A method, system and device for optimizing terminal beam pointing using phased array terminal conical scanning mechanism

Abstract

The application discloses a kind of methods, systems, equipment for optimizing terminal beam pointing using phased array terminal conical scanning mechanism, and relates to satellite DVB communication field, its method includes: obtaining the initial azimuth and elevation of phased array terminal;6 wave positions are scanned according to specific order to collect received signal strength RSSI by calculation;Signal strength difference is calculated and compared with preset theoretical difference, and azimuth error and elevation error are accurately calculated by table lookup;The error is used as input, and the angle adjustment amount is calculated using PID control algorithm to update the current wave position pointing;The above steps are repeated until the wave position pointing converges.The application integrates array response table quantitative technique with PID closed-loop control, overcomes the optimization misjudgment caused by signal fluctuation, effectively improves the beam pointing accuracy, convergence stability and received signal-to-noise ratio.

Description

Technical Field

[0001] This invention relates to the field of satellite DVB communication, and specifically to a method, system, and device for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism. Background Technology

[0002] The statements in this section are provided only as background information in connection with this disclosure and may not constitute prior art.

[0003] Traditional satellite communication systems largely rely on high-Earth orbit (GEO) satellites, but suffer from problems such as high communication latency, limited spectrum resources, and high costs. In recent years, low-Earth orbit (LEO) satellite communication systems have rapidly developed due to their multi-satellite collaborative operation mode, achieving low latency, high spectrum utilization, and seamless global coverage. However, LEO satellites are characterized by high-speed motion relative to ground terminals; achieving accurate acquisition and stable tracking of these high-speed moving satellites has become a key technological challenge in the current satellite communication field.

[0004] Currently, traditional mechanical antennas often face problems such as susceptibility to interference during the optimization process, low optimization efficiency, and insufficient mechanical tracking accuracy in the high-speed motion scenarios of low-Earth orbit satellites. In contrast, phased array antennas, with their advantages of no mechanical scanning, rapid beam switching, and low profile, have gradually become the mainstream choice for low-Earth orbit satellite communication terminals.

[0005] However, in practical applications, existing phased array terminal beam pointing technology still faces the following technical bottlenecks: First, phased array antennas are affected by the combined effects of the hardware characteristics of radio frequency devices (such as amplitude and phase consistency deviation), array thermal deformation, and external environmental factors, resulting in multiple inherent sources of error in beam pointing. In practical communication, open-loop pointing based solely on the terminal's own attitude data and ephemeris data through purely theoretical calculations is insufficient to meet the system's requirements for high-precision pointing.

[0006] Secondly, to align with satellites and eliminate the aforementioned pointing errors, the industry often employs conical scanning technology for closed-loop tracking. However, traditional conical scanning mechanisms can only qualitatively determine the direction of the deviation by observing changes in the received signal strength (RSSI) caused by beam micro-motion, and cannot directly and quantitatively calculate the actual magnitude of the deviation angle. This method, which relies solely on the trend of signal strength changes for adjustment, is highly susceptible to misinterpreting inherent signal fluctuations as pointing deviations in scenarios with strong spatial interference or rapid signal fading. This leads to misjudgments and divergence, making it difficult to meet the stringent requirements of current high-frequency (such as Ku / Ka band) broadband satellite communication.

[0007] In summary, existing phased array conical scanning mechanisms cannot accurately quantify the deviation angle, and the beam adjustment process is prone to instability in complex environments, resulting in low pointing accuracy and slow convergence of the terminal. Therefore, there is an urgent need in this field for a phased array terminal beam pointing optimization mechanism that can accurately quantify the beam pointing angle error and achieve fast and stable convergence, in order to improve the pointing accuracy of the terminal and the quality of link communication. Summary of the Invention

[0008] The purpose of this invention is to address the technical problems of traditional phased array terminal conical scanning mechanisms, which can only qualitatively determine the direction of deviation but cannot accurately quantify the magnitude of the deviation angle. Furthermore, these mechanisms are susceptible to misjudgments due to inherent signal fluctuations in scenarios with strong interference or signal fading, resulting in low beam pointing accuracy and slow convergence. This invention provides a method, system, and device for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism. It employs a specific sequence (ABA2CDC2) of conical scanning to acquire received signal strength (RSSI). The measured power difference is compared with a theoretical difference curve pre-established based on the phased array response to accurately quantify the azimuth and elevation angle errors. Based on these quantified angle errors, a PID control algorithm is used to calculate the beam adjustment amount for closed-loop iterative updates. This achieves high-precision, quantitative, and fluctuation-resistant beam pointing correction for satellites in complex communication environments, effectively improving the accuracy of terminal beam pointing, optimization convergence speed, and the terminal's received signal-to-noise ratio.

