Method and system for online calibration of antenna pointing adjustment and gyro zero offset of satcom on the move

Abstract

The application relates to a method and system for adjusting the direction of a moving satellite antenna and online calibrating the zero offset of a gyroscope, and belongs to the technical field of radio antennas. The method comprises the following steps: scanning sampling points in the left azimuth direction, the right azimuth direction, the upper elevation direction and the lower elevation direction respectively to obtain four groups of carrier-to-noise ratio cumulative values; adjusting the angle of the antenna according to a set angle value based on the difference of the carrier-to-noise ratio cumulative values and an azimuth difference threshold; repeating the above steps for a set number of times and recording the number of times of adjusting the angle of the antenna in each direction; determining whether the gyroscope has zero offset in the azimuth direction or the elevation direction based on the difference of the number of times of adjusting the angle of the antenna in the azimuth direction and the elevation direction and a set number of times threshold, and if the gyroscope has zero offset, a set compensation value is applied to the azimuth direction or the elevation direction zero offset parameter of the gyroscope. The application can effectively balance the overall work efficiency and long-term work stability.

Description

Technical Field

[0001] This invention relates to the field of radio antenna technology, and in particular to a method and system for adjusting the pointing of a mobile antenna and for online calibration of a gyroscope with zero bias. Background Technology

[0002] In the prior art, such as Chinese patent document CN117199814A, an antenna tracking method, apparatus, device, and storage medium are disclosed. The method includes: performing dynamic zero-bias calibration on the gyroscope of a phased array antenna to obtain updated gyroscope zero-bias data; determining the antenna tracking delay data, which includes at least one of the following: software system delay, inertial navigation delay, and command delay; predicting the antenna beam pointing based on the updated gyroscope zero-bias data and the delay data to obtain a prediction result; compensating the antenna beam pointing based on the prediction result, and performing antenna tracking according to the compensated antenna beam pointing.

[0003] As mentioned above, in the prior art, gyroscope zero-bias calibration is often performed independently before antenna tracking. On the one hand, performing two separate procedures results in low overall work efficiency; on the other hand, during antenna tracking, the gyroscope zero-bias data will also change with changes in the environment and antenna parameters, and the zero-bias calibration data performed in advance often fails to meet the requirements for long-term working stability. Summary of the Invention

[0004] The purpose of this invention is to solve the problems existing in the prior art and to provide a method and system for adjusting the pointing of a mobile antenna and calibrating the zero bias of a gyroscope online, which can effectively balance overall working efficiency and long-term working stability.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] The method for adjusting the pointing of a mobile antenna and calibrating the zero bias of a gyroscope online includes the following steps:

[0007] Step 102: Align the coordinate axes of the inertial navigation measurement coordinate system with those of the antenna beam pointing coordinate system.

[0008] Step 104: Scan the sampling points in the four directions of left azimuth, right azimuth, up pitch and down pitch respectively, and obtain four sets of carrier-to-noise ratio cumulative values. The sampling points in the left azimuth are axially symmetrical with the sampling points in the right azimuth, and the sampling points in the up pitch are axially symmetrical with the sampling points in the down pitch.

[0009] Step 106: Based on the difference in the cumulative carrier-to-noise ratio (CNR) values ​​in the azimuth direction and the azimuth difference threshold, adjust the azimuth angle of the antenna according to a set angle value; based on the difference in the cumulative CNR values ​​in the elevation direction and the elevation difference threshold, adjust the elevation angle of the antenna according to a set angle value.

[0010] Step 108: Repeat steps 104 and 106 a set number of times, and record the number of times the antenna is adjusted in each direction.

[0011] Step 110: Based on the difference in the number of times the antenna adjusts its angle to the left and right azimuth directions respectively and the set number threshold, determine whether the gyroscope has zero bias in the azimuth direction. If there is zero bias, apply a set compensation value to the azimuth zero bias parameter of the gyroscope.

[0012] Based on the difference in the number of times the antenna adjusts its angle in the pitch direction and the set threshold number of times, it is determined whether the gyroscope has zero bias in the pitch direction. If zero bias exists, a set compensation value is applied to the gyroscope's pitch bias parameter.

