placement and Initialization: Place the over-the-head satellite continuous tracking device facing south and complete the equipment power-on initialization, including peripheral startup, main control module self-test, and acquisition of BeiDou positioning and timing information, ensuring the equipment is in a working state. Timing information can be obtained through the BeiDou positioning module built into the satellite station.

[0024] Step 12, Theoretical Parameter Calculation: Based on the satellite tracking algorithm, and combined with the latitude and longitude information of the antenna of the current top satellite continuous tracking device and the latitude and longitude information of the target geostationary orbit satellite obtained by Beidou positioning, the theoretical azimuth, elevation, and polarization values ​​required for the over-the-top satellite continuous tracking device to track the satellite are calculated.

[0025] Step 13, Attitude pre-adjustment: The servo control system drives the corresponding motors according to the calculated theoretical pitch and polarization values ​​to move the pitch and polarization of the over-the-top satellite continuous tracking device to the target position.

[0026] Step 14, Azimuth Scan: After the elevation and polarization have been adjusted to the target position, the servo control system controls the over-the-top satellite continuous tracking device to perform a wide-range azimuth scan and continuously detect the satellite signal strength.

[0027] Step 15, Signal Locking and Stable Tracking: When the location with the strongest satellite signal is detected, the position of the top satellite continuous tracking device is fixed at that location to lock onto the geostationary orbit satellite.

[0028] In this embodiment, the over-the-top satellite continuous tracking device can be the over-the-top satellite continuous tracking system disclosed in Chinese Patent CN222300862U.

[0029] In this embodiment, considering the limited computing power of the tracking device control module and the timeliness of emergency communication, which prevents rapid ephemeris calculation, a directional strategy is added to the ephemeris calculation. Based on the received orbit data command from the non-synchronous orbit satellite to be tracked, a preprocessing mechanism that reuses non-first instantaneous orbit information is used. That is, by using the previous instantaneous orbit information as the calculation result to determine the guidance data, the antenna azimuth and elevation motors are controlled to achieve real-time tracking of the non-synchronous orbit satellite by the antenna. This enables rapid calculation of the orbit parameters of the non-synchronous orbit satellite, greatly shortening the calculation time of the non-synchronous orbit satellite and quickly achieving satellite tracking. Therefore, step S2 specifically includes the following steps: Step S21: Receive the transmitted non-synchronous orbit satellite orbit data, determine whether the received non-synchronous orbit satellite orbit data is the first calculation for the non-synchronous orbit satellite orbit data, if it is the first time, execute step S22; if not, obtain the instantaneous orbit information of the non-synchronous orbit satellite saved at the previous moment according to the non-synchronous orbit satellite ID, and execute step S23. In this embodiment, the specific determination of whether the received non-synchronous orbit satellite orbit data is the first calculation for the non-synchronous orbit satellite orbit data is as follows: determine whether the non-synchronous orbit satellite orbit data of the previous moment is currently stored locally. If not, store it, indicating that it is the first calculation, and then execute step S22.

[0030] In this embodiment, the orbital data of non-synchronous orbit satellites is transmitted via a handheld terminal program or antenna monitoring interface. This data may include two-line element sets (TLE) or six orbital elements (also called orbital elements), which are core parameters describing satellite orbital motion and form the basis for ephemeris calculation, orbit prediction, and antenna guidance data generation. It mainly includes information such as basic satellite identifiers, orbital epoch times, and orbital dynamic parameters.

[0031] Step S22: Based on the orbit information of the non-synchronous orbit satellite and the BeiDou time synchronization information, calculate the instantaneous orbit information of the non-synchronous orbit satellite at the current moment using the orbit calculation method, and save it.