[0009] The technical solution of the present invention is as follows: A method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism includes: Step S1: Obtain the initial azimuth and elevation angles of the phased array terminal; Step S2: Calculate the scanning wave position of the conical scan based on the wave position at the current moment; Step S3: Set the scanning order of the scanning wave positions; Step S4: According to the scanning sequence, acquire the received signal strength RSSI at each scanning position; Step S5: Calculate the signal strength difference of RSSI at different scanning positions, and compare the signal strength difference with the preset theoretical difference to calculate the azimuth error and elevation error; Step S6: Using the azimuth error and pitch error as inputs, calculate the azimuth adjustment and pitch adjustment respectively using the proportional-integral PID control algorithm; Step S7: Update the current wave position based on the azimuth adjustment and elevation adjustment. Step S8: Repeat steps S2 to S7 until the wave position converges.

[0010] Further, in step S1, obtaining the initial azimuth and elevation angles of the phased array terminal includes: After the phased array terminal completes satellite acquisition and is in the non-satellite-cutting phase, the azimuth angle of the phased array terminal is obtained. and pitch angle .

[0011] Further, in step S2, the scanning wave position pointing includes 6 wave positions, which are respectively denoted as wave position A, wave position B, wave position A2, wave position C, wave position D and wave position C2; The directions of the six wave positions are as follows: Wave position A points to... The direction of wave position B is The direction of wave position A2 is The direction of wave position C is The direction of wave position D is The direction of wave position C2 is ; in, This is the deviation angle.

[0012] Furthermore, in step S3, the scanning sequence of the scanning wave positions is set as follows: Scan wave positions A, B, A2, C, D, and C2 in sequence.

[0013] Further, in step S4, the received signal strength (RSSI) at each scan position is acquired, including: The received signal strength (RSSI) at each of the six wavelengths was collected and denoted as follows: , , , , , ; When it is determined that the time interval for collecting the received signal strength (RSSI) on the same wavelength is greater than the threshold, the process returns to execute step S3 and subsequent steps.

[0014] Further, in step S5, calculating the azimuth error and elevation error includes: Calculate the average received signal strength at wave position A and wave position A2, and denot it as the first average value. ,in, ; Calculate the average received signal strength at wave positions C1 and C2, and denot it as the second average value. ,in, ; Calculate the received power difference: where the power difference is in the elevation direction. Power difference in azimuth direction ; The power difference and The azimuth error is calculated by looking up the pre-existing gain difference curve table in the local database, which serves as the signal strength difference. and the pitch angle error The gain difference curve table is a mapping relationship between the angle error and the gain difference calculated in advance using the array response of a one-dimensional phased array.

[0015] Furthermore, after calculating the received power difference, the method further includes: When the power difference in the pitch angle direction The absolute value is greater than the threshold, or the power difference in the azimuth direction. If the absolute value is greater than the threshold, return to execute step S3 and subsequent steps.

[0016] Furthermore, the specific implementation process of steps S6 and S7 is as follows: Before performing initial optimization of the wave position, initialize the current integrator value to 0; The azimuth error As input error, a PID control algorithm is executed to obtain the azimuth adjustment amount. The specific steps include: converting the azimuth error... Multiply by a preset integration coefficient to obtain the first integration parameter; then, the azimuth error is... Multiply by a preset scaling factor to obtain a first scaling parameter; accumulate the integrator value from the previous moment using the first scaling parameter to obtain the updated integrator value for the current moment; add the updated integrator value for the current moment to the first scaling parameter to output the azimuth adjustment amount. ; The pitch angle error As the input error, it is used in conjunction with the azimuth adjustment amount. The same PID control algorithm steps are used to calculate the pitch angle adjustment. ; Based on the calculated azimuth adjustment amount and the pitch angle adjustment amount Update the wave position at the current time n: adjust the azimuth angle at the current time n. In addition to the aforementioned azimuth adjustment amount Obtain the azimuth angle at the next time step n+1. And make the pitch angle at the current time n In addition to the pitch angle adjustment amount Obtain the pitch angle at the next moment n+1. .

