Communication satellite tracking method, storage medium, and electronic apparatus

Abstract

Embodiments of the present disclosure provide a communication satellite tracking method, a storage medium, and an electronic apparatus. The method comprises: on the basis of an initial antenna pointing position point of a satellite tracking device, acquiring a first detection plane and a second detection plane on a spherical surface taking the satellite tracking device as the center, wherein the first detection plane corresponds to a first detection direction, and the second detection plane corresponds to a second detection direction; respectively acquiring a first detection point and a second detection point on the basis of the first detection direction and the second detection direction; and determining a tracking direction on the basis of the received signal strength of the first detection point and the second detection point and the received signal strength of the initial position point.

Description

Communication satellite tracking method, storage medium and electronic device

[0001] Cross-reference of related disclosures

[0002] The present disclosure is based on Chinese Patent Publication 2024108494060 entitled "Communication satellite tracking method, storage medium and electronic device" filed on June 27, 2024, and claiming priority to the patent publication, the disclosure of which is incorporated by reference in its entirety. TECHNICAL FIELD

[0003] Embodiments of the present disclosure relate to the field of communication, in particular, to a communication satellite tracking method, a storage medium and an electronic device. BACKGROUND

[0004] With the development of non-terrestrial communication and high, medium and low orbit satellite networks, the scenarios of terminal and mobile satellite communication are increasing. Considering the antenna gain, more and more satellite terminals use phased array antennas with multiple elements and small beams. Too small beams make it difficult to achieve accurate tracking only by relying on navigation equipment, and in order to ensure normal uninterrupted continuous stable communication during terminal or satellite movement, signal tracking algorithm must be used.

[0005] The step tracking algorithm in the signal tracking algorithm has been widely used for its simple and efficient structure, among which the bidirectional search step tracking algorithm is the most common. The implementation of the bidirectional search step tracking algorithm is roughly to control the antenna to rotate in the positive and negative directions with a fixed step in the azimuth and elevation angles, and to compare and judge the received signal level value of the antenna, so as to rotate the antenna to the direction with a larger level value. However, this algorithm detects many points and tracks slowly. SUMMARY

[0006] Embodiments of the present disclosure provide a communication satellite tracking method, a storage medium and an electronic device.

[0007] According to an embodiment of the present disclosure, a communication satellite tracking method is provided, comprising: based on an initial position point of an antenna pointing of a satellite tracking device, acquiring a first detection plane and a second detection plane on a spherical surface centered on the satellite tracking device, wherein the first detection plane corresponds to a first detection direction, and the second detection plane corresponds to a second detection direction; based on the first detection direction and the second detection direction, respectively acquiring a first detection point and a second detection point; and based on the received signal strength of the first detection point and the second detection point, and the received signal strength of the initial position point, determining a tracking direction.

[0008] According to another embodiment of the present disclosure, a computer readable storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above method embodiments when executed.

[0009] According to still another embodiment of the present disclosure, an electronic device is also provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the steps of any of the above method embodiments.

[0010] According to another embodiment of the present disclosure, a computer program product is also provided, comprising a computer program, wherein the computer program is executed by a processor to implement the steps of any of the above method embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0011] FIG. 1 is a hardware structure block diagram of a computer terminal of a communication satellite tracking method according to an embodiment of the present disclosure;

[0012] FIG. 2 is a flowchart of a communication satellite tracking method according to an embodiment of the present disclosure;

[0013] FIG. 3 is a principle block diagram of a satellite communication system according to an embodiment of the present disclosure;

[0014] FIG. 4 is a schematic diagram of a hardware connection relationship of a satellite communication system according to an embodiment of the present disclosure;

[0015] FIG. 5 is a schematic diagram of a position relationship between a detection direction and a detection point according to an embodiment of the present disclosure;

[0016] FIG. 6 is a schematic diagram of a dihedral angle according to an embodiment of the present disclosure;

[0017] FIG. 7 is a schematic diagram of a detection point of a pitch angle and an azimuth angle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings and in conjunction with embodiments.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0020] With the development of non-ground communication and high, medium and low orbit satellite networks, more and more mobile satellite communication scenarios appear in the related art, such as satellite and ground station communication, terminal direct satellite connection and the like. For the ground station and satellite terminal antenna system, it is difficult to achieve accurate tracking of the satellite only by relying on the navigation equipment, and the feature that the satellite is always in a state of motion increases the difficulty of accurate tracking of the antenna, so it is necessary to use a tracking algorithm to improve the tracking accuracy of the system.