[0013] Preferably, step 106 specifically includes:

[0014] If the cumulative carrier-to-noise ratio (CNR) value on the left azimuth is greater than the cumulative CNR value on the right azimuth plus the azimuth difference threshold, then rotate the antenna to the left by a set angle and record the azimuth adjustment parameter as +1.

[0015] If the cumulative carrier-to-noise ratio (CNR) value on the right azimuth is greater than the cumulative CNR value on the left azimuth plus the azimuth difference threshold, then the antenna is rotated to the right by a set angle value, and the azimuth adjustment parameter is recorded as -1.

[0016] If the cumulative carrier-to-noise ratio on the pitch is greater than the cumulative carrier-to-noise ratio on the pitch plus the pitch difference threshold, then the antenna is rotated up by a set angle and the pitch adjustment parameter is recorded as +1.

[0017] If the cumulative carrier-to-noise ratio under elevation is greater than the cumulative carrier-to-noise ratio under elevation plus the elevation difference threshold, then the antenna is rotated down by a set angle, and the elevation adjustment parameter is recorded as -1.

[0018] Preferably, step 108 specifically includes:

[0019] The azimuth adjustment parameters obtained after repeating steps 104 and 106 a set number of times are summed to obtain the cumulative value of the azimuth adjustment parameters. At the same time, the pitch adjustment parameters are summed to obtain the cumulative value of the pitch adjustment parameters.

[0020] Preferably, step 110 specifically includes:

[0021] If -set number threshold ≤ cumulative value of azimuth adjustment parameter ≤ +set number threshold, it is determined that the gyroscope does not have zero bias in the azimuth direction;

[0022] If the accumulated value of the azimuth adjustment parameter is greater than or equal to the set number of times threshold, it is determined that the gyroscope has zero bias in the azimuth direction, and the azimuth zero bias parameter of the gyroscope is increased by the set compensation value.

[0023] If the accumulated value of the azimuth adjustment parameter is less than the set number of times threshold, it is determined that the gyroscope has zero bias in the azimuth direction, and the azimuth zero bias parameter of the gyroscope is set to - the set compensation value.

[0024] If -set number threshold ≤ pitch adjustment parameter cumulative value ≤ +set number threshold, it is determined that the gyroscope does not have zero bias in the pitch direction;

[0025] If the cumulative value of the pitch adjustment parameter is greater than or equal to the set number of times threshold, it is determined that the gyroscope has zero bias in the pitch direction, and the pitch zero bias parameter of the gyroscope is increased by the set compensation value.

[0026] If the cumulative value of the pitch adjustment parameter is less than the set number of times threshold, it is determined that the gyroscope has zero bias in the pitch direction, and the pitch zero bias parameter of the gyroscope is reduced by the set compensation value.

[0027] Preferably, the set number threshold includes a first set number threshold and a second set number threshold, the set compensation value includes a first set compensation value and a second set compensation value, and step 110 includes:

[0028] If the difference in the number of counts is less than or equal to the first set threshold number of counts, then it is determined that the gyroscope does not have zero bias.

[0029] If the first set number threshold < the number difference < the second set number threshold, then it is determined that the gyroscope has zero bias, and the first set compensation value is applied to the zero bias parameter of the gyroscope.

[0030] If the difference in the number of attempts is greater than or equal to the second set threshold, it is determined that the gyroscope has zero bias, and the second set compensation value is applied to the zero bias parameter of the gyroscope.

[0031] Preferably, step 110 includes:

[0032] If the gyroscope's bias parameter after applying a set compensation value is greater than the bias safety value, then the bias parameter is set to the bias safety value.

[0033] Preferably, the sampling points are four: one at the position where the antenna rotates to the left and right respectively, corresponding to half the 0.5 dB main lobe width of the azimuth map; and another at the position where the antenna rotates to the up and down respectively, corresponding to half the 0.5 dB main lobe width of the pitch map.