[0017] This invention also proposes a system for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism, comprising: The terminal points to the initialization module, which is used to obtain the initial azimuth and elevation angles of the phased array terminal; The scanning direction calculation module is used to calculate the scanning wave position of the conical scan based on the wave position direction at the current moment. The scanning order setting module is used to set the scanning order in which the scanning wave positions point; A power recording module is used to collect the received signal strength (RSSI) at each scan position according to the scanning sequence. Angle deviation acquisition module is used to calculate the signal strength difference of RSSI at different scanning wave positions, and compare the signal strength difference with the preset theoretical difference to calculate the azimuth error and elevation error; The adjustment calculation module is used to take the azimuth error and pitch error as inputs and use a proportional-integral PID control algorithm to calculate the azimuth adjustment and pitch adjustment respectively. The pointing update module is used to update the wave position pointing at the current moment based on the azimuth adjustment amount and the elevation adjustment amount; The system repeatedly triggers the calculation scanning pointing module to the pointing update module until the wave position pointing converges.

[0018] The present invention also proposes an electronic device, comprising: At least one processor; and a memory communicatively connected to said at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor executes the instructions stored in the memory to perform the method described above.

[0019] Compared with existing technologies, the advantages of this invention are: 1. Achieved high-precision, quantitative beam pointing correction: Addressing the limitation of traditional conical scanning which relies solely on signal strength to qualitatively determine deviation direction, this invention innovatively introduces a theoretical gain difference curve based on the phased array response. By comparing the measured RSSI power difference at different wave positions with this curve and referring to a table, the true azimuth and elevation errors can be directly deduced and precisely quantified. This fundamentally eliminates misjudgments caused by strong spatial interference or signal fading, significantly improving the accuracy of terminal beam pointing.

[0020] 2. Significantly improves optimization convergence speed and system anti-jitter stability: This invention adopts a specific "ABA2CDC2" interleaved scanning sequence, and effectively smooths the instantaneous fluctuation interference of the satellite channel by repeatedly measuring and averaging the same points. At the same time, the precisely quantized angle error is input into the PI (proportional-integral) control algorithm to perform closed-loop iterative calculation of the angle adjustment, which effectively overcomes the problem of severe beam jitter that is easily caused by conventional step adjustment, making the tracking optimization process smoother and the beam convergence speed faster, ultimately effectively improving the stability of the communication link and the receiving signal-to-noise ratio of the terminal.

[0021] 3. Exceptionally robust to dynamic scenarios: This invention incorporates a dual anomaly prevention mechanism to address the high-speed motion characteristics of low-Earth orbit satellites (i.e., a timeout rescan mechanism for sampling intervals greater than 80ms at the same wavelength, and an anti-divergence mechanism for single-axis power differences greater than 6dB). When encountering severe physical obstruction or rapid, large-angle relative displacement of the satellite, the system can promptly discard invalid data and reset the scan cycle, avoiding beam deviation caused by invalid calculations and greatly enhancing the tracking reliability of the system in complex dynamic environments. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in the embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0023] Figure 1 A flowchart illustrating a method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism, provided in an embodiment of the present invention; Figure 2 A general system diagram for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism is provided in this embodiment of the invention; Figure 3 Here is an example graph showing the curve of angle error versus gain difference; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0024] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0025] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0026] Example 1 like Figure 1 As shown, this embodiment provides a method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism, primarily applied to high-frequency (e.g., Ku / Ka band) broadband communication scenarios for low Earth orbit (LEO) satellites. This method integrates an array response lookup table mechanism with a PID closed-loop control algorithm to achieve high-precision, quantitative beam tracking of high-speed moving satellites. The method specifically includes the following steps: Step S1: Obtain the initial azimuth and elevation angles of the phased array terminal.

[0027] Specifically, since low-orbit satellites exhibit high-speed relative motion during their transit, this embodiment acquires the current azimuth angle of the phased array terminal after the phased array terminal completes its initial satellite search and is in a non-satellite switching phase. and pitch angle As a preferred scenario limitation, the pitch angle must be satisfied when acquiring data. Less than 85°. The principle is that when the elevation angle approaches 90° (zenith blind zone), the azimuth angle changes drastically and is prone to singularity errors; therefore, it is limited to... This ensures the validity of the initial attitude data and the smoothness of subsequent adjustments.

[0028] Step S2: Calculate the scanning wave direction of the conical scan based on the wave direction at the current moment.