[0021] In the related art, the tracking algorithm mainly includes single pulse tracking, conical scanning tracking, step tracking and program tracking. The single pulse tracking has high accuracy, but it needs to collect multiple signals at the same time, the system hardware is complex, and the cost is high. The conical scanning tracking has high accuracy, but it needs a secondary reflecting surface or a feed to rotate around the antenna beam axis, and the continuous mechanical circular motion has high requirements for the stability of the equipment and the flexibility of the motor. The program tracking is suitable for fixed earth station automatic tracking, and the accuracy mainly depends on the future orbit data of the satellite, and the orbit data needs to be updated constantly.

[0022] In the related art, the step tracking, also known as the extremum tracking, acquires the received signal level value through step adjustment, and then adjusts the direction with the maximum level value, and has been widely used due to its simple and efficient structure. Among them, the bidirectional search type step tracking is the most common, and the implementation manner is specifically that the antenna is controlled to rotate in the positive and negative directions at a fixed step length in the azimuth and elevation angles, and the signal level values received by the antenna in the positive and negative directions are compared and judged to make the antenna rotate and adjust the step length in the direction with the larger level value. The algorithm detects many points and has slow tracking.

[0023] In the related art, the specific working process of the bidirectional search type step tracking is as follows: (1) controlling the antenna to initially point to the satellite direction according to the data information; (2) controlling the antenna beam to rotate in the positive and negative directions at a fixed detection step length in the azimuth angle according to the initial position point of the antenna pointing; (3) sampling and comparing the strengths of the signals received by the signal detection points in different directions; (4) controlling the antenna to rotate in the direction with the greater strength at a fixed adjustment step length according to the initial position point of the antenna pointing; (5) setting the adjustment point as the initial position point of the next step process; (6) alternately repeating the above steps in the process of movement of a single satellite. The bidirectional search type has the following deficiencies in the tracking method: (1) the signal level values of the four detection points are acquired to obtain the next adjustment direction, the time delay is large, and the tracking speed is slow; (2) the antenna still needs to communicate when at the four detection points, and too many detection points increase the probability of large tracking error.

[0024] In the related art, a satellite tracking antenna system and a method used by the satellite tracking antenna system propose a satellite tracking method based on step tracking. Two preset reflectors receive satellite signals in the elevation or azimuth direction, the difference between the signal level measurement values of the two reflectors in one direction is obtained each time, the mean value of the two difference values is calculated, the difference value is used to generate a satellite pointing control signal in the direction and drive in the direction. However, this method uses the pre-set hardware reflector to simultaneously obtain the signal level values of the positive and negative detection points of a fixed detection step in one direction, which increases the hardware complexity and cost. This method detects and receives in one direction through the reflector each time, and then drives the pointing, so the adjustment is slow, and only one direction, i.e., the elevation or the azimuth, can be adjusted each time.

[0025] In the related art, a low-orbit mobile communication satellite tracking device and a tracking method, by obtaining four branch radio amplitude signals in different directions relative to the main shaft of the antenna, obtaining the deviation of the main feeder and the four branch radio amplitude signals, driving the antenna to move in the direction with small deviation, and realizing tracking of the low-orbit mobile communication satellite. The tracking scheme of this method is similar to the bidirectional search type step tracking method, and the determination of the tracking direction needs five detection point level values, the input values are many, and the scheme obviously depends on multiple auxiliary radio units beside the main shaft of the antenna, including multiple hardware such as auxiliary horns and feeders, and the implementation cost is high.

[0026] In the related art, a conical scanning tracking method of a mobile satellite communication system, after initial acquisition, the azimuth angle is scanned, that is, on the basis of scanning one circle, the satellite received signal is processed by half-cycle inversion, and then the azimuth error is obtained by integration; the elevation angle is mechanically scanned, the elevation error is obtained by using the pre-known received intensity detection curve parameter information and two detection level signals; finally, the current beam pointing is solved by using the known error. The disadvantages of this method are: (1) the antenna needs to be mechanically scanned for one whole circle, and an additional satellite received signal processing process is artificially added, and integral operation is needed, so the implementation complexity is increased; (2) there are pre-known parameters of the real-time received intensity detection curve, and the scheme is too ideal.