[0034] Preferably, step 104 includes:

[0035] The left and right azimuth have the same number of sampling points, and the up and down pitch have the same number of sampling points. The cumulative carrier-to-noise ratio (CNR) value in each direction is the cumulative CNR value of one sampling point in that direction, or the average of the cumulative CNR values ​​of at least two sampling points.

[0036] As preferred, including:

[0037] Step 112: Repeat steps 104-110 until the gyroscope has no zero bias in either the azimuth or pitch directions.

[0038] This specification also provides an online system for adjusting the pointing of a mobile antenna and calibrating the zero bias of a gyroscope. The inertial navigation system's measurement coordinate system and the antenna beam pointing coordinate system have the same coordinate axes orientation. The system includes:

[0039] Sampling point scanning module: used to scan sampling points in four directions: left azimuth, right azimuth, up pitch, and down pitch, and obtain four sets of carrier-to-noise ratio cumulative values. The sampling points in the left azimuth are axially symmetrical with the sampling points in the right azimuth, and the sampling points in the up pitch are axially symmetrical with the sampling points in the down pitch.

[0040] Antenna adjustment module: used to adjust the azimuth angle of the antenna according to a set angle value based on the difference of the cumulative carrier-to-noise ratio in the azimuth direction and the azimuth difference threshold; and to adjust the elevation angle of the antenna according to a set angle value based on the difference of the cumulative carrier-to-noise ratio in the elevation direction and the elevation difference threshold.

[0041] Adjustment recording module: used to record the number of times the antenna adjusts its angle in each direction after the sampling point scanning module and antenna adjustment module have run a set number of times;

[0042] Zero bias calibration module: It is used to determine whether the gyroscope has zero bias in the azimuth direction based on the difference in the number of times the antenna is adjusted to the left and right azimuth directions respectively and the set number threshold. If zero bias exists, a set compensation value is applied to the azimuth zero bias parameter of the gyroscope.

[0043] Based on the difference in the number of times the antenna adjusts its angle in the pitch direction and the set threshold number of times, it is determined whether the gyroscope has zero bias in the pitch direction. If zero bias exists, a set compensation value is applied to the gyroscope's pitch bias parameter.

[0044] The advantages of this invention are:

[0045] 1. It can perform online calibration of the gyroscope zero bias parameter based on the data obtained from antenna pointing adjustment, thereby realizing a complete closed loop of "signal sampling → direction judgment → pointing adjustment → zero bias compensation", which not only improves the overall working efficiency, but also effectively suppresses gyroscope zero bias and improves the long-term working stability of the system.

[0046] 2. By using fixed four-point discrete sampling, the deviation direction of the azimuth and pitch axes can be determined and adjusted by comparing the difference of the cumulative carrier-to-noise ratio. The computational overhead is low, making it suitable for real-time implementation on embedded platforms.

[0047] 3. It does not require precise mathematical modeling of the antenna pattern, thus avoiding the accuracy reduction caused by the deviation between the actual pattern and the modeling parameters due to factors such as individual differences in batch production. It can work normally for different antenna batches and changes in ambient temperature.

[0048] 4. Even if the antenna pointing is deviated to the edge of the beam, the direction of the deviation can still be reliably determined, thus expanding the effective working range of the tracking method. Attached Figure Description

[0049] Figure 1 A flowchart illustrating the method for adjusting the pointing of a mobile antenna and calibrating the zero bias of a gyroscope online, as provided in the embodiments of this specification.

[0050] Figure 2 This is a block diagram of the on-the-move antenna pointing adjustment and gyroscope zero-bias online calibration method provided in the embodiments of this specification. Detailed Implementation

[0051] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0052] like Figure 1 As shown, this embodiment provides a method for adjusting the pointing of a mobile antenna and calibrating the zero bias of a gyroscope online, including the following steps:

[0053] Step 102: Align the coordinate axes of the inertial navigation system's measurement coordinate system with those of the antenna beam pointing coordinate system. Specifically, the inertial navigation system can be directly mounted on the antenna surface, ensuring that the coordinate axes of the inertial navigation system's measurement coordinate system and the antenna beam pointing coordinate system are aligned. The angular velocities (azimuth, pitch, roll) output by the inertial navigation system are directly mapped to the change in the antenna beam's pointing direction in space. This establishes a unified coordinate reference for the four-point scan, avoiding errors and computational overhead caused by coordinate system transformation.

