Dynamic hybrid beam tracking system for satellite communications

Abstract

The application discloses a dynamic hybrid beam tracking system for satellite communication. The system divides the beam tracking into three operation modes according to the current reference antenna steering in the memory, the antenna steering updated by the mechanical three-axis transmission shaft, the satellite incoming path direction relative to the antenna main shaft direction of the user terminal, the received signal strength indicator and the predefined antenna field of view. The three operation modes include: the first mode, using coarse beams to realize large range tracking at a low sampling rate; the second mode, using fine beams to realize medium range tracking at the same low sampling rate; and the third mode, using fine beams to realize small range tracking at a high sampling rate. The system can realize accurate and adaptive beam alignment to improve the satellite communication efficiency.

Description

Technical Field

[0001] This application relates to the field of satellite communications, and more particularly, to a dynamic hybrid beam tracking system for satellite communications. Background Technology

[0002] Satellite communications (SATCOM) primarily involves the transmission of signals between a user terminal on the Earth's surface and a target satellite in Earth orbit via electromagnetic beams. The user terminal includes both fixed and mobile communication devices. Mobile communication devices include, but are not limited to, devices installed on movable platforms such as ships and vehicles on the Earth's surface. Beam alignment between the user terminal's antenna and the target satellite is crucial for ensuring accurate link transmission.

[0003] The user terminal's antenna uses beam directivity to focus the signal onto the target satellite, ensuring accurate link transmission. If there is relative movement between the user terminal's antenna and the target satellite, the antenna needs to continuously point the beam at the moving target satellite to track the target satellite and maintain alignment. Summary of the Invention

[0004] The main objective of this application is to provide a dynamic hybrid beam tracking system for satellite communications, particularly a system in which a user terminal performs antenna operations to align with a target satellite beam. To achieve the aforementioned objective, this application employs the following technical solutions: This application provides a dynamic hybrid beam tracking system for satellite communication, which operates when the antenna of a user terminal located on the Earth's surface moves relative to a target satellite in orbit, so that the antenna dynamically performs hybrid beam tracking to align the beam with the target satellite. The aforementioned dynamic hybrid beam tracking system operates under the condition that the antenna establishes a connection with the target satellite through the initial search process. Within the selected tracking area, it is carried out through a combination of mechanical and electrical adjustments. The system is dynamically determined based on the current reference antenna orientation stored in memory, the antenna orientation updated through the antenna's mechanical three-axis drive shaft, the incident path direction of the target satellite relative to the antenna's main axis, the received signal strength pointer, and the predefined tracking mode and field of view. The corresponding classification of the tracking modes and tracking areas is as follows: The first tracking mode corresponds to the first tracking area, and coarse beam tracking is performed at the first sampling rate; The second tracking mode corresponds to the second tracking region, and performs fine beam tracking at the first sampling rate. The third tracking mode corresponds to the third tracking region, and fine beam tracking is performed at the second sampling rate, which is higher than the first sampling rate; wherein, the first tracking region is larger than the second tracking region, and the second tracking region is larger than the third tracking region; The reference antenna orientation is determined based on the three axes of the antenna. The reference antenna orientation is the previous antenna orientation τ sampling times or sampling points ago, where τ is the sampling time or number of samples from the previous sampling point to the current sampling point.

[0005] This application uses a first mode, a second mode, and a third mode in conjunction with a first sampling rate or a second sampling rate. When there is an error at the first scale, a rapid mechanical coarse adjustment is initiated. After the error is reduced, electrical fine tracking is switched on, and then tracking is gradually performed at a second sampling rate with a higher sampling rate. The overall response time is shortened, and the tracking speed and responsiveness are improved.

[0006] In some embodiments, in the first tracking mode, when the difference between the reference antenna orientation and the antenna orientation updated via the mechanical triaxial drive shaft exceeds a first predefined field of view, beam alignment is achieved by mechanical adjustment of the mechanical triaxial drive shaft.

