Satellite portable station fast star searching control method and system based on multi-mode signal

Abstract

This invention discloses a satellite portable station satellite acquisition and control method and system based on multi-mode signals, relating to the field of satellite communication control technology. The method extracts initial heading angle data from an electronic compass and real-time latitude and longitude coordinate data from a positioning module to calculate the theoretical azimuth and elevation angles of the target satellite and drive a stepper motor to its initial spatial position. Within a set two-dimensional continuous search window, continuous uniform-speed sweeping is performed to extract the trigger spatial physical coordinates when the carrier lock status flag is valid. The stepper motor is kept running at a continuous uniform speed, and the analog automatic gain control level signal and the real-time spatial encoded coordinates of the stepper motor are synchronously acquired to construct a level coordinate mapping timing matrix, calculating the analog level spatial gradient value. When the analog level spatial gradient value crosses the zero-crossing point from positive to negative, the physical coordinates of the extreme point are extracted, and a reverse compensation braking control command is triggered to verify the satellite communication link status parameters. The system is used to implement the above method.

Description

Technical Field

[0001] This invention relates to the field of satellite communication control technology, specifically to a rapid satellite search and control method and system for portable satellite stations based on multi-mode signals. Background Technology

[0002] With the increasing density of satellite communication network node deployments, high-throughput satellite communication portable stations need to establish satellite communication radio frequency links in mobile scenarios without terrestrial network coverage. Existing antenna servo drive control logic mostly adopts an intermittent discrete motion mode of step-stop re-detection. The intermittent discrete motion mode causes discontinuous start-stop impact torque in the transmission servo mechanism during the satellite search execution cycle. The discontinuous start-stop impact torque causes wear on the physical transmission gears and causes the satellite search execution cycle time to exceed the limit.

[0003] Existing satellite-finding control strategies typically extract a single digital carrier signal as the input source for satellite alignment. This single digital carrier signal is prone to logic level inversion delays under conditions of space electromagnetic interference or ionospheric scintillation, leading to errors in aligning with pseudo-peak sidelobe signals. When driving a stepper motor to perform continuous sweeping tasks, existing position loop control algorithms fail to compensate for the physical rotational inertia of the servo mechanical transmission structure after triggering a position stagnation command. This results in the final physical stagnation coordinates of the antenna deviating from the true extreme coordinates of the RF signal energy. This deviation causes attenuation of the RF antenna's transmit and receive gains and triggers communication link handshake message exchange failures. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a rapid satellite search and control method and system for portable satellite stations based on multi-mode signals, thus solving the problems mentioned in the background.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a rapid satellite search and control method for a portable satellite station based on multi-mode signals, comprising the following steps: S1, extracting the electronic compass heading angle and the latitude and longitude of the positioning module, calculating the theoretical azimuth and theoretical elevation angles of the target satellite, and driving the azimuth and elevation stepper motors to the initial spatial position corresponding to the theoretical azimuth and theoretical elevation angles; S2, controlling the azimuth and elevation stepper motors to operate continuously and uniformly within a search window set based on the initial spatial position, synchronously monitoring the carrier lock status output by the DVB satellite receiver, and when the carrier lock status is determined to be valid, extracting the trigger spatial coordinates corresponding to the current operating state of the azimuth and elevation stepper motors; S3, based on the trigger spatial coordinates... Set the fine-scan operation trajectory, maintain the azimuth and pitch stepper motors in a continuous and uniform speed operation state, and synchronously collect the simulated AGC level signal output by the multi-mode satellite signal receiver and the real-time spatial coordinates of the azimuth and pitch stepper motors according to the preset sampling period. Construct a level coordinate mapping sequence that binds the simulated AGC level signal and the real-time spatial coordinates, and calculate the level gradient value in the level coordinate mapping sequence as the real-time spatial coordinates change in real time; S4, when the level gradient value is detected to have a zero-crossing point from positive to negative, extract the physical coordinates of the extreme point corresponding to the zero-crossing point in the level coordinate mapping sequence, trigger the reverse braking control to drive the azimuth and pitch stepper motors to stop at the physical coordinates of the extreme point, and extract the link parameters of the satellite modem to verify the communication connection status.

[0006] Furthermore, the specific process of extracting the electronic compass heading angle and the latitude and longitude of the positioning module to calculate the theoretical azimuth and theoretical elevation angles of the target satellite is as follows: The built-in satellite orbit parameters are called, and the initial alignment vector in the geographic coordinate system is generated by combining the latitude and longitude of the positioning module. The electronic compass heading angle is extracted, and a spatial transformation matrix between the geographic coordinate system and the antenna body coordinate system is constructed. The initial alignment vector is mapped and transformed using the spatial transformation matrix to generate the theoretical azimuth and theoretical elevation angles in the antenna body coordinate system.

[0007] Furthermore, the specific process of driving the azimuth and pitch stepper motors to the initial spatial position corresponding to the theoretical azimuth and pitch angles is as follows: the theoretical azimuth and pitch angles are converted into target drive pulse sequences, and the target drive pulse sequences are sent to the underlying microcontroller via the main control board; the underlying microcontroller generates a low-level control signal based on the target drive pulse sequence, and inputs the low-level control signal to the drive circuit of the azimuth and pitch stepper motors; the control drive circuit drives the azimuth and pitch stepper motors to operate, and the output torque is amplified by the matching harmonic reducer to operate to the initial spatial position.

[0008] Furthermore, the specific process of controlling the azimuth and elevation stepper motors to operate continuously and uniformly within a search window set based on the initial spatial position, while simultaneously monitoring the carrier lock status output by the DVB satellite receiver, is as follows: A preset search tolerance range is extracted, and the initial spatial position is superimposed with the preset search tolerance range to construct a two-dimensional search window; a continuous sweep command is issued to drive the azimuth and elevation stepper motors to perform continuous grid-pattern uniform speed operation within the two-dimensional search window; during the operation of the azimuth and elevation stepper motors, the digital data frames fed back by the DVB satellite receiver are read in real time through the serial communication channel of the main control board, and the carrier lock status within the digital data frames is extracted.

[0009] Furthermore, when the carrier lock state is determined to be valid, the specific process of extracting the trigger space coordinates corresponding to the current operating state of the azimuth and pitch stepper motors is as follows: continuously perform bit parsing on the digital data frame and determine the Boolean value of the carrier lock flag bit in the digital data frame; when the carrier lock flag bit indicates that the state is valid, trigger the microcontroller hardware interrupt and freeze the real-time pulse accumulation value corresponding to the azimuth and pitch stepper motors; call the pulse angle conversion mapping table, reverse calculate the real-time pulse accumulation value into physical angle coordinates, and mark the physical angle coordinates as the trigger space coordinates.

[0010] Furthermore, based on the trigger spatial coordinates, the fine-scan trajectory is set, and the azimuth and pitch stepper motors are kept running continuously at a constant speed. The specific process of synchronously acquiring the analog AGC level signal output by the multi-mode satellite signal receiver and the real-time spatial coordinates of the azimuth and pitch stepper motors according to the preset sampling period is as follows: The trigger spatial coordinates are extracted as the reference center point, a two-dimensional continuous sweep motion command is generated and issued, driving the azimuth and pitch stepper motors to maintain a continuous and uniform speed; the built-in hardware timer of the microcontroller is activated to generate the preset sampling period trigger beat; under the drive of the preset sampling period trigger beat, the analog-to-digital converter channel is concurrently scheduled to read the analog AGC level signal and read the motor encoder register to obtain the real-time spatial coordinates of the azimuth and pitch stepper motors.