[0029] Specifically, traditional mechanical scanning is no longer sufficient due to its slow optimization speed. This embodiment employs the electronic beam switching characteristics of a phased array. The scanning beam pointing is set to include 6 beams, denoted as beam A, beam B, beam A2, beam C, beam D, and beam C2.

[0030] These six wave positions are based on the current center direction, with slight offsets in azimuth and elevation. Their specific directions are as follows: Wave position A points to... The direction of wave position B is The direction of wave position A2 is The direction of wave position C is The direction of wave position D is The direction of wave position C2 is .

[0031] in, This is a preset deviation angle. To ensure that the main lobe gain does not decrease excessively while obtaining a sufficiently significant error gradient difference, this embodiment preferably satisfies the following: ,in This refers to the half-beamwidth of the phased array terminal antenna.

[0032] Step S3: Set the scanning order of the scanning wave positions.

[0033] Specifically, the scanning sequence of the scanning wave positions is set as follows: sequentially scanning wave positions A, B, A2, C, D, and C2.

[0034] The principle behind employing the special interleaved scanning sequence "ABA2CDC2" is that, due to the rapid fading and fluctuations in satellite channels, a conventional single-scan sequence would cause time differences that alter spatial position and channel status. This embodiment effectively smooths out instantaneous channel fluctuations by performing two re-measurements of key positions (A and C) on both the elevation axis (A / B direction) and the azimuth axis (C / D direction) (i.e., A and A2 at the same position, C and C2 at the same position), providing a more reliable benchmark for subsequent calculations.

[0035] Step S4: Collect the received signal strength (RSSI) at each scan position according to the scanning sequence.

[0036] Specifically, utilizing the high-speed switching characteristics of the phased array antenna, the received signal strength (RSSI) at the six wavelengths is collected, and denoted as follows: , , , , , .

[0037] Furthermore, to prevent sampling data from becoming invalid due to sudden channel changes or hardware malfunctions, this embodiment introduces a timeout error-proofing mechanism: when the time interval between collecting the received signal strength (RSSI) at the same wavelength (e.g., from wavelength A to wavelength A2, or across cycles) exceeds 80ms, it indicates that the satellite may have undergone significant displacement, and the currently collected set of RSSI data has lost its reference value. At this point, the system discards the current data and returns to execute step S3 and subsequent steps. This mechanism greatly enhances the robustness of the tracking algorithm in dynamic environments.

[0038] Step S5: Calculate the signal strength difference of RSSI at different scanning positions, and compare the signal strength difference with the preset theoretical difference to calculate the azimuth error and elevation error.

[0039] This is one of the core steps of this invention, overcoming the limitation of traditional conical scanning, which can only qualitatively determine direction, through quantitative back-calculation. Specifically, it includes: (1) Since wave position A and wave position A2 point in the same direction, and wave position C and wave position C2 point in the same direction, first calculate their average received signal strength to eliminate random thermal noise: calculate the first average value of wave position A and wave position A2. ; Calculate the second average value of wave position C and wave position C2. .

[0040] (2) Calculate the received power difference: Extract the power difference in the elevation direction. and the power difference in the azimuth direction. .

[0041] (3) Outlier filtering: When the power difference in the pitch direction... The absolute value is greater than 6 dB, or the power difference in the azimuth direction is greater than 6 dB. When the absolute value is greater than 6dB, it indicates a severe abrupt blockage or strong interference (exceeding the normal beam deviation range). Forcing a calculation in this case will cause beam divergence. Therefore, the system will return to execute step S3 and subsequent steps.

[0042] (4) Look up the table to quantify the error: If the power difference is within a reasonable range, then the power difference will be used to quantify the error. and As the signal strength difference, it is obtained by looking up a pre-existing locally stored gain difference curve table ( Figure 2 (As an example), the azimuth error can be directly calculated by reverse deduction. and the pitch angle error The gain difference curve table is a mapping relationship table between the angle error and the gain difference calculated in advance using the array response of a one-dimensional phased array, thereby realizing a precise quantitative conversion from "power difference" to "angle difference".

[0043] Step S6: Using the azimuth error and pitch error as inputs, calculate the azimuth adjustment and pitch adjustment respectively using the proportional-integral PID control algorithm (Note: the PID control algorithm here is actually a PI control logic, which removes the derivative element that is prone to introducing high-frequency noise).