[0007] In some embodiments, within the first tracking area of ​​the first tracking mode Indicates the turning error of the bearing. This indicates the steering error due to downward tilt. and These represent half of the predefined field of view for fine beam tracking along the tilt and azimuth axes of the mechanical triaxial drive shaft, respectively. and Determined based on the signal-to-noise ratio, satisfying or Then, under the first sampling rate, mechanical adjustment is implemented using a mechanical three-axis drive shaft.

[0008] In some embodiments, in the first tracking mode, the current antenna body attitude is calculated based on the received signals from multiple sensors at the corresponding sampling time and a first sampling rate; the current antenna orientation is determined based on the angle between the target satellite and the antenna body, as well as the body attitude; mechanical adjustment adjusts the antenna's three-axis mechanical drive shaft according to the currently calculated antenna orientation, so that the current antenna orientation is aligned with the target satellite as much as possible; electrical adjustment sets the antenna's electrical phase shifter to... Update the reference antenna orientation in memory to the current antenna orientation.

[0009] In some embodiments, in the second tracking mode, when the difference between the reference antenna steering and the antenna steering updated by the mechanical triaxial drive shaft is less than a first predefined field of view but greater than a second predefined field of view, beam alignment is achieved by electrical adjustment and program tracking.

[0010] In some embodiments, within the second tracking area of ​​the second tracking mode Indicates the turning error of the bearing. This indicates the steering error due to downward tilt. and These represent half of the 3dB beamwidth along the downward tilt axis and azimuth axis of the mechanical triaxial drive shaft, respectively, satisfying... or And it is predetermined according to the corresponding beamwidth.

[0011] In some embodiments, in the second tracking mode, the azimuth turning error is checked. and the steering error due to downward tilt ; In mechanical adjustment, the mechanical three-axis drive shaft is set as follows: ,in, From the previous The mechanical antenna rotation from the sampling point to the present is recorded and stored in memory; during electrical adjustments, it is tracked through a single-step program. Adjusting the electrical phase shifter This makes the overall beam direction, obtained from mechanical and electrical adjustments, more accurate. Able to align with the incident path direction of the target satellite ,that is In this case, .

[0012] In some embodiments, in the third tracking mode, Indicates the turning error of the bearing. This indicates the steering error due to downward tilt. and These represent half of the 3dB beamwidth along the tilt axis and azimuth axis of the mechanical triaxial drive shaft, respectively. The azimuth steering error satisfies... Or the downward tilt steering error meets Then, electrical fine beam tracking will be performed.

[0013] In some embodiments, in the third tracking mode, the azimuth turning error is checked. and the steering error due to downward tilt In mechanical adjustment, the mechanical three-axis drive shaft is set as follows: ,in, From the previous The mechanical antenna rotation performed from the sampling point to the present is stored in memory; only the skew rotation is updated, while the azimuth and downward tilt of the corresponding three-axis mechanical drive shaft remain unchanged; in the electrical adjustment, the antenna dynamically adjusts the electrical phase shifter gradually at a higher second sampling rate according to the received signal power during the sampling time, so that the overall beam pointing obtained by the mechanical and electrical adjustments can be aligned with the incident path direction of the target satellite.

[0014] In some embodiments, within the third tracking region of the third tracking mode, the electrical adjustment includes multi-step electrical adjustment implemented by step-by-step tracking, wherein the multi-step electrical adjustment is performed step-by-step based on the received signal strength pointer and previous tracking results, wherein the step-by-step tracking employs at least one algorithm among the direct search method, gradient method, and quadratic approximation method. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in some embodiments of this application will be briefly described below. Obviously, the drawings described below are only drawings of some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. involved in the embodiments of this application.

[0016] Figure 1 This is a structural diagram of a beam tracking system. Figure 2 A schematic diagram of beam tracking for a user terminal's antenna; Figure 3 A tracking area diagram of a hybrid beam tracking system; Figure 4 This is a diagram of the beam tracking process; Figure 5 To continue Figure 4 The beam tracking process diagram. Detailed Implementation

[0017] This specification describes various embodiments, and those skilled in the art should readily understand the spirit and principles of this application by referring to the description and accompanying drawings. Here, the elements or portions depicted in the drawings may be exaggerated or varied for clarity. Therefore, those skilled in the art should understand that the dimensions and relative proportions of the elements or portions depicted in the drawings are not the actual dimensions and relative proportions of the actual elements or portions. Furthermore, although some specific embodiments are described in detail herein, these embodiments are merely exemplary and are not to be considered limiting or exhaustive in any way. Therefore, various changes and modifications to this application should be obvious and easily achievable by those skilled in the art without departing from the spirit and principles of this application.