[0011] Furthermore, the specific process of constructing a level coordinate mapping sequence that binds the simulated AGC level signal to the real-time spatial coordinates, and calculating the level gradient value in the level coordinate mapping sequence as the real-time spatial coordinates change, is as follows: A circular memory buffer with a system timestamp field is established. The simulated AGC level signal with the same system timestamp field and the real-time spatial coordinates are written into the circular memory buffer and bound to memory addresses to generate the level coordinate mapping sequence. The level fluctuation and coordinate displacement of adjacent timing nodes within the level coordinate mapping sequence are extracted. The differential state observer is called to calculate the correlation rate of change between the level fluctuation and the coordinate displacement, and the level gradient value is output.

[0012] Furthermore, when a zero-crossing point is detected where the level gradient value changes from positive to negative, the specific process for extracting the physical coordinates of the extreme points corresponding to the zero-crossing point in the level coordinate mapping sequence is as follows: The level gradient value is input into a digital low-pass filter for filtering, and a gradient trend sequence is output; the sign bit of the gradient trend sequence is polled, and when the sign bit changes from a positive logic state to a negative logic state, a zero-crossing hardware interrupt flag is generated; the level coordinate mapping sequence is traced back based on the zero-crossing hardware interrupt flag, and a high-order polynomial interpolation algorithm is called to fit the local extreme value envelope, and the physical coordinates of the extreme points corresponding to the vertices of the local extreme value envelope are extracted.

[0013] Furthermore, the specific process of triggering reverse braking control to drive the azimuth and pitch stepper motors to stop at the extreme point physical coordinates, and extracting the link parameters of the satellite modem to verify the communication connection status is as follows: Compare the spatial deviation vector between the current real-time spatial coordinates and the extreme point physical coordinates, and send a reverse braking control command containing the spatial deviation vector to the microcontroller; parse the reverse braking control command to generate a reverse compensation pulse sequence, drive the azimuth and pitch stepper motors to output reverse torque and position them at the extreme point physical coordinates; establish a data socket communication interface between the main control board and the satellite modem, read the baseband communication handshake message through the data socket communication interface, and parse the carrier-to-noise ratio parameter in the baseband communication handshake message as the link parameter to verify the communication connection status.

[0014] A rapid satellite acquisition control system for portable satellite stations based on multi-mode signals is used to execute the aforementioned rapid satellite acquisition control method for portable satellite stations based on multi-mode signals. It includes: an attitude initial positioning module, used to extract the electronic compass heading angle and the latitude and longitude of the positioning module, calculate the theoretical azimuth and theoretical elevation angles of the target satellite, and drive the azimuth and elevation stepper motors to the initial spatial position corresponding to the theoretical azimuth and theoretical elevation angles; a carrier search and acquisition module, used to control the azimuth and elevation stepper motors to operate continuously and uniformly within a search window set based on the initial spatial position, synchronously monitoring the carrier lock status output by the DVB satellite receiver, and extracting the trigger spatial coordinates corresponding to the current operating state of the azimuth and elevation stepper motors when the carrier lock status is determined to be valid; and an energy gradient analysis module, used for... Based on the trigger spatial coordinates, the system sets the fine-scan running trajectory, maintains the azimuth and pitch stepper motors in a continuous and uniform speed operation, and synchronously collects the simulated AGC level signal output by the multi-mode satellite signal receiver and the real-time spatial coordinates of the azimuth and pitch stepper motors according to the preset sampling period. It constructs a level coordinate mapping sequence that binds the simulated AGC level signal and the real-time spatial coordinates, and calculates the level gradient value in the level coordinate mapping sequence as it changes with the real-time spatial coordinates in real time. The extreme value precise locking module is used to extract the physical coordinates of the extreme point corresponding to the zero-crossing point in the level coordinate mapping sequence when the level gradient value is detected to change from positive to negative. It triggers the reverse braking control to drive the azimuth and pitch stepper motors to stop at the physical coordinates of the extreme point, and extracts the satellite modem link parameters to verify the communication connection status.

[0015] The present invention has the following beneficial effects:

[0016] (1) A rapid satellite search control method based on multi-mode signals for portable satellite stations calculates the theoretical azimuth and pitch angles of the target satellite based on the initial heading angle data of the electronic compass and the real-time latitude and longitude coordinate data of the positioning module. The azimuth and pitch stepper motors are controlled to run to the initial position in space. Within the set two-dimensional continuous search window, the azimuth and pitch stepper motors are driven to perform continuous uniform sweeping. The carrier lock status flag of the digital video broadcasting satellite receiver is extracted synchronously. When the carrier lock status flag of the digital video broadcasting satellite receiver is at a valid logic level, the hardware capture interrupt of the underlying microcontroller is triggered and the physical coordinates of the triggered space are marked. This eliminates the mechanical shock torque introduced by the discrete start-stop action and establishes a deterministic space search reference coordinate.

[0017] (2) The satellite portable station rapid satellite search control system based on multi-mode signals maintains the continuous uniform speed operation of the azimuth and pitch stepper motors based on the trigger spatial physical coordinates, and concurrently extracts the analog automatic gain control level signal of the multi-mode satellite receiver and the real-time spatial encoded coordinates of the stepper motors to construct a level coordinate mapping time sequence matrix to solve the spatial gradient value of the analog automatic gain control level; when the spatial gradient value of the analog automatic gain control level is detected to have a zero-crossing feature from positive to negative, the physical coordinates of the extreme point are extracted according to the level coordinate mapping time sequence matrix, and a reverse compensation braking control command is sent to the azimuth and pitch stepper motors to offset the physical rotational inertia of the mechanical system with the reverse electromagnetic braking torque, forcing the azimuth and pitch stepper motors to stand still at the physical coordinates of the extreme point, and performing closed-loop verification of the link connection status according to the baseband communication handshake message parameters of the satellite modem.

[0018] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0019] Figure 1 This is a flowchart of the rapid satellite search and control method for a portable satellite station based on multi-mode signals according to the present invention.

[0020] Figure 2 This is a schematic diagram demonstrating the precise scanning trajectory and coordinate triggering.

[0021] Figure 3 This is a schematic diagram showing the relationship between the analog level and the zero-crossing point of the level gradient.

[0022] Figure 4 This is a flowchart of the rapid satellite search and control system for a portable satellite station based on multi-mode signals, as described in this invention. Detailed Implementation

[0023] This application's embodiments solve the problems of high mechanical wear, long time consumption, and poor alignment accuracy caused by environmental interference during the existing portable satellite station satellite search process by using a rapid satellite search control method and system based on multi-mode signals.

[0024] The overall approach of the scheme in this application embodiment is as follows: First, blind pointing guidance of spatial attitude is performed using latitude, longitude, and heading angle to enable the antenna to quickly enter the theoretically predetermined area; second, the motor is kept running continuously within the predetermined area, and the initial boundary of the carrier wave is captured using digital signal characteristics and the trigger spatial coordinates are recorded; then, analog signals and spatial positions are continuously acquired without interruption, and the spatial rate of change of signal strength is calculated by constructing a sequence; finally, the zero-crossing reversal point of the rate of change is captured to confirm the signal peak position, and then the stepper motor is controlled to brake in the opposite direction to the peak point, and the link parameters are called to complete the final communication status confirmation.