[0032] In this embodiment, the orbit calculation method is existing technology. For example, the IGSO satellite tracking method of an automatic satellite tracking antenna disclosed in Chinese Patent CN120468890A can be used to calculate the instantaneous orbit information of a non-synchronous orbit satellite at the current moment, which will not be elaborated here. Step S23: Based on the instantaneous orbit information and the time evolution model, predict the orbit change information of each tracking step in the subsequent preset time period, and calculate the instantaneous orbit information of the satellite in each tracking step according to the six elements to determine the orbit position information; then, combine the current positioning information of the over-the-head satellite continuous tracking device, substitute it into the azimuth and elevation angle calculation formulas, and obtain the guidance data required for antenna control in the current tracking step; In this embodiment, the guiding data is calculated as follows: ; ; In the above formula, Indicates satellite longitude, Indicates the longitude of the antenna. The latitude of the antenna for the over-the-top satellite continuous tracking device.

[0033] The satellite orientation strategy provided in this embodiment has a low complexity derived orbit prediction algorithm, which is compatible with the computing power of the main control module of the continuous satellite tracking device and reduces the requirements for chip computing power.

[0034] Step S24: After time synchronization based on the guidance data, control the antenna azimuth and pitch motor to point to the corresponding position at the specified time to achieve real-time tracking of satellites in non-synchronous orbit.

[0035] To improve satellite tracking accuracy, this embodiment combines the guidance data calculated from ephemeris with the signal level fed back from the channel equipment to achieve dual control of "coarse tracking and fine correction," and also includes the following steps: Step S5: After locking onto the non-synchronous orbit satellite, the channel equipment demodulates the satellite signal and feeds back the signal strength in the form of signal level to the antenna of the over-the-top satellite continuous tracking device. The antenna uses scanning detection technology to determine the beam pointing error based on the signal level, corrects the motor control parameters in real time, and compensates for transmission and control errors.

[0036] The intelligent satellite tracking method provided by this invention uses a top-pass satellite continuous tracking device. Without increasing hardware costs, it supports top-pass tracking of satellites in both synchronous and non-synchronous orbits. The satellite orientation strategy simplifies the ephemeris calculation strategy for non-synchronous orbit satellites, enabling rapid azimuth tracking and improving satellite tracking efficiency by 30%, while reducing product costs. Finally, by combining channel fusion to correct motor control parameters in real time, it achieves fine-tuning of tracking accuracy. This automatic top-pass satellite continuous tracking device system is suitable for rapid service activation in emergency situations in various complex weather environments.

[0037] Device Examples According to embodiments of the present invention, an intelligent satellite tracking device is provided, such as... Figure 2 The diagram shown is a block diagram of the intelligent satellite tracking device provided in this embodiment. The intelligent satellite tracking device according to this embodiment includes: The tracking device initialization module 10 is used to initialize the over-the-top satellite continuous tracking device, determine the current positioning information and timing information, and then track and lock onto the geostationary orbit satellite at the default fixed position, determine the position pointing value of the over-the-top satellite continuous tracking device, and obtain the current azimuth. The instantaneous orbit information determination module 20 is used to receive the orbit data of the non-synchronous orbit satellite to be tracked, determine whether it is the first time the orbit data of the non-synchronous orbit satellite is calculated according to the satellite orientation strategy, and if it is not the first time, retrieve the instantaneous orbit information obtained at the previous moment according to the unique information of the non-synchronous orbit satellite, and calculate and determine the instantaneous orbit information of the non-synchronous orbit satellite at the current moment using the orbit calculation method according to the Beidou time information of the overpass satellite continuous tracking device, and feed back the guidance data determination module 30 and save it; The guidance data determination module 30 is used to calculate the instantaneous orbit of the non-synchronous orbit satellite from the current moment to the preset time period. Combining the positioning information and the longitude value of the non-synchronous orbit satellite, the guidance data of the over-the-head satellite continuous tracking device is obtained by calculating the azimuth and elevation angle formulas.

[0038] The control module 40 is used to synchronize the generated guidance data in time, and then adjust the attitude of the top satellite continuous tracking device in real time based on the guidance data, starting from the current azimuth, so as to realize dynamic tracking of satellites in non-synchronous orbit.