[0018] It should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0019] Furthermore, known elements of the embodiments of this application will not be described in detail or will be omitted so as not to obscure relevant details. In the following description, specific details are set forth in the accompanying drawings and specification for purposes of explanation and not limitation in order to provide a thorough understanding of the embodiments of this application. However, it will be apparent, however, that implementation may be carried out without these specific details.

[0020] The diagram illustrates a preferred embodiment of a dynamic hybrid beam tracking system for satellite communications; however, these embodiments are provided for illustrative purposes only.

[0021] like Figures 1 to 5 As shown, this application discloses a dynamic hybrid beam tracking system for satellite communication. It operates when the antenna 10 of a user terminal on the Earth's surface moves relative to a target satellite 20 in orbit. This allows the antenna 10 to dynamically perform hybrid beam tracking, acquiring and adjusting the beam direction of the antenna 10 to align the beam of the antenna 10 with the target satellite 20 at the required azimuth angle. And the elevation angle θ, so that the beam can be pointed at the incident vector of the target satellite 20. Beam pointing is defined as Incident vector The incident direction is defined as , .

[0022] The dynamic hybrid beam tracking system described herein is performed under the condition that the antenna 10 establishes a connection with the target satellite 20 through the initial search process.

[0023] The dynamic hybrid beam tracking system for satellite communication includes, in sequence, pure mechanical tracking, pure electrical tracking, and hybrid tracking.

[0024] Pure mechanical tracking is performed using a fixed-phase triple-axis mechanical shaft, which can acquire the broadside direction of horn antennas. , Its characteristics include low precision, lossless scanning at large angles, slow tracking speed, wear and tear issues, and low cost.

[0025] Pure electrical tracking can be performed independently using dynamically adjustable electrical phase shifters to obtain... Its characteristics include high precision, minimal scanning loss at large angles, fast tracking speed, no wear issues, and high cost.

[0026] Hybrid tracking employs a combination of a mechanical three-axis drive shaft and an electrical phase shifter, thereby achieving a compromise between pure mechanical tracking and pure electrical tracking.

[0027] Hybrid tracking involves both mechanical and electrical adjustments within a selected tracking area. First, a single-step mechanical adjustment is performed in the first tracking area 32, which can be done via programmed tracking. Then, in the third tracking area 36, ​​a single-step electrical adjustment is performed via programmed tracking, or a multi-step electrical adjustment is performed via step-by-step tracking.

[0028] Single-step mechanical adjustment and single-step electrical adjustment are programmed tracking methods based on the geographical location of the target satellite 20 and the antenna 10 and the attitude of the antenna 10, respectively.

[0029] Multi-step electrical adjustment is achieved by progressively tracking based on the received signal strength indicator (RSSI) and previous tracking results. The progressive tracking method can be at least one of the following algorithms: direct search method, gradient method, and quadratic approximation method.

[0030] A preferred embodiment of the dynamic hybrid beam tracking system of this application is executed during hybrid tracking, which includes a first stage and a second stage executed sequentially. The first stage involves acquiring the main beam, which is performed by a coarse tracking mechanism. This coarse tracking mechanism employs purely mechanical beam tracking and is performed within a predefined frame header. Internal execution, the first stage can track beamwidth up to 3 dB. Within this range, the minimum link budget requirement is met for satellite connectivity.

[0031] The second phase focuses on performance improvement, employing coarse and fine beam adjustments to achieve hybrid beam tracking that combines mechanical and electrical components. The second phase further enhances tracking performance, improves tracking accuracy, reduces tracking time, and prevents wear issues.

[0032] Hybrid tracking includes two steps performed sequentially. Step one involves mechanical adjustment, which roughly adjusts the azimuth angle of antenna 10 using a mechanical three-axis drive shaft. Antenna downtilt angle and antenna skew angle When the target satellite 20 is in geostationary orbit, the antenna skew angle of antenna 10 is... Adjustments are made solely through mechanical means; note the antenna skew angle. Adjustments were made via electrical adjustment, but this was not possible. Additional degrees of freedom (DoF) are provided on the axes.