[0054] Step 104: Scan the sampling points in the four directions (azimuth left, azimuth right, elevation up, and elevation down) to obtain four sets of cumulative carrier-to-noise ratio (CNR) values. The sampling points in the azimuth left and azimuth right are axially symmetrical, and the sampling points in the elevation up and elevation down are axially symmetrical. Typically, there are four sampling points: one at half the 0.5 dB main lobe width of the azimuth pattern when the antenna rotates to the left and right directions, and another at half the 0.5 dB main lobe width of the elevation pattern when the antenna rotates to the elevation up and elevation down. The scanning order can be azimuth left, elevation up, azimuth right, and elevation down, or any other order. Each sampling point is paused for a preset single-step time, and a preset number of carrier-to-noise ratio (CNR) values ​​are collected within the preset single-step time. The preset number of times can be 200. Then, the 200 CNR values ​​are accumulated to obtain the cumulative CNR value. After scanning the four sampling points, the cumulative CNR values ​​for left azimuth, right azimuth, pitch, and down are obtained.

[0055] To improve noise immunity, this step can also be configured as follows: the left and right azimuth have the same number of sampling points, and the up and down pitch have the same number of sampling points. The cumulative carrier-to-noise ratio (CNR) value in each direction is the cumulative CNR value of one sampling point in that direction, or the average of the cumulative CNR values ​​of two or more sampling points. For example, two sampling points can be set in the left azimuth, and the average of the cumulative CNR values ​​of the two sampling points can be used as the cumulative CNR value for the left azimuth.

[0056] Step 106: Based on the difference in the accumulated carrier-to-noise ratio (CNR) values ​​in the azimuth direction and the azimuth difference threshold, adjust the antenna's azimuth angle according to a set angle value; based on the difference in the accumulated CNR values ​​in the elevation direction and the elevation difference threshold, adjust the antenna's elevation angle according to a set angle value; this step specifically includes:

[0057] If the cumulative carrier-to-noise ratio (CNR) value on the left azimuth is greater than the cumulative CNR value on the right azimuth plus the azimuth difference threshold, then rotate the antenna to the left by a set angle and record the azimuth adjustment parameter as +1.

[0058] If the cumulative carrier-to-noise ratio (CNR) value on the right azimuth is greater than the cumulative CNR value on the left azimuth plus the azimuth difference threshold, then the antenna is rotated to the right by a set angle value, and the azimuth adjustment parameter is recorded as -1.

[0059] If neither of the two azimuth conditions is met, the azimuth angle of the antenna will not be adjusted, and the azimuth adjustment parameter will be recorded as 0.

[0060] If the cumulative carrier-to-noise ratio on the pitch is greater than the cumulative carrier-to-noise ratio on the pitch plus the pitch difference threshold, then the antenna is rotated up by a set angle and the pitch adjustment parameter is recorded as +1.

[0061] If the cumulative carrier-to-noise ratio under elevation is greater than the cumulative carrier-to-noise ratio under elevation plus the elevation difference threshold, then the antenna is rotated down by a set angle, and the elevation adjustment parameter is recorded as -1.

[0062] If neither of the two conditions for elevation is met, the elevation angle of the antenna will not be adjusted, and the elevation adjustment parameter will be recorded as 0.

[0063] In this embodiment, the set angle value is a preset fixed value. This means that a step-by-step adjustment method is used, rotating the antenna by a small angle each time, and achieving antenna alignment through multiple adjustments. This avoids over-adjustment in a single instance, which could increase the deviation instead of decreasing it, especially when the gyroscope has zero bias.