[0027] The method embodiments provided in the embodiments of the present disclosure can be executed in a mobile terminal, a computer terminal or similar computing device. Taking the case of running on a computer terminal, FIG. 1 is a hardware structure block diagram of a computer terminal of a communication satellite tracking method according to an embodiment of the present disclosure. As shown in FIG. 1, the computer terminal can include one or more (only one is shown in FIG. 1) processors 102 (the processor 102 can include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 configured to store data, wherein the computer terminal can further include a transmission device 106 configured to have a communication function and an input and output device 108. Those skilled in the art can understand that the structure shown in FIG. 1 is only schematic, which does not limit the structure of the computer terminal. For example, the computer terminal can include more or less components than those shown in FIG. 1, or have a different configuration from that shown in FIG. 1.

[0028] The memory 104 can be configured to store computer programs, for example, software programs of application software and modules, such as a computer program corresponding to the communication satellite tracking method in the embodiments of the present disclosure. The processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, that is, implements the above-mentioned method. The memory 104 can include a high-speed random access memory, and can further include a non-volatile memory such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include a memory remotely arranged with respect to the processor 102, which can be connected to the mobile terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0029] The transmission device 106 is configured to receive or send data via a network. Specific examples of the above-mentioned network can include a wireless network provided by a communication provider of the computer terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, RF) module, which is configured to communicate with the Internet in a wireless manner.

[0030] The present disclosure provides a communication satellite tracking method, and FIG. 2 is a flowchart of the communication satellite tracking method according to an embodiment of the present disclosure. As shown in FIG. 2, the flow includes the following steps:

[0031] In the embodiments of the present disclosure, the first detection plane and the second detection plane are obtained based on the initial position point of the antenna pointing direction of the satellite tracking device, and the first detection plane corresponds to the first detection direction and the second detection plane corresponds to the second detection direction.

[0032] In the embodiments of the present disclosure, the first detection plane and the second detection plane are obtained based on the initial position point of the antenna pointing direction of the satellite tracking device, and the first detection plane corresponds to the first detection direction and the second detection plane corresponds to the second detection direction.

[0033] In an embodiment, the first detection plane and the second detection plane intersect at the initial position point.

[0034] In the embodiments of the present disclosure, the first detection plane and the second detection plane intersect to form a straight line, and the straight line passes through the initial position point.

[0035] In the embodiments of the present disclosure, the first detection plane and the second detection plane are obtained based on the initial position point of the antenna pointing direction of the satellite tracking device, and the first detection plane corresponds to the first detection direction and the second detection plane corresponds to the second detection direction.

[0036] In the embodiments of the present disclosure, the first detection plane and the second detection plane are obtained based on the initial position point of the antenna pointing direction of the satellite tracking device, and the first detection plane corresponds to the first detection direction and the second detection plane corresponds to the second detection direction.

[0037] In the embodiments of the present disclosure, the first detection plane and the second detection plane are obtained based on the initial position point of the antenna pointing direction of the satellite tracking device, and the first detection plane corresponds to the first detection direction and the second detection plane corresponds to the second detection direction.

[0038] In an embodiment, the dihedral angle corresponding to the first detection point and the second detection point has a plane angle in a range of greater than 0° and less than or equal to 90°.

[0039] In the embodiments of the present disclosure, the dihedral angle corresponding to the first detection point and the second detection point has a plane angle in a range of greater than 0° and less than or equal to 90°.

[0040] In an embodiment, the first detection point and the second detection point are obtained based on the first detection direction and the second detection direction, including: obtaining the first detection point based on the first detection direction and according to the first detection step; and obtaining the second detection point based on the second detection direction and according to the second detection step.

[0041] In this embodiment of the disclosure, the detection step size, including the first detection step size and the second detection step size, is not specifically limited and is determined by the actual equipment.

[0042] In one embodiment, obtaining a first detection point and a second detection point based on a first detection direction and a second detection direction respectively includes: obtaining a first detection point according to a first detection step size based on the positive or negative direction of the first detection direction; and obtaining a second detection point according to a second detection step size based on the positive or negative direction of the second detection direction.