[0025] Please see Figure 1This invention provides a technical solution: a rapid satellite search and control method for a portable satellite station based on multi-mode signals, comprising the following steps: S1, extracting the electronic compass heading angle and the latitude and longitude of the positioning module, calculating the theoretical azimuth and theoretical elevation angles of the target satellite, and driving the azimuth and elevation stepper motors to the initial spatial position corresponding to the theoretical azimuth and theoretical elevation angles; S2, controlling the azimuth and elevation stepper motors to operate continuously and uniformly within a search window set based on the initial spatial position, synchronously monitoring the carrier lock status output by the DVB satellite receiver, and when the carrier lock status is determined to be valid, extracting the trigger spatial coordinates corresponding to the current operating state of the azimuth and elevation stepper motors; S3, setting a fine scan based on the trigger spatial coordinates. The system maintains a continuous and uniform speed operation of the azimuth and pitch stepper motors. It synchronously collects the simulated AGC level signal output from the multi-mode satellite signal receiver and the real-time spatial coordinates of the azimuth and pitch stepper motors according to a preset sampling period. This constructs a level coordinate mapping sequence that binds the simulated AGC level signal to the real-time spatial coordinates. The system then calculates the level gradient value in the level coordinate mapping sequence as the real-time spatial coordinates change. S4: When a zero-crossing point is detected where the level gradient value changes from positive to negative, the system extracts the physical coordinates of the extreme point corresponding to the zero-crossing point in the level coordinate mapping sequence. This triggers reverse braking control, driving the azimuth and pitch stepper motors to stop at the extreme point's physical coordinates. The system also extracts the link parameters of the satellite modem to verify the communication connection status.

[0026] In this implementation scheme, the rapid satellite acquisition control method for a portable satellite station based on multi-mode signals relies on a highly integrated transceiver hardware architecture. The system's main control board integrates a 528MHz embedded processor chip, which is connected to a lower-level driver board. This driver board integrates a 72MHz microcontroller chip. The antenna's RF main body is equipped with an integrated reflector with an equivalent aperture of 500mm. The physical output shafts of the azimuth and elevation stepper motors are rigidly connected to a harmonic reducer with an inherent reduction gear ratio of 1:90. In the RF front-end link, a microwave signal coupler is configured. This coupler synchronously splits the space electromagnetic wave signal fed by the RF receiving antenna to the multi-mode satellite signal receiver and satellite modem via the RF physical interface. The embedded processor chip, acting as the host computer, sends satellite acquisition control logic commands to the microcontroller chip via a universal asynchronous transceiver bus. The microcontroller chip directly modulates the lower-level driver circuits of the azimuth and elevation stepper motors through a universal input / output interface, constructing a closed-loop hardware control link from microwave RF signal sensing to electromechanical physical execution.

[0027] Step S1 primarily involves extracting the initial heading angle data from the electronic compass and the real-time latitude and longitude coordinate data from the positioning module to perform blind pointing guidance of the antenna's RF body in space. The target satellite's theoretical azimuth and elevation angles are represented by the real-time latitude and longitude coordinate data from the positioning module and the initial heading angle data from the electronic compass, input into the spatial orbital geometry model to calculate the target satellite's expected stationary coordinates. Based on the real-time latitude and longitude coordinate data from the positioning module and the initial heading angle data from the electronic compass, drive motor operation commands are generated to control the azimuth and elevation stepper motors, driving the antenna's RF body to cross the carrier-free signal-covered airspace and position itself at its initial spatial position, thus reducing the physical range of the space servo scan and the satellite acquisition execution time cycle by a significant margin.

[0028] Step S2 primarily involves controlling the azimuth and elevation stepper motors to continuously acquire carrier signals around the preset initial spatial position. A two-dimensional continuous search window represents the physical deflection angle boundary extending outward from the initial spatial position. The carrier lock status flag indicates the physical level state of the target satellite's radio frequency carrier characteristics, which the digital video broadcasting satellite receiver identifies and synchronizes with. The azimuth and elevation stepper motors perform continuous uniform sweeping within the two-dimensional continuous search window. Based on the carrier lock status flag output by the digital video broadcasting satellite receiver, the spatial boundary of the satellite radio frequency signal is determined. When the carrier lock status flag is determined to be a valid logic level, the trigger spatial physical coordinates are extracted and recorded, and these coordinates are used as the starting reference for calculating the fine-scan trajectory.

[0029] Step S3 primarily involves dynamically tracking the energy distribution trend of spatial radio frequency signals based on triggered spatial physical coordinates. The simulated automatic gain control (AGC) level signal characterizes the original spatial electromagnetic wave energy intensity output from the RF front-end receiving link. The level coordinate mapping timing matrix characterizes the structured data set that spatiotemporally binds the simulated AGC level signal to the real-time spatial encoded coordinates of the stepper motor. The simulated AGC level spatial gradient value characterizes the derivative of the RF energy intensity change corresponding to a unit physical spatial displacement. Maintaining the azimuth and elevation stepper motors in a continuous, uniform operating state, the simulated AGC level signal and the real-time spatial encoded coordinates of the stepper motor are extracted concurrently. These signals are then input into a differential state observer to calculate the simulated AGC level spatial gradient value, quantifying the approximation evolution trend of the antenna's current motion trajectory and the spatial RF energy extremes.

[0030] Step S4 primarily involves spatial energy extreme point positioning and servo mechanical stagnation control based on the spatial gradient value of the simulated automatic gain control level. The positive-to-negative zero-crossing characteristic represents the mathematical critical condition where the spatial gradient value of the simulated automatic gain control level reverses from a positive increasing state to a negative decreasing state. The reverse compensation braking control command represents the issuance of electromagnetic drive torques to the azimuth and pitch stepper motors in the opposite direction of current operation to suppress the mechanical inertia of the servo rotor. When the spatial gradient value of the simulated automatic gain control level satisfies the positive-to-negative zero-crossing characteristic, the physical coordinates of the corresponding extreme point are extracted from the level coordinate mapping timing matrix. Based on the physical coordinates of the extreme point, a reverse compensation braking control command is issued to counteract the physical mechanical inertial overshoot generated by the sweeping motion of the azimuth and pitch stepper motors, controlling the antenna RF main body to stagnate at the extreme point physical coordinates. The satellite modem baseband communication handshake message parameters are extracted to verify the satellite communication link connection status.

[0031] Specifically, the process of extracting the electronic compass heading angle and the latitude and longitude of the positioning module to calculate the theoretical azimuth and theoretical elevation angles of the target satellite is as follows: The built-in satellite orbit parameters are called, and the initial alignment vector in the geographic coordinate system is generated by combining the latitude and longitude of the positioning module. The electronic compass heading angle is extracted, and a spatial transformation matrix between the geographic coordinate system and the antenna body coordinate system is constructed. The initial alignment vector is mapped and transformed using the spatial transformation matrix to generate the theoretical azimuth and theoretical elevation angles in the antenna body coordinate system.