[0064] Step 108: Repeat steps 104 and 106 a set number of times, and record the number of times the antenna adjusts its angle in each direction. Specifically, this step includes: summing all azimuth adjustment parameters obtained after repeating steps 104 and 106 a set number of times to obtain the cumulative azimuth adjustment parameter value; simultaneously, summing all elevation adjustment parameters to obtain the cumulative elevation adjustment parameter value. For example, if the set number of times is 10, the 10 azimuth adjustment parameters obtained are: +1, +1, 0, +1, -1, +1, 0, +1, +1, +1, then the cumulative azimuth adjustment parameter value is 6. The 10 elevation adjustment parameters obtained are: -1, -1, 0, -1, -1, -1, 0, -1, -1, -1, -1, then the cumulative elevation adjustment parameter value is -8.

[0065] Step 110: Based on the difference in the number of times the antenna adjusts its angle to the left and right azimuth directions respectively and the set number threshold, determine whether the gyroscope has zero bias in the azimuth direction. If there is zero bias, apply a set compensation value to the azimuth zero bias parameter of the gyroscope.

[0066] Based on the difference in the number of times the antenna adjusts its angle in the pitch direction and the set threshold number of times, it is determined whether the gyroscope has zero bias in the pitch direction. If zero bias exists, a set compensation value is applied to the gyroscope's pitch bias parameter.

[0067] This step specifically includes:

[0068] If -set number threshold ≤ cumulative value of azimuth adjustment parameter ≤ +set number threshold, it is determined that the gyroscope does not have zero bias in the azimuth direction;

[0069] If the accumulated value of the azimuth adjustment parameter is greater than or equal to the set number of times threshold, it is determined that the gyroscope has zero bias in the azimuth direction, and the azimuth zero bias parameter of the gyroscope is increased by the set compensation value.

[0070] If the accumulated value of the azimuth adjustment parameter is less than the set number of times threshold, it is determined that the gyroscope has zero bias in the azimuth direction, and the azimuth zero bias parameter of the gyroscope is set to - the set compensation value.

[0071] If -set number threshold ≤ pitch adjustment parameter cumulative value ≤ +set number threshold, it is determined that the gyroscope does not have zero bias in the pitch direction;

[0072] If the cumulative value of the pitch adjustment parameter is greater than or equal to the set number of times threshold, it is determined that the gyroscope has zero bias in the pitch direction, and the pitch zero bias parameter of the gyroscope is increased by the set compensation value.

[0073] If the cumulative value of the pitch adjustment parameter is less than the set number of times threshold, it is determined that the gyroscope has zero bias in the pitch direction, and the pitch zero bias parameter of the gyroscope is reduced by the set compensation value.

[0074] For example, the threshold for the number of attempts could be 5. If the accumulated value of the azimuth adjustment parameter is 6, it is determined that the gyroscope has zero bias in the azimuth direction, and the azimuth zero bias parameter of the gyroscope is incremented by the set compensation value. If the accumulated value of the azimuth adjustment parameter is -6, it is also determined that the gyroscope has zero bias in the azimuth direction, and the azimuth zero bias parameter of the gyroscope is decremented by the set compensation value. That is, the increase or decrease of the set compensation value is consistent with the sign of the accumulated value of the azimuth adjustment parameter. If the accumulated value of the azimuth adjustment parameter is 4, it is determined that the gyroscope does not have zero bias in the azimuth direction.

[0075] To improve the calibration accuracy of the gyroscope's zero-bias parameter, the set number threshold includes a first set number threshold and a second set number threshold, and the set compensation value includes a first set compensation value and a second set compensation value. Step 110 includes:

[0076] If the difference in the number of counts is less than or equal to the first set threshold number of counts, then it is determined that the gyroscope does not have zero bias.

[0077] If the first set number threshold < the number difference < the second set number threshold, then it is determined that the gyroscope has zero bias, and the first set compensation value is applied to the zero bias parameter of the gyroscope.

[0078] If the difference in the number of attempts is greater than or equal to the second set threshold, it is determined that the gyroscope has zero bias, and the second set compensation value is applied to the zero bias parameter of the gyroscope.