[0043] In this embodiment of the disclosure, there is no specific limitation on the selection of the positive or negative direction of the detection direction (including the first detection direction and the second detection direction), which is determined by the actual equipment.

[0044] Step S206: Determine the tracking direction based on the received signal strength of the first detection point and the second detection point, as well as the received signal strength of the initial position point.

[0045] In one embodiment, determining the tracking direction based on the received signal strength of the first detection point and the second detection point, as well as the received signal strength of the initial position point, includes: comparing the magnitude of the received signal strength of the first detection point with that of the initial position point, and comparing the magnitude of the received signal strength of the second detection point with that of the initial position point; selecting the signal detection direction with the larger received signal strength as the tracking direction, wherein the signal detection direction includes the first detection direction and the second detection direction.

[0046] In this embodiment of the disclosure, the specific method for obtaining the tracking direction is not limited. It can be, but is not limited to, directly comparing the received signal strength of the initial position point and the detection point, and identifying the direction with the larger received signal strength as the tracking direction.

[0047] In one embodiment, after determining the tracking direction, the method further includes: adjusting the pointing direction of the satellite tracking device according to the tracking direction and a preset adjustment step size, so that the pointing direction of the satellite tracking device satisfies the tracking direction.

[0048] In this embodiment of the disclosure, the pointing direction of the satellite tracking device satisfies the requirement that the pointing direction of the satellite tracking device is close to the tracking direction. The determination of whether the pointing direction of the satellite tracking device is close to the tracking direction is based on the actual situation.

[0049] In this embodiment, the pointing direction of the tracking device is adjusted according to the tracking direction and a preset adjustment step size. The adjustment method includes adjustments in two directions. These two directions include either the positive or negative direction of the first detection direction, and either the positive or negative direction of the second detection direction. Adjustments can be made in either the positive or negative direction of the first or second detection direction depending on the actual situation. The specific adjustment step size for each direction is not limited here.

[0050] By the above steps, a communication satellite tracking method is provided, a first detection plane and a second detection plane are obtained on a sphere centered at the satellite tracking device based on an initial position point of an antenna pointing direction of the satellite tracking device, wherein the first detection plane corresponds to a first detection direction, and the second detection plane corresponds to a second detection direction; a first detection point and a second detection point are respectively obtained based on the first detection direction and the second detection direction; and a tracking direction is determined based on received signal strengths of the first detection point and the second detection point and a received signal strength of the initial position point. The problems of a large number of algorithm detection points and slow tracking in the communication satellite tracking process in the related art are solved, and the effects of reducing the number of algorithm detection points in the communication satellite tracking process and improving the communication satellite tracking rate are achieved.

[0051] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be realized by means of software and a necessary general hardware platform, and of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the disclosure can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk), and includes a plurality of instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device) to execute the methods described in the various embodiments of the disclosure.

[0052] In this embodiment, a communication satellite tracking device is also provided, which is configured to implement the above embodiments and preferred embodiments, and has been described above. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware or a combination of software and hardware is also possible and is contemplated.

[0053] The communication satellite tracking device provided by the embodiments of the disclosure can include a first obtaining module, a second obtaining module, and a determining module. The first obtaining module is configured to obtain a first detection plane and a second detection plane on a sphere centered at the satellite tracking device based on an initial position point of an antenna pointing direction of the satellite tracking device, wherein the first detection plane corresponds to a first detection direction, and the second detection plane corresponds to a second detection direction. The second obtaining module is configured to obtain a first detection point and a second detection point based on the first detection direction and the second detection direction, respectively. The determining module is configured to determine a tracking direction based on received signal strengths of the first detection point and the second detection point and a received signal strength of the initial position point.

[0054] It should be noted that the above various modules can be implemented by software or hardware, and for the latter, the implementation can be achieved by the following ways, but is not limited to: the above modules are located in the same processor; or the above various modules are located in different processors in any combination.

[0055] In the embodiments of the present disclosure, the communication satellite tracking device can further include different modules, and the naming and function division of the modules can also be selected in different ways according to actual conditions, which are not specifically limited here.

[0056] The embodiments of the present disclosure further provide a computer readable storage medium, which stores a computer program. The computer program is configured to execute the steps in any of the method embodiments when running.

[0057] In an example embodiment, the computer readable storage medium can include, but is not limited to: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store computer programs.