[0039] The intelligent satellite tracking device provided in this embodiment tracks satellites through a top-mounted continuous satellite tracking device. The increased elevation structure supports a wider range of applications. It not only achieves low-Earth orbit tracking, but also addresses the limitations of traditional over-the-head continuous satellite tracking devices, which have relatively small azimuth angles and cannot distinguish orientation when high-Earth orbit satellites are near the equator. When placed beyond the azimuth range, it cannot correctly track the satellite. The over-the-head continuous satellite tracking device supports a wide range of movements, with no orientation restrictions, and can be placed arbitrarily for satellite tracking. Without adding a positioning antenna or orientation resolution module, it obtains the initial azimuth by locking onto a default geostationary orbit satellite, eliminating the need for additional positioning antennas and orientation resolution modules. This achieves rapid initial azimuth confirmation without increasing costs. The instantaneous orbit information determination 20 employs an intelligent satellite orientation strategy to achieve satellite positioning and tracking. During the calculation process, a preprocessing mechanism that saves the initial instantaneous orbit information and reuses subsequent instantaneous orbit information simplifies the calculation process, shortens the calculation time for non-geostationary orbit satellite tracking, and reduces the computational requirements of the main control chip. The control module 40 then quickly achieves non-geostationary orbit satellite tracking. Considering the limited computing power of the control module of the overhead satellite continuous tracking device and the timeliness of emergency communication, it is impossible to quickly calculate the ephemeris. Because the calculation time of traditional satellite ephemeris is very long if the existing portable satellite station uses traditional methods, the satellite orientation strategy proposed in this paper solves the problem that the existing overhead satellite continuous tracking device cannot quickly point to the target satellite, which will not meet the needs of practical applications.

[0040] In this embodiment, the instantaneous orbit information determination 20 includes a data judgment submodule, an initial calculation submodule, a guided data calculation submodule, and a control submodule; The data judgment submodule is used to receive the transmitted non-synchronous orbit satellite orbit data, determine whether the received non-synchronous orbit satellite orbit data is the first calculation for the non-synchronous orbit satellite orbit data, and then feed it back to the first calculation submodule. If not, it retrieves the instantaneous orbit information of the non-synchronous orbit satellite saved at the previous moment based on the non-synchronous orbit satellite ID, and feeds it back to the guidance data calculation submodule. The initial calculation submodule is used to determine and save the instantaneous orbit information of the non-synchronous orbit satellite based on the satellite's orbit information and BeiDou time synchronization information.

[0041] The guidance data calculation submodule is used to predict the orbit change information of each tracking step in the subsequent preset time period based on the instantaneous orbit information and the time evolution model, and calculate the satellite instantaneous orbit information of each tracking step based on the six elements to determine the orbit position information; then, combined with the current positioning information of the over-the-top satellite continuous tracking device, the azimuth and elevation angle calculation formulas are substituted to obtain the guidance data required for antenna control of the current tracking step. In this embodiment, the guiding data is calculated as follows: ; ; In the above formula, Indicates satellite longitude, Indicates the longitude of the antenna. The latitude of the antenna for the over-the-top satellite continuous tracking device.

[0042] The satellite orientation strategy provided in this embodiment has a low complexity derived orbit prediction algorithm, which is compatible with the computing power of the main control module of the continuous satellite tracking device and reduces the requirements for chip computing power.

[0043] The control submodule is used to synchronize the time based on the guidance data, and then control the antenna azimuth and pitch motors to point to the corresponding positions at a specified time, so as to realize the real-time tracking of satellites in non-synchronous orbits.

[0044] This embodiment also includes a correction module 50, which is used to demodulate the satellite signal after the non-synchronous orbit satellite is locked, and feed back the signal strength in the form of signal level to the antenna of the over-the-top satellite continuous tracking device. The antenna uses scanning detection technology to determine the beam pointing error based on the signal level, corrects the motor control parameters in real time, and compensates for transmission and control errors.

[0045] The embodiments of the present invention are device embodiments corresponding to the above method embodiments. The specific operations of each module processing step can be understood with reference to the description of the method embodiments, and will not be repeated here.

[0046] like Figure 3 As shown, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the intelligent satellite tracking method described in the above embodiments.

[0047] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent satellite tracking method described in the above embodiments.