[0033] Step two follows step one and involves electrical adjustments using a uniform planar array (UPA) of the phased antenna. Step two adjusts the beam pointing of antenna 10. Fine adjustments are made to align the target satellite 20 with its incident path direction 22, where the incident angle of the incident path direction 22 includes the azimuth angle of arrival. (angle of arrival) and zenith angle (zenith-of-arrival).

[0034] Two-dimensional electrical phase shifter in - The planar orientation provides additional degrees of freedom, further improving the beam pointing azimuth angle of arrival of antenna 10. and zenith reach angle The accuracy.

[0035] During the mechanical adjustment process, the azimuth axis, tilt axis, and yaw axis of the mechanical three-axis drive shaft of antenna 10 are rotated to adjust the three-axis direction of antenna 10. The incident path direction 22 of antenna 10 relative to target satellite 20 The pointing error is The incident path direction of target satellite 20 is 22. It refers to the three axes of the antenna. The function, i.e. The azimuth angle of the antenna is adjusted by the mechanical three-axis drive shaft of the antenna 10. Antenna downtilt angle Antenna skew angle This yields an equivalent beam pointing with a fixed phase. This ensures that antenna 10 is pointed as close as possible to the target satellite 20.

[0036] Electrical adjustment obtains an equivalent beam pointing with dynamic phase through an electrical phase shifter. As can be seen from the above, the equivalent beam pointing with dynamic phase is... It is a function of the antenna's three axes (azimuth, downtilt, and skew), i.e. If the electrical adjustment performed by the electrical phase shifter of antenna 10 yields an equivalent beam pointing with dynamic phase... Update and equal to the mechanical adjustment of the pointing error At the same time, the mechanical adjustment of antenna 10 combined with electrical adjustment obtains the overall beam pointing. It can be pointed at target satellite 20.

[0037] therefore, .

[0038] final, .

[0039] In summary, hybrid beam tracking involves both mechanical and electrical adjustments. During the mechanical adjustment process, the incident path direction 22 of the target satellite 20 relative to the antenna main axis of antenna 10 is adjusted. yes The function, i.e. The antenna 10 is rotated by a mechanical three-axis drive shaft. The corresponding equivalent beam pointing with a fixed phase is The pointing error is During the electrical adjustment process, the electrical phase shifter of antenna 10 undergoes dynamic fine adjustment to obtain an equivalent beam pointing with dynamic phase. The goal is the overall beam pointing The solution to achieve the stated goal is .

[0040] Mechanisms for fine beam tracking through electrical adjustments include single-step fine-tuning and stepwise fine-tuning. Single-step fine-tuning is a beam tracking method performed on a region outside the main beam. The peak position of the beam output power in single-step fine-tuning can be determined based on the subspace of the received signal. As part of a coarse tracking method, the peak position can also be calculated based on program tracking.

[0041] Stepwise refinement is a technique that refines the beamwidth within a region of the main beam (e.g., a 3dB increase in beamwidth). The beam tracking method used in this study calculates the peak position step by step based on the received signal strength pointer.

[0042] Before describing the tracking scope (TS) of hybrid beam tracking, some definitions are needed for clarification; firstly, in terms of time... n The current antenna orientation is based on the three axes of antenna 10. This determines the reference antenna orientation relative to the antenna principal axis direction 12. This refers to the previous antenna orientation τ times or before the current sampling point, where τ is the sampling time or number of samples from the previous sampling point to the current sampling point, corresponding to τ sampling intervals. Considering the current antenna steering error introduced by mechanical adjustment Current antenna turning and reference antenna turning Error between: .

[0043] Azimuth and downward tilt of the field of view for fine beam tracking Half of (field-of-views, FoVs) is The field of view half The parameters can be predetermined. It should be noted that for the target satellite 20 located in geostationary orbit (GEO), the skew angle can only be updated through mechanical adjustment. However, for the target satellite 20 not located in geostationary orbit, the skew angle does not need to be updated.