[0058] The embodiments of the present disclosure further provide an electronic device, which includes a memory and a processor. The memory stores a computer program. The processor is configured to execute the computer program to perform the steps in any of the method embodiments.

[0059] In an example embodiment, the electronic device can further include a transmission device and an input / output device. The transmission device is connected to the processor. The input / output device is connected to the processor.

[0060] The embodiments of the present disclosure further provide a computer program product, which includes a computer program. The computer program is executed by a processor to implement the steps in any of the method embodiments.

[0061] In an example embodiment, the computer program product includes a non-volatile computer readable storage medium. The non-volatile computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the steps in the method described in the embodiments of the present disclosure.

[0062] The specific examples in the present embodiment can refer to the examples described in the above embodiments and example embodiments, which will not be repeated here.

[0063] Obviously, those skilled in the art should understand that the modules or steps of the present disclosure described above can be realized by general computing devices, which can be centralized on a single computing device or distributed on a network composed of multiple computing devices, which can be realized by program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different order, or they can be made into individual integrated circuit modules, or multiple modules or steps can be made into a single integrated circuit module. Thus, the present disclosure is not limited to any specific combination of hardware and software.

[0064] In order for those skilled in the art to better understand the technical solutions of the present disclosure, the following describes different embodiments.

[0065] Embodiment one

[0066] Figure 3 is a schematic block diagram of a satellite communication system according to an embodiment of the present disclosure. As shown in Figure 3, it mainly includes end stations, satellites, gateway stations and data networks (user data center, Internet). The gateway station is responsible for connecting the non-terrestrial network to the public data network, and the satellite is generally served by one or more gateway stations deployed in the satellite coverage area to ensure the continuity of the service. The end station is served by the satellite in the target service area, including handheld devices, VSAT, mobile platforms (aircraft, ships, cars), etc. The link between the satellite and the gateway station is the feeder link, and the link between the end station and the satellite is the service link.

[0067] Figure 4 is a schematic diagram of the hardware connection relationship of a satellite communication system according to an embodiment of the present disclosure. As shown in Figure 4, the initial pointing acquisition module gives an initial pointing initial position point O and starts the signal tracking module. The signal tracking module outputs the antenna pointing of the O point. The antenna receives the current pointing signal and transmits it to the level measurement module. The level measurement module measures the signal level and then transmits the measurement value to the signal tracking module. Then the signal tracking module outputs the next antenna pointing to the antenna through the measurement value and the fixed steps of the present disclosure. If the antenna beam is an electronic beam, the output is a wave control code. If the antenna beam is an analog beam, the output is the phase shift value that each array element needs to adjust. Through the operation of the above-mentioned internal modules of the terminal / gateway station, it is ensured that there is a normal uninterrupted continuous stable signal for the end station / gateway station during the movement of the satellite, that is, the maximum gain direction of the antenna of the end station / gateway station is aligned with the satellite.

[0068] Embodiment two

[0069] According to the satellite communication system composition framework provided in embodiment one. In embodiment two, the flow of the communication satellite tracking method according to an embodiment of the present disclosure is introduced.

[0070] Figure 5 is a schematic diagram of the position relationship between the detection direction and the detection point of the embodiment of the present disclosure. As shown in Figure 5, xyz is a rectangular coordinate system with the antenna panel of the satellite tracking device as the center and the plane of the antenna panel as the xoy plane. The initial pointing points O, A, B, C and D of the antenna are located on a fixed radius sphere. Direction one of the two fixed angle directions on the sphere is the direction in which the antenna pointing changes from B to O and then to A, and direction two is the direction in which the antenna pointing changes from D to O and then to C. They only need to satisfy the fixed angle relationship on the sphere, that is, the plane 1 in which the sphere BOA arc (the first detection direction) is located is not coincident with the plane 2 in which the sphere DOC arc (the second detection direction) is located.

[0071] The communication satellite tracking method provided by the embodiment of the present disclosure comprises the following steps:

[0072] S501, controlling the antenna to initially point to the satellite direction O (the initial position point) according to the data information and acquiring the received signal strength of the O point.

[0073] S502, taking the O point as the initial pointing position of the antenna, controlling the antenna beam to rotate in direction one of the two fixed angle directions on the plane by a direction one detection step in the positive or negative direction to point to the A point or the B point, assuming that this time the A point is selected to be pointed to, and acquiring the received signal strength of the A point.

