CN109786966B - Tracking device of low-orbit satellite ground station antenna and application method thereof - Google Patents
Tracking device of low-orbit satellite ground station antenna and application method thereof Download PDFInfo
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Abstract
The invention discloses a tracking device of a low-orbit satellite ground station antenna, which comprises: an ephemeris forecasting unit, which is connected with an ephemeris receiver in communication connection with the low orbit satellite for receiving the ephemeris; the tracking control unit is in communication connection with the ephemeris forecasting unit, and is connected with the GPS and/or Beidou positioning unit and the inertial measurement unit; and the servo control unit is in communication connection with the tracking control unit and is provided with an antenna driving assembly and a frame assembly which are matched with the ground station antenna. The invention provides a tracking device of a low-orbit satellite ground station antenna, which can predict the orbit position information of a satellite in a subsequent period of time by accessing an ephemeris forecasting unit, and is further used for guiding the ground station antenna to realize the acquisition, tracking and Alignment (ATP) of the satellite.
Description
Technical Field
The invention relates to a tracking and application method of a low-orbit satellite ground station antenna used under the condition of satellite communication.
Background
The mobile communication system based on the low orbit satellite has the characteristics of short communication time delay, small propagation loss, reliable transmission quality and the like, can form global coverage through networking of a plurality of satellites, has the same order of magnitude as a ground fixed communication network, and can be conveniently improved through increasing the number of satellites.
With the high-speed development of modern mobile communication technology in China and the maturation of small satellite technology and the reduction of cost, a low-orbit satellite mobile communication system has become an important direction of satellite communication development in China. The low-orbit satellite communication terminal with low cost, high speed, miniaturization, full automation and homemade autonomy is developed and has wide market prospect.
And because of the high-speed motion of the low-orbit satellite, the ground station antenna needs to track continuously along with the motion of the satellite, the frequency of the received carrier signal also needs to be changed along with the beam switching of the satellite, and the tracking task of the ground station antenna also needs to be continuously switched from one satellite to the next satellite. The ground station antenna needs to maintain high alignment accuracy for automatically tracking and aligning the satellites used at all times and to ensure continuity of communication during the active time. The tracking accuracy and dynamic characteristics of the ground station antenna are much higher for low-orbit satellite tracking than for high-orbit satellites.
The low-orbit satellite runs around the earth at a high speed on a specific orbit with a height of 200-2000 km from the ground, and the ground station antenna needs to follow the movement of the satellite to move, so that the orientation of the low-orbit satellite relative to the satellite is always kept; because the low orbit satellite communication adopts a networking (constellation) mode, a plurality of satellites which are arranged according to a certain rule are needed to cooperate in order to realize the continuous coverage of signals in time in a specific area on the ground.
Based on the characteristics of the low-orbit satellite communication system, the ground station antenna firstly: continuous and high-precision follow-up tracking of the relative satellite needs to be maintained; secondly, when switching the communication satellite, the antenna is required to be capable of rapidly switching to the target satellite to be aligned so as to ensure the continuity of communication. Therefore, low-orbit (LEO) satellite communications are subject to higher demands on both tracking accuracy and dynamics of the ground station antennas than are high-orbit (GEO) satellite communications.
Therefore, the tracking device of the ground station antenna of the high-orbit satellite in the prior art cannot be applied to the ground station antenna of the low-orbit satellite because the working modes of the low-orbit satellite and the high-orbit satellite relative to the ground station antenna are different.
Disclosure of Invention
It is an object of the present invention to address at least the above problems and/or disadvantages and to provide at least the advantages described below.
The invention also aims to provide a tracking device of the ground station antenna of the low orbit satellite, which can predict the orbit position information of the satellite in a subsequent period of time based on the kepler law of the planetary motion according to the position information of the satellite at a certain moment (or initial moment) by accessing an ephemeris forecasting unit, and is further used for guiding the ground station antenna to realize capturing, tracking and Aligning (ATP) of the satellite.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided a tracking apparatus of a low-orbit satellite ground station antenna, comprising:
an ephemeris forecasting unit, which is connected with an ephemeris receiver in communication connection with the low orbit satellite for receiving the ephemeris;
the tracking control unit is in communication connection with the ephemeris forecasting unit, and is connected with the GPS and/or Beidou positioning unit and the inertial measurement unit;
the servo control unit is in communication connection with the tracking control unit, and is provided with an antenna driving assembly and a frame assembly which are matched with the ground station antenna;
the frame assembly is configured to comprise a base matched with the antenna, the base is configured to be of a cone-shaped double-layer hollow structure, and a sand injection port and a sand outlet are respectively arranged at the upper part and the bottom of the base.
Preferably, the method further comprises:
the carrier tracking unit is in communication connection with the tracking control unit and is in communication connection with a carrier or signal wave receiver;
and a position detection unit in communication with the servo control unit.