[0048] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0049] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for apparatus or system embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The apparatus and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0050] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and the contents not described in detail in the specification of the present invention are well known to those skilled in the art.

Claims

1. An intelligent satellite tracking method, characterized in that, Includes the following steps: 1) Initialize the over-the-top satellite continuous tracking device, determine the current positioning information and timing information, then track and lock onto the geostationary orbit satellite at the default fixed position, determine the position pointing value of the over-the-top satellite continuous tracking device, and obtain the current azimuth; 2) Receive orbit data of the non-synchronous orbit satellite to be tracked, and determine whether it is the first time to calculate the orbit data of the non-synchronous orbit satellite according to the satellite orientation strategy. If it is not the first time to calculate, retrieve the instantaneous orbit information obtained at the previous moment according to the unique information of the non-synchronous orbit satellite, and calculate and determine the instantaneous orbit information of the non-synchronous orbit satellite at the current moment using the orbit calculation method according to the Beidou time information of the overpass satellite continuous tracking device, and save it. 3) Calculate the instantaneous orbit of the non-synchronous orbit satellite from the current moment to the preset time period, and combine the positioning information and the longitude value of the non-synchronous orbit satellite to obtain the guidance data of the over-the-head satellite continuous tracking device through the azimuth and elevation angle formulas; 4) After synchronizing the generated guidance data in time, the attitude of the top satellite continuous tracking device is adjusted in real time based on the current position and the guidance data to achieve dynamic tracking of satellites in non-synchronous orbit.

2. The intelligent satellite tracking method as described in claim 1, characterized in that, Step 2) specifically includes the following steps: Step S21: Receive the transmitted non-synchronous orbit satellite orbit data, determine whether the received non-synchronous orbit satellite orbit data is the first calculation for the non-synchronous orbit satellite orbit data, if it is the first time, execute step S22; if not, obtain the instantaneous orbit information of the non-synchronous orbit satellite saved at the previous moment according to the non-synchronous orbit satellite ID, and execute step S23. Step S22: Based on the orbital information of the non-synchronous orbit satellite and the BeiDou time synchronization information, derive the instantaneous orbital information of the non-synchronous orbit satellite at the current moment and save it; Step S23: Based on the instantaneous orbit information and the time evolution model, predict the orbit change information of each tracking step in the subsequent preset time period, and calculate the satellite instantaneous orbit information of each tracking step according to the six elements to determine the orbit position information; then combine the current positioning information of the over-the-top satellite continuous tracking device, substitute it into the azimuth and elevation angle calculation formulas, and obtain the guidance data required for antenna control of the current tracking step. Step S24: After time synchronization based on the guidance data, control the antenna azimuth and pitch motor to point to the corresponding position at the specified time to achieve real-time tracking of satellites in non-synchronous orbit.

3. The intelligent satellite tracking method as described in claim 1, characterized in that, The guidance data of the over-the-top satellite continuous tracking device is calculated as follows: ； ； In the above formula, Indicates satellite longitude, Indicates the longitude of the antenna. The latitude of the antenna for the over-the-top satellite continuous tracking device.

4. The intelligent satellite tracking method as described in claim 1, characterized in that, It also includes the following steps: After locking onto a non-synchronous orbit satellite, the channel equipment demodulates the satellite signal and feeds back the signal strength in the form of signal level to the antenna of the over-the-head satellite continuous tracking device. The antenna uses scanning detection technology to determine the beam pointing error based on the signal level, and corrects the motor control parameters in real time to compensate for transmission and control errors.