[0074] In the embodiment of the present disclosure, the direction one detection step is not specifically limited and is determined by the actual device.

[0075] Figure 6 is a schematic diagram of the dihedral angle of the embodiment of the present disclosure. As shown in Figure 6, the intersection line of the plane 1 and the plane 2 is the edge of the dihedral angle in which the A point and the C point are located, and the half plane in which the A point is located in the plane 1 and the half plane in which the C point is located in the plane 2 are the faces of the dihedral angle in which the A point and the C point are located, thereby forming the dihedral angle in which the A point and the C point are located. The plane angle of the dihedral angle in which the A point and the C point are located is that the angle between the two rays perpendicular to the edge is taken as the end point in the two faces.

[0076] S503, according to the selected point A on the direction one, controlling the antenna beam to rotate in direction two of the two fixed angle directions on the sphere by a direction two detection step in the positive or negative direction to point to the C point or the D point, assuming that this time the C point is selected to be pointed to, then the plane angle of the dihedral angle in which the A point and the C point are located needs to be greater than 0° and less than or equal to 90°, and the received signal strength of the C point is acquired.

[0077] In the embodiment of the present disclosure, the direction two detection step is not specifically limited and is determined by the actual device.

[0078] S504, acquiring the tracking direction through the received signal strength in steps S501-S503.

[0079] In the embodiments of the present disclosure, the specific acquisition method of the tracking direction is not limited, which can be but is not limited to directly comparing the received signal strengths of the O point and the detection points, and determining that the direction with the greater received signal strength is the tracking direction.

[0080] S505, taking the O point as the initial pointing direction of the antenna, controlling the antenna to rotate the tracking direction obtained in step d by the first adjustment step and the second adjustment step to the O' point.

[0081] In the embodiments of the present disclosure, the first adjustment step and the second adjustment step are not specifically limited and are determined by the actual device antenna tracking system.

[0082] S506, setting the O' point as the initial position point for the next step-by-step process.

[0083] S507, alternately repeating steps S501-S506 during the movement of the single satellite.

[0084] In the embodiments of the present disclosure, during the alternately repeating steps S501-S506 during the movement of the single satellite, the two spherical fixed angle directions used in step S502 each time and the detection points selected in the directions are not limited.

[0085] Embodiment Three

[0086] In the present embodiment, when the detection step and the adjustment step are both determined to be consistent, the two spherical fixed angle directions selected in step S502 of the above-mentioned embodiments are both the azimuth angle change direction (first detection direction) and the elevation angle change direction (second detection direction), that is, the angle between the plane of the spherical BOA arc and the plane of the spherical DOC arc is a right angle, and the step S504 of the above-mentioned embodiments is set to directly compare the received powers of the O point and the detection points, and determine that the direction with the greater received power is the tracking direction.

[0087] FIG. 7 is a schematic diagram of detection points of the elevation angle and the azimuth angle according to an embodiment of the present disclosure. As shown in FIG. 7, xyz is a rectangular coordinate system with the star tracking device antenna panel as the center and the plane of the antenna panel as the xoy plane, the elevation angle is the angle between the antenna pointing direction and the z axis, and the azimuth angle is the angle between the projection of the antenna pointing direction on the xoy plane and the y axis. A point and B point are respectively the detection points located at the positive direction and the reverse direction of the O point in the azimuth angle change direction, and C point and D point are respectively the detection points located at the positive direction and the reverse direction of the O point in the elevation angle change direction.

[0088] In the embodiment, five different satellite motion trajectories are simulated, and four possible schemes proposed in the embodiment are used for tracking, i.e., the OAC scheme (selecting the detection points A and C in step S502 of the above embodiment), the OBC scheme (selecting the detection points B and C in step S502 of the above embodiment), the OAD scheme (selecting the detection points A and D in step S502 of the above embodiment), the OBD scheme (selecting the detection points B and D in step S502 of the above embodiment), and the bidirectional search type step scanning scheme. Under the change of the elevation angle and the azimuth angle of each satellite motion trajectory, the tracking error is obtained, and it is found that the tracking error of the two-point detection signal tracking method (the OAC, OBC, OAD, and OBD schemes) of the embodiment is within 0.25 dB, and the proportion is higher than that of the four-point detection (the bidirectional search type step scanning) scheme, which indicates that the method of the embodiment has small tracking error and better tracking performance in the satellite tracking process.