Preferably, the ephemeris forecasting unit, the carrier tracking unit and the servo control unit are respectively provided with a first CPU, a second CPU and a third CPU which are matched with the tracking control unit;
and the tracking control unit is provided with an MCU and a controller.
Preferably, the antenna driving assembly comprises an azimuth motor, a pitching motor and a rolling motor which are matched with the antenna;
the frame assembly also comprises a two-axis A/E or three-axis A/E/R shaft frame mechanism matched with the antenna;
wherein the azimuth motor, the pitching motor, the rolling motor and the angle measuring device are arranged on a mechanism frame shaft;
the base is configured to be of an inverted cone structure, the top of the base is provided with a mounting surface matched with the bottom surface, and the bottom surface is connected with the edge of the mounting surface through a plurality of ribs at intervals of a preset distance.
A method of applying a tracking device, comprising:
step one, an ephemeris forecast unit is used for forecasting the initial T 0 The satellite orbit parameter data at the moment is calculated to obtain satellite orbit coordinates of the orbit after the moment t, and the satellite orbit coordinates are converted and solved to obtain the position parameters of the satellite in an earth coordinate system;
and step two, the tracking control unit carries out iterative operation based on the position parameters of the ground station and the satellite at the time t and the current attitude analysis information of the antenna so as to obtain the real-time pointing angle of the antenna relative to the satellite.
Preferably, in the first step, the satellite orbit parameter is obtained by positioning the position of the satellite by a GPS, receiving broadcast satellite information or manually inputting the satellite information, and executing a corresponding initialization zeroing action of the shaft frame mechanism after obtaining orbit parameter data of the initial time of the satellite;
the satellite orbit parameters include: the semi-major axis a, the orbit eccentricity e, the orbit inclination i, the orbit ascending intersection point right angle omega, the near-site angular distance omega and the satellite flat near-site angle M of the satellite elliptical orbit jointly define the position of the satellite relative to the earth; wherein: a. e, omega, i define the orbital plane of the satellite, omega define the azimuth of the ellipse in the orbital plane, and M define the position of the satellite relative to the near-spot
Wherein, real-time flat-near place angle M t The calculation formula of (2) is as follows:
in the above formula, μ= 3.986005 ×10 14 m 3 /s 2 The value range of Mt is [0 DEG, 360 DEG ] which is the gravitational constant and fix represents rounding operation.
Preferably, in the second step, the tracking control unit converts longitude and latitude parameters of the real-time satellite and the ground station into cartesian coordinate representations in the earth coordinate system based on the ephemeris forecasting unit, and then calculates the real-time pointing angle of the antenna for guiding the ground station to find the satellite through the following calculation process steps a-d;
a. respectively converting the geodetic coordinates of the ground station and the satellite into geodetic coordinates of the earth-centered earth-fixed coordinate system [ X ] s ,Y s ,Z s ]And [ X ] u ,Y u ,Z u ]The representation is:
wherein N is the radius of curvature of the circle of the mortise and the circle, and a is the long half shaft of the ellipsoid; b is a short half shaft of an ellipsoid,the longitude and latitude height of lambda and h satellites;
b. the vector s of subscriber station pointing to the satellite is expressed in ECEF coordinate system as:
s＝[X s -X u ,Y s -Y u ,Z s -Z u ]
c. calculating a vector l= [ X, Y, Z ] of a vector s of a subscriber station pointing to a satellite in a geographic coordinate system;
d. the antenna pointing angle at which the subscriber station points at the satellite can be calculated:
azimuth angle ψ=arctan 2 (Z, X)
Pitch angle θ=arcsin (Y/N).
Preferably, in the second step, carrier tracking of the carrier tracking unit is configured to adopt cone scanning and real-time beacon value feedback correction technology to provide high-speed stable feedback parameters for the system;
the carrier or signal wave receiver of the carrier tracking unit receives and tracks the carrier signal of the satellite in real time, adopts the channelized FFT receiving technology and the frequency tracking technology for the FPGA to scan and track the carrier signal, and collects the carrier amplitude so as to output the corresponding beacon voltage value AGC;
the tracking control unit detects the angle of the satellite offset main beam according to the received AGC signal, and forms a high-stability closed loop control circuit with real-time feedback correction of an angle measurement encoder in the inertia measurement unit, and in order to overcome the influence of Doppler frequency shift effect in the signal transmission process, the tracking control unit buddies an antenna and a satellite Doppler frequency shift value according to the satellite track, a satellite main station, the ground station position and the relative motion relation, and is used for frequency compensation of a carrier tracking receiver, so that the antenna beam is always accurately aligned with and tracked to the satellite.