[0032] In this implementation scheme, the system extracts real-time latitude and longitude coordinate data from the positioning module and initial heading angle data from the electronic compass. The positioning module adopts a dual-mode positioning calculation architecture supporting both the Global Positioning System (GPS) and the BeiDou Navigation Satellite System (BDS). Both the electronic compass and the positioning module establish a low-level data communication link with the embedded processor chip via a standard RS232 serial communication interface with a constant baud rate of 9600Hz. The embedded processor chip extracts real-time latitude and longitude coordinate data from the positioning module and initial heading angle data from the electronic compass according to a preset bus polling cycle to establish a spatial absolute reference benchmark. Under complex geomagnetic field disturbance environments, the system calls upon a preset environmental geomagnetic field reference strength matrix and a real-time sampled geomagnetic field strength matrix. By calculating the L2 norm of the absolute difference between the preset environmental geomagnetic field reference strength matrix and the real-time sampled geomagnetic field strength matrix, and combining it with the environmental magnetic disturbance attenuation weighting coefficient, the adaptive heading angle correction bias is calculated. When the adaptive heading angle correction offset is greater than or equal to the preset yaw tolerance threshold, the initial heading angle data of the electronic compass is superimposed and compensated using the adaptive heading angle correction offset to generate the adaptively corrected spatial heading angle. When the adaptive heading angle correction offset is less than the preset yaw tolerance threshold, the initial heading angle data of the electronic compass is directly marked as the adaptively corrected spatial heading angle. A three-dimensional Euler rotation transformation matrix is ​​constructed based on the adaptively corrected spatial heading angle. The initial satellite-targeting spatial vector in the Earth fixed coordinate system is then mapped and projected using this matrix, outputting the target spatial mapping vector in the antenna's local coordinate system. Using the orthogonal projection components of each principal axis of the target spatial mapping vector in the antenna's local coordinate system, the theoretical azimuth and elevation angles of the target satellite are calculated using inverse trigonometric function mapping rules. This underlying calculation process is as follows: ; ; The specific meanings of each parameter in the formula are as follows: This indicates the adaptive heading angle correction offset. This represents the environmental magnetic disturbance attenuation weighting coefficient; This represents the preset environmental geomagnetic field reference intensity matrix; This represents the real-time sampled geomagnetic field intensity matrix; This represents the adaptively corrected spatial heading angle; This indicates the initial heading angle data of the electronic compass; This represents the target space mapping vector in the local coordinate system of the antenna body; , , These represent rotation mapping matrices around the Z-axis, Y-axis, and X-axis, respectively. This represents the extracted latitude coordinate data; This represents the extracted longitude coordinate data; This represents the initial stellar space vector of the Earth's fixed coordinate system.

[0033] Specifically, the process of driving the azimuth and pitch stepper motors to the initial spatial position corresponding to the theoretical azimuth and pitch angles is as follows: the theoretical azimuth and pitch angles are converted into target drive pulse sequences, and the target drive pulse sequences are sent to the underlying microcontroller via the main control board; the underlying microcontroller generates a low-level control signal based on the target drive pulse sequence, and inputs the low-level control signal to the drive circuit of the azimuth and pitch stepper motors; the control drive circuit drives the azimuth and pitch stepper motors to operate, and the output torque is amplified by the matching harmonic reducer to operate to the initial spatial position.

[0034] In this implementation scheme, after acquiring the theoretical attitude angle, the system needs to perform rigorous pulse timing conversion and torque amplification to accurately convert the abstract spatial angle into the physical motion of the underlying electromechanical structure. The main control board calculates the target angle displacement based on the difference between the current actual angle and the theoretical attitude angle. To prevent the stepper motor from losing steps and stalling during high-speed startup, the system dynamically adjusts the frequency of the drive pulse sequence based on the magnitude of the target angle displacement. During this process, an angle judgment threshold constant is set. This threshold constant is determined by multiplying the factory-set limit start-stop angular velocity of the stepper motor by a preset acceleration buffer time constant, used to distinguish between long-distance large steps and short-distance fine-tuning action ranges. After receiving the target drive pulse sequence, the underlying microcontroller excites the electromagnetic coil inside the motor through the drive circuit. Finally, in conjunction with a harmonic reducer with a high-precision gear ratio, the high-speed, low-torque electromagnetic motion is converted into low-speed, high-torque mechanical deflection, stably driving the antenna dish to its initial spatial position. The core calculation logic of this pulse conversion control is as follows: ; The specific meanings of each parameter in the formula are as follows: J represents the total number of target drive pulses that the microcontroller needs to generate; K represents the calculated target angular displacement; L represents the inherent reduction gear ratio of the harmonic reducer; and L represents the microstepping control constant set by the drive circuit. This indicates the factory-defined step angle of the azimuth and pitch stepper motors; N represents the dynamic pulse frequency sent from the underlying microcontroller to the drive circuit. This indicates the basic starting frequency of the stepper motor; P represents the set angle determination threshold constant.

[0035] Specifically, the process of controlling the azimuth and elevation stepper motors to operate continuously and uniformly within a search window set based on the initial spatial position, while simultaneously monitoring the carrier lock status output by the DVB satellite receiver, is as follows: A preset search tolerance range is extracted, and the initial spatial position is superimposed with the preset search tolerance range to construct a two-dimensional search window; a continuous sweep command is issued to drive the azimuth and elevation stepper motors to perform continuous grid-pattern uniform speed operation within the two-dimensional search window; during the operation of the azimuth and elevation stepper motors, the digital data frames fed back by the DVB satellite receiver are read in real time through the serial communication channel of the main control board, and the carrier lock status within the digital data frames is extracted.

[0036] In this implementation scheme, after acquiring the theoretical attitude angle, the system needs to perform rigorous pulse timing conversion and torque amplification to accurately convert the abstract spatial angle into the physical motion of the underlying electromechanical structure. The main control board calculates the target angle displacement based on the difference between the current actual angle and the theoretical attitude angle. To prevent the stepper motor from losing steps and stalling during high-speed startup, the system dynamically adjusts the frequency of the drive pulse sequence based on the magnitude of the target angle displacement. During this process, an angle judgment threshold constant is set. This threshold constant is determined by multiplying the factory-set limit start-stop angular velocity of the stepper motor by a preset acceleration buffer time constant, used to distinguish between long-distance large steps and short-distance fine-tuning action ranges. After receiving the target drive pulse sequence, the underlying microcontroller excites the electromagnetic coil inside the motor through the drive circuit. Finally, in conjunction with a harmonic reducer with a high-precision gear ratio, the high-speed, low-torque electromagnetic motion is converted into low-speed, high-torque mechanical deflection, stably driving the antenna dish to its initial spatial position. The core calculation logic of this pulse conversion control is as follows: ; The specific meanings of each parameter in the formula are as follows: This indicates the total number of target drive pulses that the microcontroller needs to generate; This represents the calculated target angular displacement. This indicates the inherent reduction gear ratio of the harmonic reducer; This represents the microstepping control constant set by the drive circuit; Indicates the factory-defined step angle of the azimuth and pitch stepper motor; This indicates the frequency of dynamic pulses sent from the underlying microcontroller to the driver circuit. This indicates the basic starting frequency of the stepper motor; This represents the set angle determination threshold constant. For example... Figure 2As shown in the figure, the solid line represents the dynamic sweep path of the motor in the spatial coordinate system. When the digital data frame fed back by the DVB satellite receiver determines that the carrier lock state is valid, the system instantly freezes the real-time pulse accumulation value through a hardware interrupt mechanism and reverse-calculates it into physical angular coordinates, i.e., the trigger spatial coordinates marked in the figure. This process establishes the absolute starting reference point for subsequent fine sweep actions.