[0089] In the actual implementation process, whether the interface of the initial pointing acquisition module to the signal tracking module has an output is detected, and after the output, the first three antenna pointing directions of the signal tracking module output interface data are captured, or the power measurement is directly performed on the sphere with the satellite tracking device antenna panel as the center and a fixed radius to obtain the first three maximum transmission power positions (antenna pointing directions). The sphere positions one, two, and three correspond to the first three obtained antenna pointing directions, respectively, the sphere position one should be the initial antenna pointing O point, the sphere positions two and three correspond to the detection points adjusted in the embodiment, in the case that the sphere positions one, two, and three form a triangle on the sphere, and the plane angle of the sphere position one and the sphere positions two and three is within the range of (0°, 90°], it can be determined that the satellite tracking device uses the scheme of the embodiment.

[0090] In summary, the communication satellite tracking method provided in the embodiment can be applied to a satellite terminal station, a satellite gateway station, and a mobile satellite terminal device. The two-point detection signal tracking based on step scanning can quickly track the maximum received signal direction. Based on the bidirectional search type step tracking, the last tracking result is used as one side of the bidirectional search type, and one of the detection points in the two sphere fixed angle directions centered on the last tracking result is selected as the other side of the bidirectional search type, and the tracking direction is determined by the level values of the received signals at the two positions, and the tracking is periodically detected and continued, so that the mobile tracking is achieved.

[0091] The embodiment only needs to obtain the received signal level values at two detection points and can determine the tracking direction through simple comparison, and the operation is simple and low in cost, and no additional calculation is needed. Compared with the existing disclosed technology, the energy consumption and tracking speed are obviously improved, and the tracking effect is optimized.

[0092] The above merely provides preferred embodiments of the present disclosure, and is not used to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present disclosure shall fall into the protective scope of the present disclosure.

Claims

1. A method for tracking a communication satellite, comprising: acquiring a first detection plane and a second detection plane on a spherical surface centered at a satellite tracking device based on an initial position point of an antenna pointing direction of the satellite tracking device, wherein the first detection plane corresponds to a first detection direction and the second detection plane corresponds to a second detection direction; acquiring a first detection point and a second detection point based on the first detection direction and the second detection direction, respectively; determining a tracking direction based on received signal strengths of the first detection point and the second detection point and a received signal strength of the initial position point. 2.The method of claim 1, wherein: the first detection plane and the second detection plane intersect at the initial position point. 3.The method of claim 1, wherein: a dihedral angle of the first detection point and the second detection point ranges from greater than 0° to less than or equal to 90°.

4. The method of claim 1, wherein, acquiring the first detection point and the second detection point based on the first detection direction and the second detection direction, respectively, comprises: acquiring the first detection point based on the first detection direction according to a first detection step; acquiring the second detection point based on the second detection direction according to a second detection step.

5. The method of claim 4, wherein, acquiring the first detection point and the second detection point based on the first detection direction and the second detection direction, respectively, comprises: acquiring the first detection point based on a positive direction or a negative direction of the first detection direction according to the first detection step; acquiring the second detection point based on a positive direction or a negative direction of the second detection direction according to the second detection step.

6. The method of claim 1, wherein, determining the tracking direction based on the received signal strengths of the first detection point and the second detection point and the received signal strength of the initial position point, comprises: comparing the received signal strengths of the first detection point and the initial position point, and comparing the received signal strengths of the second detection point and the initial position point; selecting a signal detection direction with a greater received signal strength as the tracking direction, wherein the signal detection direction comprises the first detection direction and the second detection direction.

7. The method of claim 1, wherein, after determining the tracking direction, the method further comprises: adjusting a pointing direction of the satellite tracking device according to a preset adjustment step based on the tracking direction, so that the pointing direction of the satellite tracking device satisfies the tracking direction.

8. A computer-readable storage medium having stored therein a computer program, wherein, The computer program is executed by a processor to implement the method in any one of claims 1 to 7. 9.An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method in any one of claims 1 to 7 when executing the computer program. 10.A computer program product comprising a computer program, wherein the computer program is executed by a processor to implement the method in any one of claims 1 to 7.

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