[0044] The classification of tracking modes and tracking regions for hybrid beam tracking is as follows: the first tracking mode corresponds to the first tracking region 32; the second tracking mode corresponds to the second tracking region 34; and the third tracking mode corresponds to the third tracking region 36. Among these, the first tracking region 32 is larger than the second tracking region 34, and the second tracking region 34 is larger than the third tracking region 36.

[0045] As shown in the preferred embodiment, the beam alignment implemented by the dynamic hybrid beam tracking system for satellite communication in this application can be based on the current reference antenna orientation stored in memory, the antenna orientation updated via a mechanical three-axis drive shaft, the incident path direction 22 relative to the antenna main axis, the received signal strength pointer, and the aforementioned predefined tracking modes and fields of view. And it is determined dynamically.

[0046] The first tracking mode is characterized by having a first tracking region 32 and performing coarse beam tracking at a first sampling rate; specifically, when the difference between the reference antenna orientation stored in memory and the antenna orientation updated via a mechanical triaxial drive shaft exceeds a first predefined field of view. At that time, beam alignment is achieved by mechanical adjustment of a mechanical three-axis drive shaft.

[0047] Within the first tracking region 32 of the first tracking mode, if the following conditions are met... or ,in, Indicates the turning error of the bearing. Indicates the steering error due to downward tilt. and These represent the directions along the downsloping axis. and azimuth axis Predefined field of view for fine beam tracking Half of, and and Determined based on the signal-to-noise ratio, for example: , If the operation is determined to belong to the first tracking region 32 of the first tracking mode, coarse beam tracking is performed according to the process of the first tracking mode, that is, mechanical adjustment is performed with a mechanical three-axis drive shaft at the first sampling rate.

[0048] The second tracking mode is characterized by having a second tracking region 34 and performing fine beam tracking at a first sampling rate; specifically, when the difference between the reference antenna orientation stored in memory and the antenna orientation updated by the mechanical triaxial drive shaft is less than the first predefined field of view. However, it is larger than the second predefined field of view. At this time, beam alignment is achieved through electrical adjustment and program tracking.

[0049] Within the medium tracking range of 34 in the second tracking mode, if the following conditions are met... or ,in, and These represent the directions along the downsloping axis. and azimuth axis 3dB beamwidth in the direction Half of, and according to the corresponding beamwidth Predetermined. For example: , Furthermore, when applying the second tracking mode in a 32-element antenna array, In fact, assuming .

[0050] The third tracking mode is characterized by having a third tracking region 36 and performing fine beam tracking at a second sampling rate; specifically, when the difference between the reference antenna orientation stored in memory and the antenna orientation updated by the mechanical triaxial drive shaft is less than the second predefined field of view. At that time, beam alignment is achieved through electrical adjustments and by using step-by-step tracking.

[0051] Within the third tracking area 36 of the third tracking mode, or .

[0052] In the first tracking mode, if the azimuth steering error satisfies Or the downward tilt steering error meets If either condition is met, or both are satisfied, then coarse mechanical beam tracking is performed. If further inspection is required, only the azimuth turning error needs to be checked. and the steering error due to downward tilt No need to check steering error due to skewness ;in, Antenna 10's current body attitude Based on multiple sensors at corresponding sampling times The first sampling rate is calculated using the received signal, which corresponds to a lower sampling rate, while the current antenna is turned... It is based on the angle between the target satellite 20 and the antenna 10. and the body attitude of antenna 10 The specific examples of the sensors include gyroscopes, accelerometers, and magnetometers.

[0053] In the mechanical adjustment section, the antenna rotation is based on the current calculation. Adjust the three-axis mechanical drive shaft to rotate the current antenna. Align the device with the target satellite 20 as closely as possible, and in the electrical adjustment section, set the electrical phase shifter to... Direct the reference antenna in memory. Update to current antenna orientation .

[0054] In the second tracking mode, if the azimuth steering error satisfies Or the downward tilt steering error meets If either condition is met, or both are satisfied, then fine electrical beam tracking is performed. If an inspection is required, only the azimuth turning error needs to be checked. and the steering error due to downward tilt No need to check steering error due to skewness .