[0037] Specifically, when the carrier lock state is determined to be valid, the specific process of extracting the trigger space coordinates corresponding to the current operating state of the azimuth and pitch stepper motors is as follows: continuously perform bit parsing on the digital data frame and determine the Boolean value of the carrier lock flag bit in the digital data frame; when the carrier lock flag bit indicates that the state is valid, trigger the microcontroller hardware interrupt and freeze the real-time pulse accumulation value corresponding to the azimuth and pitch stepper motors; call the pulse angle conversion mapping table, reverse calculate the real-time pulse accumulation value into physical angle coordinates, and mark the physical angle coordinates as the trigger space coordinates.

[0038] In this implementation scheme, when the system receives a digital data frame during continuous scanning, it must bind the signal characteristics to the spatial position with absolute precision within an extremely short time slice. The system program continuously performs low-level bit-level parsing of the digital data frame, specifically extracting and determining the Boolean logic level that identifies the carrier lock state. Once this Boolean value exhibits a valid state level, the system immediately triggers the hardware interrupt mechanism of the underlying microcontroller. Since the stepper motor is in a continuous uniform speed operation state, the conventional software polling reading mechanism inevitably leads to a lag in coordinate reading due to the instruction execution time difference. However, the hardware interrupt mechanism can instantly interrupt the normal program execution sequence with a microsecond-level response speed and absolutely freeze the real-time pulse accumulation value inside the current stepper motor controller. Subsequently, the system calls the preset pulse angle conversion mapping table to perform reverse spatial calculation on the frozen pulse data. Considering the mechanical transmission hysteresis phenomenon of gear meshing under high-speed continuous operation, the core process of reverse calculation of physical angle coordinates is expressed as follows: The specific meanings of each parameter in the formula are as follows: U represents the physical angle coordinates generated by the solution; V represents the real-time pulse accumulation value of the hardware interrupt freeze; W represents the single-pulse angle resolution constant; Indicates the tilt angle of the mechanical installation; This represents the dynamic lag compensation factor. The dynamic lag compensation factor... The determination method involves multiplying the current continuous sweep angular velocity of the motor by the inherent delay time of the hardware interrupt response. The physical angle coordinates generated by this series of calculations are then explicitly marked by the system as the trigger space coordinates. The technical function is to completely eliminate the position inertial overshoot error during the dynamic satellite search process, laying a solid and absolutely accurate spatial starting point for subsequent more precise energy feature tracking.

[0039] Specifically, the process of setting the fine-scan trajectory based on the trigger spatial coordinates, maintaining the azimuth and pitch stepper motors in a continuous and uniform speed operation, and synchronously acquiring the analog AGC level signal output by the multi-mode satellite signal receiver and the real-time spatial coordinates of the azimuth and pitch stepper motors according to the preset sampling period is as follows: The trigger spatial coordinates are extracted as the reference center point, a two-dimensional continuous sweep motion command is generated and issued, driving the azimuth and pitch stepper motors to maintain a continuous and uniform speed operation; the built-in hardware timer of the microcontroller is activated to generate a preset sampling period trigger beat; under the drive of the preset sampling period trigger beat, the analog-to-digital converter channel is concurrently scheduled to read the analog AGC level signal and read the motor encoder register to obtain the real-time spatial coordinates of the azimuth and pitch stepper motors.

[0040] In this implementation scheme, after intercepting the trigger coordinates, the system must expand the coarse single-point position into a fine area tracking trajectory to achieve precise capture of the energy extreme value. The system directly sets the trigger spatial coordinates as the reference center point and plans a non-discontinuous scanning path around this point, thereby avoiding mechanical jitter and positioning loss caused by the restart and stop of the stepper motor. To ensure strict time consistency of the data acquired during continuous operation, the system activates the high-frequency hardware timer inside the underlying microcontroller. Software polling is prone to time deviation due to the limited code execution level, while the hardware timer can utilize the underlying clock crystal oscillator to output extremely precise trigger beats. Under the forced drive of this beat, the system concurrently schedules the analog-to-digital converter channel and the motor encoder register, capturing both the analog level data converted from spatial electromagnetic waves and reading the current physical mechanical position at the same absolute time point. Considering the slight timing misalignment between the sampling conversion time of the analog-to-digital converter and the bus transmission time of the encoder, the system introduces a phase compensation model to solve the corrected spatial coordinate data. The specific calculation process is expressed as follows: The specific meanings of each parameter in the formula are as follows: This represents the compensated real-time spatial coordinate matrix; This represents the original output matrix of the motor encoder register; Represents the dynamic angular velocity scaling tensor; This represents the phase hysteresis angle between the analog-to-digital converter channel and the encoder read cycle; This represents the hardware timer interrupt latency factor. Wherein, the hardware timer interrupt latency factor... The method for determining this is to retrieve the difference in the actual pulse oscillation period between the instruction issuance and the interrupt response entry point of the system bus clock. This compensation process effectively smooths out the microsecond-level hardware time difference during concurrent acquisition by multiple sensors, providing high-fidelity underlying data for establishing accurate level coordinate mapping relationships.

[0041] Specifically, the process of constructing a level coordinate mapping sequence that binds the simulated AGC level signal to the real-time spatial coordinates, and calculating the level gradient value in the level coordinate mapping sequence as the real-time spatial coordinates change, is as follows: A circular memory buffer with a system timestamp field is established. The simulated AGC level signal with the same system timestamp field and the real-time spatial coordinates are written into the circular memory buffer and bound to memory addresses to generate the level coordinate mapping sequence. The level fluctuation and coordinate displacement of adjacent timing nodes within the level coordinate mapping sequence are extracted. The differential state observer is called to calculate the correlation rate of change between the level fluctuation and the coordinate displacement, and the level gradient value is output.

[0042] In this implementation scheme, facing the massive influx of concurrent data under high-frequency hardware cycles, linear stacking of system memory can easily lead to overflow and crashes. Therefore, the system allocates a circular memory buffer with an independent system timestamp field in its storage architecture, where new and old data are overwritten in turn according to time sequence. The system synchronously writes analog level signals with the same microsecond-level system timestamp and physical spatial coordinates into the same address segment of this region, rigidly binding the intangible radio frequency signal strength with the tangible mechanical deflection position, constructing a time-strictly mapped sequence of level coordinates. To perceive the spatial distribution trend of signal strength, the system abandons the absolute threshold comparison method, which is easily affected by sudden interference, and instead calls a differential state observer to dynamically evaluate the data changes of adjacent time nodes within the mapped sequence. The differential state observer can keenly capture the transient rate of change of signal strength with spatial displacement, and its process of calculating the level gradient value is expressed as: The specific meanings of each parameter in the formula are as follows: This represents the spatial level gradient value of the output; This represents the level fluctuation matrix between adjacent timing nodes; Represents the coordinate displacement space tensor of adjacent time nodes; This represents the noise smoothing angle for suppressing electromagnetic clutter in space; This represents the sampling interval scaling factor with a timestamp field from the same source system. It includes the noise smoothing angle for suppressing spatial electromagnetic clutter. The method for determining the noise floor reference data of the front-end RF low-noise amplifier is to collect the noise floor reference data and multiply it by the air dielectric constant of the current antenna environment. Through the above differential observation process, the system transforms discrete sampling points into continuous energy change derivatives, allowing the servo controller to clearly discern whether the current direction of antenna movement is approaching the signal peak or moving away, thus completely solving the problem of peak misjudgment caused by signal fading.