[0044] To avoid severe beam jitter during optimization, this embodiment introduces a PID algorithm to smooth the quantized angle error. The specific implementation process is as follows: Before performing initial optimization of the wave position, initialize the current integrator value to 0; Next, the azimuth error As input error, a PID control algorithm is executed to obtain the azimuth adjustment amount. The specific steps include: The azimuth error Multiply by a preset integration coefficient (in this embodiment, the integration constant Ki = 0.008 is preferably set) to obtain the first integration parameter; The azimuth error Multiply by a preset scaling factor (in this embodiment, a scaling constant Kp = 1.0668e-5 is preferably set) to obtain the first scaling parameter; The value of the integrator at the previous moment is accumulated using the first integration parameter to obtain the updated value of the integrator at the current moment, thereby eliminating steady-state error; The updated integrator value at the current moment is added to the first proportional parameter to output the azimuth adjustment amount. .

[0045] Similarly, the pitch angle error As the input error, it is used in conjunction with the azimuth adjustment amount. The same PID control algorithm steps are used to calculate the pitch angle adjustment. .

[0046] Step S7: Update the wave position at the current moment according to the azimuth adjustment amount and the elevation adjustment amount.

[0047] Specifically, based on the calculated azimuth adjustment amount and the pitch angle adjustment amount Update the wave position at the current time n: adjust the azimuth angle at the current time n. In addition to the aforementioned azimuth adjustment amount Obtain the azimuth angle at the next time step n+1. And make the pitch angle at the current time n In addition to the pitch angle adjustment amount Obtain the pitch angle at the next moment n+1. .

[0048] Step S8: Repeat steps S2 to S7 until the wave position converges.

[0049] By continuously performing closed-loop iterations, the azimuth angle at the next time step n+1 is obtained. and pitch angle This will be used as new input to re-enter step S2 for the next round of scanning. As the number of iterations increases, the azimuth error... and pitch angle error As the value gradually approaches zero, the system reaches a convergent state.

[0050] By adopting the above-mentioned technical solution combining quantitative lookup table and PID, the phased array terminal can quickly and stably point to the target low-orbit satellite, which greatly reduces the misjudgment rate in strong interference and signal fading scenarios, effectively enhances the quality of the communication link, and improves the terminal's receiving signal-to-noise ratio and user experience.

[0051] Example 2 Based on the method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism provided in Embodiment 1, this embodiment provides a system for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism. For example... Figure 2 As shown, the system includes: The terminal is pointed to an initialization module, which is used to obtain the initial azimuth and elevation angles of the phased array terminal. Specifically, this module obtains the azimuth angle of the phased array terminal after it has completed satellite acquisition and is in the non-satellite-cutting phase. and pitch angle The pitch angle Less than 85°.

[0052] The scanning direction calculation module is used to calculate the scanning wave position direction of the conical scan based on the wave position direction at the current moment. Specifically, this module is based on the azimuth angle at the current moment. and pitch angle Combined with the preset deviation angle The specific pointing coordinates of the 6 wave positions (wave position A, wave position B, wave position A2, wave position C, wave position D and wave position C2) were calculated.

[0053] The scanning order setting module is used to set the scanning order of the scanning wave positions. Preferably, this module sets the scanning order to scan wave positions A, B, A2, C, D, and C2 in sequence.

[0054] The power recording module is used to collect the received signal strength (RSSI) at each scan position according to the scanning sequence. When this module determines that the time interval between collecting the RSSI at the same scan position is greater than 80ms, it triggers the system to return to the scanning sequence setting module and its subsequent modules.

[0055] The angle deviation acquisition module is used to calculate the signal strength difference of the RSSI at different scanning wave positions, and compare the signal strength difference with the preset theoretical difference to calculate the azimuth error and elevation error. Specifically, this module calculates the first average value of wave position A and wave position A2, and the second average value of wave position C and wave position C2, and then obtains the power difference in the elevation direction and the power difference in the azimuth direction; by looking up the pre-stored gain difference curve table, the measured power difference is used to deduce the azimuth error. and the pitch angle error Simultaneously, when the absolute value of the power difference in any direction exceeds 6dB, the system is triggered to return to execute the setting scan sequence module and its subsequent modules.

[0056] The adjustment calculation module takes the azimuth and pitch errors as inputs and uses a proportional-integral PID control algorithm to calculate the azimuth and pitch adjustment amounts, respectively. Before initial optimization, this module initializes the integrator and iteratively accumulates the input errors by multiplying them by preset integral and proportional coefficients, ultimately outputting the corresponding axial angle adjustment amount.