5. The intelligent satellite tracking method as described in claim 1, characterized in that, Step 1) includes the following steps: Equipment placement and initialization: Place the over-the-top satellite continuous tracking device facing south, and complete the power-on initialization of the device, including peripheral startup, main control module self-test, and acquisition of BeiDou positioning and timing information; Theoretical parameter calculation: Based on the satellite tracking algorithm, combined with the latitude and longitude information of the antenna of the current top satellite continuous tracking device and the latitude and longitude information of the target geostationary orbit satellite obtained by Beidou positioning, the theoretical azimuth, elevation and polarization values ​​required for the over-the-top satellite continuous tracking device to track the satellite are calculated. Attitude pre-adjustment: The servo control system drives the corresponding motors according to the calculated theoretical pitch and polarization values ​​to move the pitch and polarization of the over-the-top satellite continuous tracking device to the target position; Azimuth wide-range scan: After the elevation and polarization have been adjusted to the target position, the servo control system controls the over-the-head satellite continuous tracking device to perform a wide-range scan in azimuth and continuously detect the satellite signal strength; Signal locking and stable tracking: When the location with the strongest satellite signal is detected, the position of the top satellite continuous tracking device is fixed at that location to lock onto the geostationary orbit satellite.

6. An intelligent satellite tracking device, characterized in that, include: The tracking device initialization module is used to initialize the over-the-head satellite continuous tracking device, determine the current positioning information and timing information, then track and lock onto the geostationary orbit satellite at the default fixed position, determine the position pointing value of the over-the-head satellite continuous tracking device, and obtain the current azimuth. The instantaneous orbit information determination module is used to receive orbit data of the non-synchronous orbit satellite to be tracked, determine whether it is the first time the orbit data of the non-synchronous orbit satellite is calculated according to the satellite orientation strategy, and if it is not the first time, retrieve the instantaneous orbit information obtained at the previous moment according to the unique information of the non-synchronous orbit satellite, and calculate and determine the instantaneous orbit information of the non-synchronous orbit satellite at the current moment using the orbit calculation method according to the BeiDou time information of the overpass satellite continuous tracking device, and feed back the guidance data determination module and save it; The guidance data determination module is used to calculate the instantaneous orbit of the non-synchronous orbit satellite from the current time to the preset time period. Combining the positioning information and the longitude value of the non-synchronous orbit satellite, the guidance data of the over-the-head satellite continuous tracking device is obtained by calculating the azimuth and elevation angle formulas. The control module is used to synchronize the generated guidance data in time, and then adjust the attitude of the top satellite continuous tracking device in real time based on the guidance data, starting from the current position, so as to realize dynamic tracking of satellites in non-synchronous orbit.

7. The intelligent satellite tracking device as described in claim 6, characterized in that, Also includes Correction module: After locking onto a non-synchronous orbit satellite, the channel equipment demodulates the satellite signal and feeds back the signal strength as a signal level to the antenna of the over-the-head satellite continuous tracking device. The antenna uses scanning detection technology to determine the beam pointing error based on the signal level and corrects the motor control parameters in real time to compensate for transmission and control errors.

8. The intelligent satellite tracking device as described in claim 6, characterized in that, The instantaneous orbit information determination includes a data judgment submodule, an initial calculation submodule, a guided data calculation submodule, and a control submodule; The data judgment submodule is used to receive the transmitted non-synchronous orbit satellite orbit data, determine whether the received non-synchronous orbit satellite orbit data is the first calculation for the non-synchronous orbit satellite orbit data, and then feed it back to the first calculation submodule. If not, it retrieves the instantaneous orbit information of the non-synchronous orbit satellite saved at the previous moment based on the non-synchronous orbit satellite ID, and feeds it back to the guidance data calculation submodule. The initial calculation submodule is used to determine and save the instantaneous orbit information of the non-synchronous orbit satellite based on the satellite's orbit information and BeiDou time synchronization information. The guidance data calculation submodule is used to predict the orbit change information of each tracking step in the subsequent preset time period based on the instantaneous orbit information and the time evolution model, and calculate the satellite instantaneous orbit information of each tracking step based on the six elements to determine the orbit position information; then, combined with the current positioning information of the over-the-top satellite continuous tracking device, the azimuth and elevation angle calculation formulas are substituted to obtain the guidance data required for antenna control of the current tracking step. The control submodule is used to synchronize the time based on the guidance data, and then control the antenna azimuth and pitch motors to point to the corresponding positions at a specified time, so as to realize the real-time tracking of satellites in non-synchronous orbits.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the intelligent satellite tracking method as described in any one of claims 1 to 5.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the intelligent satellite tracking method as described in any one of claims 1 to 5.

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