[0043] Please see Figure 4Specifically, when a zero-crossing point is detected where the level gradient value changes from positive to negative, the specific process for extracting the physical coordinates of the extreme points corresponding to the zero-crossing point in the level coordinate mapping sequence is as follows: The level gradient value is input into a digital low-pass filter for filtering, and a gradient trend sequence is output; the sign bit of the gradient trend sequence is polled, and when the sign bit changes from a positive logic state to a negative logic state, a zero-crossing hardware interrupt flag is generated; based on the zero-crossing hardware interrupt flag, the level coordinate mapping sequence is traced back, and a high-order polynomial interpolation algorithm is called to fit the local extreme value envelope, and the physical coordinates of the extreme points corresponding to the vertices of the local extreme value envelope are extracted.

[0044] In this implementation scheme, to eliminate interference from various random electromagnetic noises in the RF link on signal gradient judgment, the system employs a digital low-pass filter to perform deep smoothing on the original level gradient values. This step extracts a gradient trend sequence that represents the overall evolution trend of the signal energy, ensuring that subsequent logical judgments are based on a stable energy distribution background. The system monitors the numerical sign bit of the gradient trend sequence at the logic level in real time through a polling mechanism. When a critical inflection point is detected where the signal strength changes from increasing to decreasing, a high-priority hardware interrupt is triggered within the microcontroller, generating a zero-crossing hardware interrupt flag to block and acquire the current data snapshot. Considering the discrete gap between the sampling frequency and spatial resolution, the system further backtracks to historical data in the circular memory buffer, applies a high-order polynomial interpolation algorithm to construct a local extremum envelope curve, and compensates for the accuracy loss caused by the sampling step size by calculating the mathematical vertices of the envelope curve, thereby obtaining sub-pixel-level coordinate positions. The core process for extracting extremum positions is as follows: The specific meanings of each parameter in the formula are as follows: Represents the physical coordinates of the extreme point; This represents a real-time position snapshot corresponding to the zero-crossing hardware interrupt marker. This represents the sampling step size of adjacent nodes in the mapping sequence; This represents the gradient trend slope correction value of the digital low-pass filter output; These represent the higher-order curvature coefficients of the local extremum envelope. The method for determining the beam energy distribution gradient model is to retrieve the pre-stored beam energy distribution gradient model of the antenna reflector and then perform weighted correction based on the current signal-to-noise ratio level.

[0045] Specifically, the process of triggering reverse braking control to drive the azimuth and pitch stepper motors to stop at the extreme point physical coordinates, and extracting the link parameters of the satellite modem to verify the communication connection status is as follows: Compare the spatial deviation vector between the current real-time spatial coordinates and the extreme point physical coordinates, and send a reverse braking control command containing the spatial deviation vector to the microcontroller; parse the reverse braking control command to generate a reverse compensation pulse sequence, drive the azimuth and pitch stepper motors to output reverse torque and position them at the extreme point physical coordinates; establish a data socket communication interface between the main control board and the satellite modem, read the baseband communication handshake message through the data socket communication interface, and parse the carrier-to-noise ratio parameter in the baseband communication handshake message as the link parameter to verify the communication connection status.

[0046] In this implementation scheme, when the system detects that the spatial gradient value of the analog automatic gain control level crosses the zero-crossing point during continuous uniform sweeping, the controller must suppress the high-speed rotational inertia of the stepper motor rotor system. Since the equivalent aperture of the antenna RF body is set to 500mm and operates in the Ka high-throughput RF band, its physical beamwidth is extremely narrow, causing the steepness of the spatial gradient value of the analog automatic gain control level near the extreme point physical coordinates to increase exponentially. When the absolute magnitude of the spatial position deviation vector exceeds the preset physical overshoot dead zone threshold, the system must combine the 1:90 harmonic reducer transmission ratio parameter and the equivalent rotational inertia coefficient of the motor rotor system to construct a nonlinear braking energy dissipation model to calculate the target reverse compensation braking energy value. Based on the target reverse compensation braking energy value and the current-voltage conversion constant of the drive circuit, the total number of pulses in the reverse compensation transient pulse sequence is generated. The system extracts the real-time spatial encoded coordinates of the stepper motor and the calculated physical coordinates of the extreme point, and solves for the spatial position deviation vector between the real-time spatial encoded coordinates of the stepper motor and the physical coordinates of the extreme point. When the absolute magnitude of the spatial position deviation vector exceeds the preset physical overshoot dead zone threshold, the system extracts the current sweep linear velocity scalar of the stepper motor and, combined with the pre-stored equivalent rotational inertia coefficient of the motor rotor system, constructs a nonlinear braking energy dissipation model to calculate the target reverse compensation braking energy value. Based on the target reverse compensation braking energy value and the current-voltage conversion constant of the drive circuit, the total number of pulses in the reverse compensation transient pulse sequence is generated. The microcontroller injects reverse drive current into the azimuth and pitch stepper motors according to the total number of pulses in the reverse compensation transient pulse sequence, exciting reverse electromagnetic torque to force the azimuth and pitch stepper motors to stop at the extreme point physical coordinates. This calculation process is represented as follows: ; The specific meanings of each parameter in the formula are as follows: This indicates the target reverse compensation braking energy value; Indicates the equivalent moment of inertia coefficient of the pre-stored motor rotor system; This represents the current sweeping linear velocity scalar of the stepper motor. This represents the nonlinear stiffness penalty coefficient for positional deviation; This represents the real-time spatial encoded coordinates of the stepper motor; Represents the physical coordinates of the extreme point; This indicates the total number of pulses in the inverted compensation transient pulse sequence; This represents the current-to-voltage conversion constant of the drive circuit; This indicates the preset braking cutoff time period parameter; This represents the exponential decay time constant of the braking system. For example... Figure 3 As shown in the figure, the solid bell-shaped line represents the simulated AGC level signal that varies with spatial coordinates, and its energy distribution pattern determines the satellite alignment accuracy. The system calculates the level coordinate mapping sequence in real time through a differential state observer and outputs the level gradient value shown by the dashed line in the figure. When the system detects that the level gradient value crosses the zero mark from a positive logic state to a negative logic state, it determines that it has captured the zero-crossing feature of the positive to negative transition. The zero-crossing point strictly corresponds to the highest peak of the simulated AGC level signal in physical space, and the system extracts the physical coordinates of the corresponding extreme point accordingly. Through this gradient prediction logic, the system can issue a reverse braking command to the microcontroller, using reverse electromagnetic torque to counteract the rotational inertia of the mechanical system, ensuring that the antenna RF body accurately stops at the extreme point of signal energy.

[0047] Please see Figure 4 A rapid satellite acquisition and control system for a portable satellite station based on multi-mode signals includes: an attitude initial positioning module, used to extract the electronic compass heading angle and the latitude and longitude of the positioning module, calculate the theoretical azimuth and theoretical elevation angles of the target satellite, and drive the azimuth and elevation stepper motors to the initial spatial positions corresponding to the theoretical azimuth and theoretical elevation angles; a carrier search and acquisition module, used to control the azimuth and elevation stepper motors to operate continuously and uniformly within a search window set based on the initial spatial position, synchronously monitor the carrier lock status output by the DVB satellite receiver, and extract the trigger spatial coordinates corresponding to the current operating state of the azimuth and elevation stepper motors when the carrier lock status is determined to be valid; and an energy gradient analysis module, used to set the fine scan operation based on the trigger spatial coordinates. The system tracks the trajectory, maintaining continuous and uniform speed operation of the azimuth and pitch stepper motors. It synchronously acquires the simulated AGC level signal output from the multi-mode satellite signal receiver and the real-time spatial coordinates of the azimuth and pitch stepper motors according to a preset sampling period. This constructs a level coordinate mapping sequence binding the simulated AGC level signal with the real-time spatial coordinates, and calculates the level gradient value in the level coordinate mapping sequence as it changes with the real-time spatial coordinates in real time. An extreme value precise locking module is used to extract the physical coordinates of the extreme point corresponding to the zero-crossing point in the level coordinate mapping sequence when a level gradient value is detected to change from positive to negative. This triggers reverse braking control to drive the azimuth and pitch stepper motors to stop at the extreme point's physical coordinates, and extracts satellite modem link parameters to verify the communication connection status.