[0057] The pointing update module is used to update the wave position pointing at the current moment based on the azimuth adjustment amount and the elevation adjustment amount.

[0058] The system repeatedly triggers the calculation scanning pointing module to the pointing update module until the wave position pointing converges, thereby achieving accurate tracking of the satellite.

[0059] The specific working process and technical principles of each functional module in the system provided in this embodiment correspond one-to-one with the method steps in Embodiment 1. The principle of solving the technical problem and the technical effect achieved are also completely consistent. To avoid redundancy, they will not be elaborated in detail here.

[0060] Example 3 Based on the same technical concept, embodiments of the present invention also provide an electronic device that can implement the method flow provided in the above embodiments of the present invention for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism. In one embodiment, the electronic device can be a server, a terminal device, or other electronic devices. Figure 4 As shown, the electronic device may include: At least one processor and a memory connected to the at least one processor. In this embodiment of the invention, the specific connection medium between the processor and the memory is not limited. Figure 4 The example used is the connection between the processor and memory via a bus. The bus... Figure 4 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. Buses can be divided into address buses, data buses, control buses, etc., but for ease of representation, [the specific bus type is not shown here]. Figure 4 The processor is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, a processor can also be called a controller; there are no restrictions on the name.

[0061] In this embodiment of the invention, the memory stores instructions executable by at least one processor. By executing the instructions stored in the memory, the at least one processor can perform a method described above for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism. The processor can implement... Figure 4 The functions of each module in the device shown.

[0062] The processor is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory and calling data stored in memory, it can monitor the device's various functions and process data, thereby enabling overall monitoring of the device.

[0063] In an alternative design, the processor may include one or more processing units. The processor may integrate an application processor and a modem processor, wherein the application processor primarily handles the operating system, user interface, and applications, while the modem processor primarily handles wireless communication. It is understood that the modem processor may also not be integrated into the processor. In some embodiments, the processor and memory may be implemented on the same chip; in some embodiments, they may also be implemented separately on separate chips.

[0064] The processor can be a general-purpose processor, such as a CPU, digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism disclosed in the embodiments of this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0065] Memory, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory can include at least one type of storage medium, such as flash memory, hard disk, multimedia cards, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), and electrically erasable programmable read-only memory (EPROM). Only memory (EEPROM), magnetic storage, magnetic disks, optical disks, etc. A memory is any other medium capable of carrying or storing desired program code in the form of instructions or data structures, and accessible by a computer, but is not limited thereto. The memory in embodiments of this invention can also be a circuit or any other device capable of performing storage functions for storing program instructions and / or data.

[0066] By designing and programming the processor, the code corresponding to the method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism described in the foregoing embodiments can be embedded into the chip, thereby enabling the chip to execute the steps of the method described in the foregoing embodiments during operation. How to design and program the processor is a technique well-known to those skilled in the art and will not be elaborated upon here.

[0067] The embodiments described above merely illustrate specific implementation methods of this application, and while the descriptions are detailed and specific, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the technical solution of this application, and these modifications and improvements all fall within the scope of protection of this application.

[0068] This background section is provided to generally present the context of the invention. The work of the currently named inventors, the work to the extent described in this background section, and aspects of this section that did not constitute prior art at the time of application are neither expressly nor impliedly acknowledged as prior art to the invention.

Claims

1. A method for optimizing terminal beam pointing with phased array terminal conical scanning mechanism, characterized in that, include: Step S1: Obtain the initial azimuth and elevation angles of the phased array terminal; Step S2: Calculate the scanning wave position of the conical scan based on the wave position at the current moment; Step S3: Set the scanning order of the scanning wave positions; Step S4: According to the scanning sequence, acquire the received signal strength RSSI at each scanning position; Step S5: Calculate the signal strength difference of RSSI at different scanning positions, and compare the signal strength difference with the preset theoretical difference to calculate the azimuth error and elevation error; Step S6: Using the azimuth error and pitch error as inputs, calculate the azimuth adjustment and pitch adjustment respectively using the proportional-integral PID control algorithm; Step S7: Update the current wave position based on the azimuth adjustment and elevation adjustment. Step S8: Repeat steps S2 to S7 until the wave position converges.

2. The method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism according to claim 1, characterized in that, In step S1, obtaining the initial azimuth and elevation angles of the phased array terminal includes: After the phased array terminal completes satellite acquisition and is in the non-satellite-cutting phase, the azimuth angle of the phased array terminal is obtained. and pitch angle .