[0055] In mechanical adjustment, the mechanical three-axis drive shaft is set as follows: ,in, From the previous The mechanical antenna rotation performed from the sampling point to the present is stored in memory; in other words, only the skewed rotation is updated while the orientation and downward tilt of the corresponding mechanical triaxial drive shaft remain unchanged.

[0056] In electrical adjustments, single-step procedure tracing is used. Adjusting the electrical phase shifter This makes the overall beam direction, obtained from mechanical and electrical adjustments, more accurate. Able to align with the incident path direction 22 of target satellite 20 ,that is In this case, it is expected .

[0057] In the third tracking mode, if the azimuth turning error satisfy Or downward steering error satisfy If either condition is met, or both are satisfied, then fine electrical beam tracking is performed. If an inspection is required, only the azimuth turning error needs to be checked. and the steering error due to downward tilt There is no need to check the steering error of the skew. .

[0058] In mechanical adjustment, the mechanical three-axis drive shaft is set as follows: ,in, From the previous The mechanical antenna steering from the sampling point to the present has been performed and stored in memory; in other words, only the skewed steering is updated. And maintain the orientation of the corresponding three-axis mechanical transmission shaft. and downward tilt The direction remains unchanged.

[0059] During electrical adjustment, antenna 10 adjusts the sampling time based on the received signal power. k The electrical phase shifter is dynamically adjusted step by step with a higher second sampling rate. This results in the overall beam direction obtained through mechanical and electrical adjustments. It can be aligned with the incident path direction of target satellite 20, that is... The second sampling rate is higher than the first sampling rate.

[0060] This application uses a first mode, a second mode, and a third mode in conjunction with a first sampling rate or a second sampling rate. When there is a first scale error, a rapid mechanical coarse adjustment is initiated. After the error is reduced, electrical fine tracking is switched on, and then tracking is gradually performed with a second sampling rate that has a higher sampling rate. The overall response time is shortened, and the tracking speed and responsiveness are improved.

[0061] The above description is merely some preferred embodiments of this application. It should be noted that various changes and modifications can be made to this application without departing from the spirit and principles of this application. Those skilled in the art should understand that this application is defined by the appended claims, and that various possible substitutions, combinations, modifications, and transformations, etc., do not exceed the scope defined by the appended claims, provided they conform to the meaning of this application.

Claims

1. A dynamic hybrid beam tracking system for satellite communications operates when the antenna of a user terminal located on the Earth's surface moves relative to a target satellite in orbit, enabling the antenna to dynamically perform hybrid beam tracking so that its beam is aligned with the target satellite; The dynamic hybrid beam tracking system is characterized in that, Under the condition that the antenna establishes a connection with the target satellite through the initial search process, within the selected tracking area, it is dynamically determined by a combination of mechanical and electrical adjustments, based on the current reference antenna rotation stored in memory, the antenna rotation updated through the antenna's mechanical three-axis drive shaft, the incident path direction of the target satellite relative to the antenna's main axis, the received signal strength pointer, and the predefined tracking mode and field of view. The corresponding classification of the tracking modes and tracking areas is as follows: The first tracking mode corresponds to the first tracking area, and coarse beam tracking is performed with the first sampling rate; The second tracking mode corresponds to the second tracking region, and performs fine beam tracking at the first sampling rate. The third tracking mode corresponds to the third tracking region, and fine beam tracking is performed at the second sampling rate, which is higher than the first sampling rate; wherein, the first tracking region is larger than the second tracking region, and the second tracking region is larger than the third tracking region; The reference antenna orientation is determined based on the three axes of the antenna. The reference antenna orientation is the previous antenna orientation τ sampling times or sampling points ago, where τ is the sampling time or number of samples from the previous sampling point to the current sampling point.

2. The dynamic hybrid beam tracking system for satellite communication according to claim 1, characterized in that, In the first tracking mode, when the difference between the reference antenna steering and the antenna steering updated via the mechanical triaxial drive shaft exceeds a first predefined field of view, beam alignment is achieved by using the mechanical adjustment of the mechanical triaxial drive shaft.