[0079] For example, with a first set threshold of 5, a second set threshold of 9, a first set compensation value of 0.05, and a second set compensation value of 0.1, when the absolute value of the difference in the number of attempts (i.e., the accumulated value of the adjustment parameters) is greater than 5 and less than 9, the gyroscope is considered to have a slight bias, requiring only slow compensation, i.e., using a smaller first set compensation value to compensate for the bias parameter. When the absolute value of the accumulated adjustment parameter is greater than or equal to 9, the gyroscope is considered to have a more severe bias, requiring fast compensation, i.e., using a larger second set compensation value to compensate for the bias parameter. Of course, depending on actual needs, we can set three or more levels of compensation mechanisms to achieve more precise adaptive calibration.

[0080] In addition, under normal circumstances, the zero-bias parameter of a gyroscope has a limit, that is, the zero-bias parameter needs to be adjusted within the limit range. If the zero-bias parameter of the gyroscope after applying a set compensation value is greater than the zero-bias safety value, then the zero-bias parameter is set to the zero-bias safety value. For example, if the zero-bias safety value is 0.7, and the current zero-bias parameter of the gyroscope is 0.65, and the set compensation value is 0.1, then the zero-bias parameter after compensation is 0.75, which exceeds the limit, so the zero-bias parameter is set to 0.7.

[0081] Step 112: Repeat steps 104-110 until the gyroscope has no zero bias in either the azimuth or pitch directions. Since the gyroscope's zero bias calibration occurs after the antenna pointing adjustment, the antenna pointing adjustment does not benefit from the calibrated zero bias parameters, thus potentially leading to deviations in the antenna pointing adjustment. However, when the gyroscope has no zero bias in either the azimuth or pitch directions, it indicates that the zero bias parameters used in this round of antenna pointing adjustment are accurate, and the accuracy of the antenna pointing adjustment is guaranteed.

[0082] This also demonstrates that during the repetition of steps 104-110, both the accuracy of the antenna pointing adjustment and the zero-bias parameter of the gyroscope are continuously optimized, and these optimizations are complementary, forming a closed-loop iterative process. Therefore, the longer the system runs, the better its performance and the higher its stability.

[0083] like Figure 2 As shown, this specification also provides an online system for adjusting the pointing of a mobile antenna and calibrating the zero bias of a gyroscope. The coordinate axes of the inertial navigation system's measurement coordinate system are aligned with those of the antenna beam pointing coordinate system. The system includes:

[0084] Sampling point scanning module: used to scan sampling points in four directions: left azimuth, right azimuth, up pitch, and down pitch, and obtain four sets of carrier-to-noise ratio cumulative values. The sampling points in the left azimuth are axially symmetrical with the sampling points in the right azimuth, and the sampling points in the up pitch are axially symmetrical with the sampling points in the down pitch.

[0085] Antenna adjustment module: used to adjust the azimuth angle of the antenna according to a set angle value based on the difference of the cumulative carrier-to-noise ratio in the azimuth direction and the azimuth difference threshold; and to adjust the elevation angle of the antenna according to a set angle value based on the difference of the cumulative carrier-to-noise ratio in the elevation direction and the elevation difference threshold.

[0086] Adjustment recording module: used to record the number of times the antenna adjusts its angle in each direction after the sampling point scanning module and antenna adjustment module have run a set number of times;

[0087] Zero bias calibration module: It is used to determine whether the gyroscope has zero bias in the azimuth direction based on the difference in the number of times the antenna is adjusted to the left and right azimuth directions respectively and the set number threshold. If zero bias exists, a set compensation value is applied to the azimuth zero bias parameter of the gyroscope.

[0088] Based on the difference in the number of times the antenna adjusts its angle in the pitch direction and the set threshold number of times, it is determined whether the gyroscope has zero bias in the pitch direction. If zero bias exists, a set compensation value is applied to the gyroscope's pitch bias parameter.

[0089] The working principle of this system is as described above, and will not be repeated here.