3. The method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism according to claim 2, characterized in that, In step S2, the scanning wave position pointing includes 6 wave positions, which are respectively denoted as wave position A, wave position B, wave position A2, wave position C, wave position D and wave position C2; The directions of the six wave positions are as follows: Wave position A points to... The direction of wave position B is The direction of wave position A2 is The direction of wave position C is The direction of wave position D is The direction of wave position C2 is ; in, This is the deviation angle.

4. The method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism according to claim 3, characterized in that, In step S3, the scanning sequence of the scanning wave position is set as follows: Scan wave positions A, B, A2, C, D, and C2 in sequence.

5. The method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism according to claim 4, characterized in that, In step S4, the received signal strength (RSSI) at each scan position is collected, including: The received signal strength (RSSI) at each of the six wavelengths was collected and denoted as follows: , , , , , ; When it is determined that the time interval for collecting the received signal strength (RSSI) on the same wavelength is greater than the threshold, the process returns to execute step S3 and subsequent steps.

6. The method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism according to claim 5, characterized in that, In step S5, calculating the azimuth error and elevation error includes: Calculate the average received signal strength at wave position A and wave position A2, and denot it as the first average value. ,in, ; Calculate the average received signal strength at wave positions C1 and C2, and denot it as the second average value. ,in, ; Calculate the received power difference: where the power difference is in the elevation direction. Power difference in azimuth direction ; The power difference and The azimuth error is calculated by looking up the pre-existing gain difference curve table in the local database, which serves as the signal strength difference. and the pitch angle error The gain difference curve table is a mapping relationship between the angle error and the gain difference calculated in advance using the array response of a one-dimensional phased array.

7. A method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism according to claim 6, characterized in that, After calculating the received power difference, the method further includes: When the power difference in the pitch angle direction The absolute value is greater than the threshold, or the power difference in the azimuth direction. If the absolute value is greater than the threshold, return to execute step S3 and subsequent steps.

8. A method for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism according to claim 6, characterized in that, The specific implementation process of steps S6 and S7 is as follows: Before performing initial optimization of the wave position, initialize the current integrator value to 0; The azimuth error As input error, a PID control algorithm is executed to obtain the azimuth adjustment amount. The specific steps include: converting the azimuth error... Multiply by a preset integration coefficient to obtain the first integration parameter; then, the azimuth error is... Multiply by a preset scaling factor to obtain a first scaling parameter; accumulate the integrator value from the previous moment using the first scaling parameter to obtain the updated integrator value for the current moment; add the updated integrator value for the current moment to the first scaling parameter to output the azimuth adjustment amount. ; The pitch angle error As the input error, it is used in conjunction with the azimuth adjustment amount. The same PID control algorithm steps are used to calculate the pitch angle adjustment. ; Based on the calculated azimuth adjustment amount and the pitch angle adjustment amount Update the wave position at the current time n: adjust the azimuth angle at the current time n. In addition to the aforementioned azimuth adjustment amount Obtain the azimuth angle at the next time step n+1. And make the pitch angle at the current time n In addition to the pitch angle adjustment amount Obtain the pitch angle at the next moment n+1. .

9. A system for optimizing terminal beam pointing using a phased array terminal conical scanning mechanism, characterized in that, include: The terminal points to the initialization module, which is used to obtain the initial azimuth and elevation angles of the phased array terminal; The scanning direction calculation module is used to calculate the scanning wave position of the conical scan based on the wave position direction at the current moment. The scanning order setting module is used to set the scanning order in which the scanning wave positions point; A power recording module is used to collect the received signal strength (RSSI) at each scan position according to the scanning sequence. Angle deviation acquisition module is used to calculate the signal strength difference of RSSI at different scanning wave positions, and compare the signal strength difference with the preset theoretical difference to calculate the azimuth error and elevation error; The adjustment calculation module is used to take the azimuth error and pitch error as inputs and use a proportional-integral PID control algorithm to calculate the azimuth adjustment and pitch adjustment respectively. The pointing update module is used to update the wave position pointing at the current moment based on the azimuth adjustment amount and the elevation adjustment amount; The system repeatedly triggers the calculation scanning pointing module to the pointing update module until the wave position pointing converges.

10. An electronic device, characterized in that, include: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, which executes the instructions stored in the memory to perform the method as described in any one of claims 1-8.

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