3. The dynamic hybrid beam tracking system for satellite communication according to claim 1, characterized in that, Within the first tracking area of ​​the first tracking mode Indicates the turning error of the bearing. This indicates the steering error due to downward tilt. and These represent half of the predefined field of view for fine beam tracking along the tilt axis and azimuth axis of the mechanical triaxial drive shaft, respectively. and Determined based on the signal-to-noise ratio, satisfying or Then, at the first sampling rate, the mechanical adjustment is performed using the mechanical three-axis transmission shaft.

4. The dynamic hybrid beam tracking system for satellite communication according to claim 3, characterized in that, In the first tracking mode, the current body attitude of the antenna is calculated based on the received signals from multiple sensors at the corresponding sampling time and at the first sampling rate. The current antenna orientation is determined based on the angle between the target satellite and the antenna body, as well as the body's attitude; The mechanical adjustment adjusts the antenna's three-axis mechanical transmission shaft according to the currently calculated antenna rotation, so that the current antenna rotation is as aligned as possible with the target satellite; The electrical adjustment sets the antenna's electrical phase shifter to... The reference antenna orientation in memory is updated to the current antenna orientation.

5. The dynamic hybrid beam tracking system for satellite communication according to claim 1, characterized in that, In the second tracking mode, when the difference between the reference antenna rotation and the antenna rotation updated by the mechanical three-axis drive shaft is less than the first predefined field of view but greater than the second predefined field of view, beam alignment is achieved through electrical adjustment and program tracking.

6. The dynamic hybrid beam tracking system for satellite communication according to claim 5, characterized in that, Within the second tracking area of ​​the second tracking mode Indicates the turning error of the bearing. This indicates the steering error due to downward tilt. and These represent half of the 3dB beamwidth along the downward tilt axis and azimuth axis of the mechanical triaxial drive shaft, respectively, satisfying... or And it is predetermined according to the corresponding beamwidth.

7. The dynamic hybrid beam tracking system for satellite communication according to claim 6, characterized in that, In the second tracking mode, the azimuth turning error is checked. and the steering error due to downward tilt ; In the aforementioned mechanical adjustment, the mechanical three-axis drive shaft is set as follows: ,in, From the previous The sampling points have been used to execute the mechanical antenna rotation up to the present, and the data is stored in memory; In the aforementioned electrical adjustment, single-step procedure tracking is used. Adjusting the electrical phase shifter This ensures that the overall beam direction, resulting from the mechanical and electrical adjustments, is... Able to align with the incident path direction of the target satellite ,that is ; In this situation, .

8. The dynamic hybrid beam tracking system for satellite communication according to claim 1, characterized in that, In the third tracking mode, Indicates the turning error of the bearing. This indicates the steering error due to downward tilt. and These represent half of the 3dB beamwidth along the downward tilt axis and azimuth axis of the mechanical triaxial drive shaft, respectively, and the azimuth steering error satisfies... Or the downward tilt steering error meets Then, electrical fine beam tracking will be performed.

9. The dynamic hybrid beam tracking system for satellite communication according to claim 8, characterized in that, In the third tracking mode, the azimuth turning error is checked. and the steering error due to downward tilt ; In the aforementioned mechanical adjustment, the mechanical three-axis drive shaft is set as follows: ,in, From the previous The mechanical antenna rotation performed from the sampling point to the present is stored in memory; only the tilt rotation is updated, while the orientation and downward tilt direction of the corresponding three-axis mechanical transmission shaft remain unchanged. In the electrical adjustment, the antenna dynamically adjusts the electrical phase shifter gradually at a higher second sampling rate based on the received signal power during the sampling time, so that the overall beam pointing obtained by the mechanical adjustment and the electrical adjustment can be aligned with the incident path direction of the target satellite.

10. The dynamic hybrid beam tracking system for satellite communication according to claim 1, characterized in that, In the third tracking region of the third tracking mode, the electrical adjustment includes multi-step electrical adjustment implemented by step tracking. The multi-step electrical adjustment is based on the received signal strength pointer and is performed step by step based on the previous tracking results. The step tracking employs at least one algorithm among the direct search method, the gradient method, and the quadratic approximation method.

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