[0090] The above are merely preferred embodiments of the present invention, and are implementations based on the overall concept of the present invention. Furthermore, the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for adjusting the pointing of a mobile antenna and calibrating the zero bias of a gyroscope online, characterized in that, Includes the following steps: Step 102: Align the coordinate axes of the inertial navigation measurement coordinate system with those of the antenna beam pointing coordinate system. Step 104: Scan the sampling points in the four directions of left azimuth, right azimuth, up pitch and down pitch respectively, and obtain four sets of carrier-to-noise ratio cumulative values. The sampling points in the left azimuth are axially symmetrical with the sampling points in the right azimuth, and the sampling points in the up pitch are axially symmetrical with the sampling points in the down pitch. Step 106: Based on the difference in the cumulative carrier-to-noise ratio (CNR) values ​​in the azimuth direction and the azimuth difference threshold, adjust the azimuth angle of the antenna according to a set angle value; based on the difference in the cumulative CNR values ​​in the elevation direction and the elevation difference threshold, adjust the elevation angle of the antenna according to a set angle value. Step 108: Repeat steps 104 and 106 a set number of times, and record the number of times the antenna is adjusted in each direction. Step 110: Based on the difference in the number of times the antenna adjusts its angle to the left and right azimuth directions respectively and the set number threshold, determine whether the gyroscope has zero bias in the azimuth direction. If there is zero bias, apply a set compensation value to the azimuth zero bias parameter of the gyroscope. Based on the difference in the number of times the antenna adjusts its angle in the pitch direction and the set threshold number of times, it is determined whether the gyroscope has zero bias in the pitch direction. If zero bias exists, a set compensation value is applied to the gyroscope's pitch bias parameter.

2. The method for adjusting the pointing of a moving-mode antenna and calibrating the zero bias of a gyroscope online according to claim 1, characterized in that, Step 106 specifically includes: If the cumulative carrier-to-noise ratio (CNR) value on the left azimuth is greater than the cumulative CNR value on the right azimuth plus the azimuth difference threshold, then rotate the antenna to the left by a set angle and record the azimuth adjustment parameter as +1. If the cumulative carrier-to-noise ratio (CNR) value on the right azimuth is greater than the cumulative CNR value on the left azimuth plus the azimuth difference threshold, then the antenna is rotated to the right by a set angle value, and the azimuth adjustment parameter is recorded as -1. If the cumulative carrier-to-noise ratio on the pitch is greater than the cumulative carrier-to-noise ratio on the pitch plus the pitch difference threshold, then the antenna is rotated up by a set angle and the pitch adjustment parameter is recorded as +1. If the cumulative carrier-to-noise ratio under elevation is greater than the cumulative carrier-to-noise ratio under elevation plus the elevation difference threshold, then the antenna is rotated down by a set angle, and the elevation adjustment parameter is recorded as -1.

3. The method for adjusting the pointing of a moving-mode antenna and calibrating the zero bias of a gyroscope online according to claim 2, characterized in that, Step 108 specifically includes: The azimuth adjustment parameters obtained after repeating steps 104 and 106 a set number of times are summed to obtain the cumulative value of the azimuth adjustment parameters. At the same time, the pitch adjustment parameters are summed to obtain the cumulative value of the pitch adjustment parameters.

4. The method for adjusting the pointing of a moving-mode antenna and calibrating the zero bias of a gyroscope online according to claim 3, characterized in that, Step 110 specifically includes: If -set number threshold ≤ cumulative value of azimuth adjustment parameter ≤ +set number threshold, it is determined that the gyroscope does not have zero bias in the azimuth direction; If the accumulated value of the azimuth adjustment parameter is greater than or equal to the set number of times threshold, it is determined that the gyroscope has zero bias in the azimuth direction, and the azimuth zero bias parameter of the gyroscope is increased by the set compensation value. If the accumulated value of the azimuth adjustment parameter is less than the set number of times threshold, it is determined that the gyroscope has zero bias in the azimuth direction, and the azimuth zero bias parameter of the gyroscope is set to - the set compensation value. If -set number threshold ≤ pitch adjustment parameter cumulative value ≤ +set number threshold, it is determined that the gyroscope does not have zero bias in the pitch direction; If the cumulative value of the pitch adjustment parameter is greater than or equal to the set number of times threshold, it is determined that the gyroscope has zero bias in the pitch direction, and the pitch zero bias parameter of the gyroscope is increased by the set compensation value. If the cumulative value of the pitch adjustment parameter is less than the set number of times threshold, it is determined that the gyroscope has zero bias in the pitch direction, and the pitch zero bias parameter of the gyroscope is reduced by the set compensation value.