[0048] In this implementation scheme, the attitude initial positioning module extracts real-time latitude and longitude coordinate data from the positioning module and initial heading angle data from the electronic compass, and performs blind spatial attitude pointing guidance for the antenna radio frequency body. Based on the real-time latitude and longitude coordinate data from the positioning module and the initial heading angle data from the electronic compass, the theoretical azimuth and elevation angles of the target satellite are calculated. The azimuth and elevation stepper motors are then controlled to drive the antenna radio frequency body to cross the airspace without carrier signal coverage and position itself in the initial spatial position, reducing the physical range of the all-sky spatial servo scan by a significant order of magnitude.

[0049] The carrier search and acquisition module controls the azimuth and elevation stepper motors to continuously acquire carrier signals around the preset initial spatial position. The azimuth and elevation stepper motors perform continuous uniform sweeping within a two-dimensional continuous search window, and concurrently extract the carrier lock status flag bit output by the digital video broadcast satellite receiver. When the carrier lock status flag bit is determined to be at a valid logic level, the trigger space physical coordinates are extracted and marked, and these trigger space physical coordinates are set as the starting reference for calculating the fine-scan trajectory.

[0050] The energy gradient analysis module maintains the azimuth and elevation stepper motors in a continuous, uniform operating state, dynamically extracting the energy distribution trend of the space radio frequency signal. It concurrently extracts the analog automatic gain control level signal output from the multi-mode satellite signal receiver and the real-time spatial encoded coordinates of the stepper motors according to a preset sampling period. It constructs a level coordinate mapping time series matrix binding the analog automatic gain control level signal and the real-time spatial encoded coordinates of the stepper motors. Based on this time series matrix, it calculates the spatial gradient value of the analog automatic gain control level in real time, quantitatively evaluating the approximation state between the current trajectory of the antenna's radio frequency body and the extreme value of the space radio frequency energy.

[0051] The extreme point precise locking module performs extreme point positioning and servo mechanical stagnation control based on the spatial gradient value of the analog automatic gain control level. When the spatial gradient value of the analog automatic gain control level satisfies the positive to negative zero-crossing point characteristic, the physical coordinates of the corresponding extreme point are extracted from the level coordinate mapping timing matrix. A reverse compensation braking control command is sent to the underlying microcontroller to counteract the physical and mechanical inertial overshoot generated by the operation of the azimuth and pitch stepper motors, controlling the antenna RF main body to remain stationary at the physical coordinates of the extreme point. The satellite modem baseband communication handshake message parameters are extracted to verify the satellite communication link connection status.

[0052] In summary, this application has at least the following effects:

[0053] A rapid satellite acquisition control method and system based on multi-mode signals for portable satellite stations calculates the theoretical azimuth and elevation angles of the target satellite using real-time latitude and longitude coordinate data from the positioning module and initial heading angle data from the electronic compass. It controls the azimuth and elevation stepper motors to operate at their initial spatial positions to compress the physical range of the spatial servo scan. Within a two-dimensional continuous search window, the azimuth and elevation stepper motors maintain continuous, uniform speed operation. The system extracts the carrier lock status flag from the digital video broadcast satellite receiver. When the carrier lock status flag is at a valid logic level, it extracts the trigger spatial physical coordinates, suppressing the physical and mechanical impact torque introduced by discrete start-stop actions and reducing the time required to read the trigger spatial physical coordinates. Inter-delay; based on the triggering spatial physical coordinates, continuously collect the simulated automatic gain control level signal and the real-time spatial encoded coordinates of the stepper motor to construct a level coordinate mapping timing matrix, and calculate the spatial gradient value of the simulated automatic gain control level in real time; when the spatial gradient value of the simulated automatic gain control level crosses the positive to negative zero crossing point feature, extract the physical coordinates of the extreme point and issue a reverse compensation braking control command, so as to use the reverse electromagnetic drive torque to offset the servo physical rotational inertia of the azimuth and pitch stepper motors, control the azimuth and pitch stepper motors to stop at the physical coordinates of the extreme point, and verify the communication connection status according to the baseband communication handshake message parameters of the satellite modem, so as to realize the physical dwell of the spatial radio frequency extreme coordinates and the verification of the link handshake status.

[0054] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention 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.

[0055] This invention is described with reference to flowchart illustrations and / or block diagrams of systems, apparatus (systems), and computer program products according to embodiments of the invention. 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 flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0056] 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.

[0057] 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.

[0058] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0059] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A rapid satellite acquisition and control method for portable satellite stations based on multi-mode signals, characterized in that, Includes the following steps: S1. Extract the electronic compass heading angle and the latitude and longitude of the positioning module, calculate the theoretical azimuth and theoretical elevation angles of the target satellite, and drive the azimuth and elevation stepper motors to the initial spatial position corresponding to the theoretical azimuth and theoretical elevation angles. S2. Control the azimuth and pitch stepper motors to run continuously at a constant speed within the search window set based on the initial spatial position, and synchronously monitor the carrier lock status output by the DVB satellite receiver. When the carrier lock status is determined to be valid, extract the trigger spatial coordinates corresponding to the current operating state of the azimuth and pitch stepper motors. S3. Based on the trigger spatial coordinates, set the fine scan running trajectory, maintain the azimuth and pitch stepper motors in a continuous and uniform running state, and synchronously collect the analog AGC level signal output by the multi-mode satellite signal receiver and the real-time spatial coordinates of the azimuth and pitch stepper motors according to the preset sampling period. Construct a level coordinate mapping sequence that binds the analog AGC level signal and the real-time spatial coordinates, and calculate the level gradient value in the level coordinate mapping sequence that changes with the real-time spatial coordinates in real time. S4. When a zero-crossing point is detected where the level gradient value changes from positive to negative, the physical coordinates of the extreme point corresponding to the zero-crossing point in the level coordinate mapping sequence are extracted. The reverse braking control is triggered to drive the azimuth and pitch stepper motors to stop at the physical coordinates of the extreme point. The link parameters of the satellite modem are extracted to verify the communication connection status.

2. The rapid satellite acquisition and control method and system for portable satellite stations based on multi-mode signals according to claim 1, characterized in that: The specific process of extracting the electronic compass heading angle and the latitude and longitude of the positioning module, and calculating the theoretical azimuth and theoretical elevation angles of the target satellite is as follows: The system calls up the built-in satellite orbit parameters, combines the latitude and longitude of the positioning module to generate the initial alignment vector in the geographic coordinate system, extracts the electronic compass heading angle, and constructs a spatial transformation matrix between the geographic coordinate system and the antenna body coordinate system. The initial star-alignment vector is mapped and transformed using a spatial transformation matrix to generate the theoretical azimuth and theoretical elevation angles in the antenna body coordinate system.

3. The rapid satellite acquisition and control method and system for portable satellite stations based on multi-mode signals according to claim 1, characterized in that: The specific process by which the drive azimuth and pitch stepper motors rotate to the initial spatial positions corresponding to the theoretical azimuth and pitch angles is as follows: The theoretical azimuth and theoretical elevation angles are converted into target drive pulse sequences, and the target drive pulse sequences are sent down to the underlying microcontroller via the main control board; The underlying microcontroller generates underlying control signals based on the target drive pulse sequence, and inputs the underlying control signals to the drive circuits of the azimuth and pitch stepper motors; The control drive circuit drives the azimuth and pitch stepper motors to operate, and the output torque is amplified by the matching harmonic reducer to operate to the initial position in space.

4. The rapid satellite acquisition and control method and system for portable satellite stations based on multi-mode signals according to claim 3, characterized in that: The specific process of controlling the azimuth and pitch stepper motors to operate continuously and at a constant speed within a search window set based on the initial spatial position, while synchronously monitoring the carrier lock status output by the DVB satellite receiver, is as follows: Extract the preset search tolerance range and construct a two-dimensional search window by superimposing the initial spatial position with the preset search tolerance range; A continuous sweep command is issued, driving the azimuth and pitch stepper motors to perform continuous grid-pattern uniform speed operation within a two-dimensional search window; During the operation of the azimuth and pitch stepper motors, the digital data frames fed back by the DVB satellite receiver are read in real time through the serial communication channel of the main control board, and the carrier lock status within the digital data frames is extracted.

5. The rapid satellite acquisition and control method and system for portable satellite stations based on multi-mode signals according to claim 1, characterized in that: When the carrier lock state is determined to be valid, the specific process for extracting the trigger space coordinates corresponding to the azimuth and the current operating state of the pitch stepper motor is as follows: Continuously perform bit parsing on the digital data frame to determine the Boolean value of the carrier lock flag bit in the digital data frame; When the carrier lock flag indicates that the status is valid, a microcontroller hardware interrupt is triggered, freezing the real-time pulse accumulation values ​​corresponding to the azimuth and pitch stepper motors. Call the pulse angle conversion mapping table to reverse calculate the real-time pulse cumulative value into physical angle coordinates, and mark the physical angle coordinates as the trigger space coordinates.

6. The rapid satellite acquisition and control method and system for portable satellite stations based on multi-mode signals according to claim 1, characterized in that: The specific process of setting the fine-scan trajectory based on the triggered spatial coordinates, maintaining the continuous and uniform speed operation of the azimuth and pitch stepper motors, and synchronously acquiring the analog AGC level signal output by the multi-mode satellite signal receiver and the real-time spatial coordinates of the azimuth and pitch stepper motors according to the preset sampling period is as follows: Extract the trigger space coordinates as the reference center point, generate a two-dimensional continuous sweep motion command and send it out, drive the azimuth and pitch stepper motors to maintain a continuous uniform speed operation. Activate the microcontroller's built-in hardware timer to generate a preset sampling period and trigger a beat; Under the preset sampling period triggering cycle drive, the analog-to-digital converter channel is concurrently scheduled to read the analog AGC level signal and read the motor encoder register to obtain the real-time spatial coordinates of the azimuth and pitch stepper motors.

7. The rapid satellite acquisition and control method and system for portable satellite stations based on multi-mode signals according to claim 1, characterized in that: The specific process of constructing a level coordinate mapping sequence that binds the simulated AGC level signal to real-time spatial coordinates, and then calculating the level gradient values ​​in the level coordinate mapping sequence as the real-time spatial coordinates change, is as follows: Establish a circular memory buffer with a system timestamp field, write the analog AGC level signal with the same system timestamp field and the real-time spatial coordinate into the circular memory buffer for memory address binding, and generate a level coordinate mapping sequence; Extract the level fluctuation and coordinate displacement of adjacent time nodes within the level coordinate mapping sequence, call the differential state observer to calculate the correlation rate of change between the level fluctuation and the coordinate displacement, and output the level gradient value.

8. The rapid satellite acquisition and control method and system for portable satellite stations based on multi-mode signals according to claim 1, characterized in that: When a zero-crossing point is detected where the level gradient value changes from positive to negative, the specific process of extracting the physical coordinates of the extreme point corresponding to the zero-crossing point in the level coordinate mapping sequence is as follows: The level gradient value is input into a digital low-pass filter for filtering, and the gradient trend sequence is output. Poll the sign bit of the gradient trend sequence. When the sign bit is detected to have changed from a positive logic state to a negative logic state, generate a zero-crossing hardware interrupt flag. Based on the zero-crossing hardware interrupt marker backtracking level coordinate mapping sequence, a high-order polynomial interpolation algorithm is called to fit the local extremum envelope, and the physical coordinates of the extremum points corresponding to the vertices of the local extremum envelope are extracted.

9. The rapid satellite acquisition and control method and system for portable satellite stations based on multi-mode signals according to claim 1, characterized in that: The specific process of triggering reverse braking control to drive the azimuth and pitch stepper motors to stop at the extreme point physical coordinates, and extracting the link parameters of the satellite modem to verify the communication connection status is as follows: Compare the spatial deviation vector between the current real-time spatial coordinates and the physical coordinates of the extreme point, and send a reverse braking control command containing the spatial deviation vector to the microcontroller. The reverse braking control command is analyzed to generate a reverse compensation pulse sequence, which drives the azimuth and pitch stepper motors to output reverse torque and position them at the extreme point physical coordinates. Establish a data socket communication interface between the main control board and the satellite modem. Read the baseband communication handshake message through the data socket communication interface, and parse the carrier-to-noise ratio parameter in the baseband communication handshake message as a link parameter to verify the communication connection status.

10. A rapid satellite search and control system for a portable satellite station based on multi-mode signals, used to execute the rapid satellite search and control method for a portable satellite station based on multi-mode signals as described in any one of claims 1-9, characterized in that, include: The attitude initial positioning module is used to extract the electronic compass heading angle and the latitude and longitude of the positioning module, calculate the theoretical azimuth and theoretical pitch angle of the target satellite, and drive the azimuth and pitch stepper motors to the initial spatial position corresponding to the theoretical azimuth and theoretical pitch angles. The carrier search and acquisition module is used to control the azimuth and elevation stepper motors to run continuously and uniformly within a search window set based on the initial spatial position, and to synchronously monitor the carrier lock status output by the DVB satellite receiver. When the carrier lock status is determined to be valid, the trigger spatial coordinates corresponding to the current operating state of the azimuth and elevation stepper motors are extracted. The energy gradient analysis module is used to set the fine scan trajectory based on the trigger spatial coordinates, maintain the continuous and uniform operation of the azimuth and pitch stepper motors, and synchronously collect the simulated AGC level signal output by the multi-mode satellite signal receiver and the real-time spatial coordinates of the azimuth and pitch stepper motors according to the preset sampling period. It constructs a level coordinate mapping sequence that binds the simulated AGC level signal and the real-time spatial coordinates, and calculates the level gradient value in the level coordinate mapping sequence that changes with the real-time spatial coordinates in real time. The extreme value precise locking module is used to extract the physical coordinates of the extreme point corresponding to the zero-crossing point in the level coordinate mapping sequence when the level gradient value is detected to change from positive to negative. It then triggers the reverse braking control to drive the azimuth and pitch stepper motors to stop at the physical coordinates of the extreme point and extracts the satellite modem link parameters to verify the communication connection status.

Images