5. The method for adjusting the pointing of a moving-mode antenna and calibrating the zero bias of a gyroscope online according to claim 1, characterized in that, The set number threshold includes a first set number threshold and a second set number threshold, the set compensation value includes a first set compensation value and a second set compensation value, and step 110 includes: If the difference in the number of counts is less than or equal to the first set threshold number of counts, then it is determined that the gyroscope does not have zero bias. If the first set number threshold < the number difference < the second set number threshold, then it is determined that the gyroscope has zero bias, and the first set compensation value is applied to the zero bias parameter of the gyroscope. If the difference in the number of attempts is greater than or equal to the second set threshold, it is determined that the gyroscope has zero bias, and the second set compensation value is applied to the zero bias parameter of the gyroscope.

6. The method for adjusting the pointing of a moving-mode antenna and calibrating the zero bias of a gyroscope online according to claim 1, characterized in that, Step 110 includes: If the gyroscope's bias parameter after applying a set compensation value is greater than the bias safety value, then the bias parameter is set to the bias safety value.

7. The method for adjusting the pointing of a moving-mode antenna and calibrating the zero bias of a gyroscope online according to claim 1, characterized in that, The sampling points are four in total: one at the position where the antenna rotates to the left and right respectively, corresponding to half the 0.5 dB main lobe width of the azimuth map; and another at the position where the antenna rotates to the up and down respectively, corresponding to half the 0.5 dB main lobe width of the pitch map.

8. The method for adjusting the pointing of a mobile antenna and calibrating the zero bias of a gyroscope online according to claim 1, characterized in that, Step 104 includes: The left and right azimuth have the same number of sampling points, and the up and down pitch have the same number of sampling points. The cumulative carrier-to-noise ratio (CNR) value in each direction is the cumulative CNR value of one sampling point in that direction, or the average of the cumulative CNR values ​​of at least two sampling points.

9. The method for adjusting the pointing of a mobile antenna and calibrating the zero bias of a gyroscope online according to claim 1, characterized in that, include: Step 112: Repeat steps 104-110 until the gyroscope has no zero bias in either the azimuth or pitch directions.

10. A system for adjusting the pointing of a mobile antenna and calibrating the zero bias of a gyroscope online, characterized in that, The inertial navigation system's measurement coordinate system aligns with the coordinate axes of the antenna beam pointing coordinate system. The system includes: Sampling point scanning module: used to scan sampling points in four directions: left azimuth, right azimuth, up pitch, and down pitch, and obtain four sets of carrier-to-noise ratio cumulative values. The sampling points in the left azimuth are axially symmetrical with the sampling points in the right azimuth, and the sampling points in the up pitch are axially symmetrical with the sampling points in the down pitch. Antenna adjustment module: used to adjust the azimuth angle of the antenna according to a set angle value based on the difference of the cumulative carrier-to-noise ratio in the azimuth direction and the azimuth difference threshold; and to adjust the elevation angle of the antenna according to a set angle value based on the difference of the cumulative carrier-to-noise ratio in the elevation direction and the elevation difference threshold. Adjustment recording module: Used to record the number of times the antenna adjusts its angle in each direction after the sampling point scanning module and antenna adjustment module have run a set number of times; Zero bias calibration module: It is used to determine whether the gyroscope has zero bias in the azimuth direction based on the difference in the number of times the antenna is adjusted to the left and right azimuth directions respectively and the set number threshold. If zero bias exists, a set compensation value is applied to the azimuth zero bias parameter of the gyroscope. Based on the difference in the number of times the antenna adjusts its angle in the pitch direction and the set threshold number of times, it is determined whether the gyroscope has zero bias in the pitch direction. If zero bias exists, a set compensation value is applied to the gyroscope's pitch bias parameter.

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