Preferably, the algorithm flow of the real-time beacon value feedback correction technology comprises:
s1, the CPU of the carrier tracking unit compares the current beacon voltage value V1 received from the carrier or the signal wave receiver with the previous beacon voltage value V0 for the first time, if the difference value is larger than or equal to a preset value, the correction is finished, otherwise, S2-S4 are executed;
s2, giving the value of V1 to V0;
s3, acquiring a beacon voltage value V2 in real time;
s4, comparing the value of V2 with the value of V0 for the second time, if the difference value is greater than or equal to 0, carrying out S3, otherwise carrying out S5-S7;
s5, subtracting the azimuth position of V0 by 0.4 degrees and outputting;
s6, acquiring a beacon voltage value V3 in real time;
s7, comparing the value of V3 with the value of V0 for the third time, if the difference value is greater than or equal to 0, giving the value of V3 to V0, executing S5-S7, otherwise executing S8;
and S8, adding the azimuth position of V3 by 0.2 DEG for output, and finishing correction.
Preferably, the method further comprises:
step three, the tracking control unit obtains the target pointing direction according to calculation, and the servo control unit controls the tracking control unit to finish the pointing tracking of the antenna;
step four, the tracking device starts to build a chain after locking the satellite, initiates an access request, and sends self identity information and position information to a satellite master station;
step five, after receiving the access request, the master station calculates a communication sequence of a user for a period of time in the future, allocates an IP address and channel resources, and sends the tracking device and the satellite communication sequence to the tracking device;
step six, the tracking device successfully builds a chain, calculates future antenna pointing direction in advance according to the communication sequence, and enters a continuous communication state;
and seventhly, the satellite master station end application software generates service data, the service data are sent to the terminal user through a WIFI or LAN protocol, and the terminal user receives and processes signals and information and implements service communication.
The invention at least comprises the following beneficial effects: the invention provides a tracking device of a low-orbit satellite ground station antenna, wherein a tracking control unit of the device can predict the orbit position information of a satellite in a subsequent period based on the kepler law of planetary motion according to the position information of the satellite at a certain moment (or initial moment) by accessing an ephemeris forecasting unit, and the tracking control unit is further used for guiding the ground station antenna to realize capturing, tracking and Aligning (ATP) of the satellite.
The tracking device adopts the integrated design of the high-speed operation processor and the high-speed detection module, establishes a stable communication link channel between the ground station and the satellite, and can realize that the ground station is connected to the Internet through the low-orbit satellite, thereby realizing the high-bandwidth data transmission requirements of video conferences, voice telephones, faxes, file transmission and the like.
The invention also provides a method for applying the device, the software system for automatically tracking the ground station antenna of the low-orbit satellite is a key ground facility component in the construction of a wireless mobile communication system based on the low-orbit satellite, the high-efficiency and stable antenna satellite finding, satellite following and satellite (ATP) design can establish a reliable and continuous communication link channel between the ground station and the satellite, the satellite finding is quick, the satellite aiming is stable, the signal transmission of the channel is stable, and the method can be popularized and applied to low-orbit satellite communication systems of platforms such as vehicles, ships, aircrafts and the like and has wide engineering application popularization value.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic diagram of a tracking device for a low-orbit satellite ground station antenna according to one embodiment of the present invention;
FIG. 2 is a schematic view of a base according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of an algorithm for carrier correction according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of an algorithm of a tracking procedure according to another embodiment of the present invention;
FIG. 5 is a schematic block diagram of beacon tracking in accordance with another embodiment of the invention;
FIG. 6 is a control schematic block diagram of another embodiment of the present invention;
fig. 7 is a block diagram of an ephemeris forecast principle process in another embodiment of the invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
Fig. 1-2 show an implementation of a tracking device for a low-orbit satellite ground station antenna according to the invention, comprising:
the ephemeris forecasting unit 1 is connected with the ephemeris receiver 2 which is in communication connection with the low orbit satellite to receive the ephemeris, and is used for receiving the ephemeris data sent by the satellite, and particularly comprises an ephemeris forecasting module and a CPU (central processing unit), receiving the satellite ephemeris data which are injected at regular intervals from the outside, and forecasting the orbit position information of the satellite in a subsequent period of time through a specific forecasting algorithm by combining relevant parameters and operation rules of the satellite, wherein the ephemeris receiver is used for solving real-time coordinate parameters of the satellite relative to a ground station by the tracking control unit;
the tracking control unit 3 is in communication connection with the ephemeris forecasting unit and mainly comprises an MCU control processor and tracking control software, the MCU can calculate the pointing angle of the antenna relative to the satellite according to input ephemeris forecasting data, satellite beacon information, antenna GPS/BD positioning information, gesture information detected by the inertial unit and the like, and is used for guiding the antenna to search and follow the satellite, and the tracking control unit 3 is connected with a GPS and/or Beidou positioning unit 4 and an inertial measurement unit 5, and is used for positioning the antenna itself in real time through the GPS and/or the Beidou positioning unit and acquiring the inertia of the antenna in the running process through the inertial measurement unit;
the servo control unit 6 is in communication connection with the tracking control unit and consists of a control CPU, a driver, a motor, an antenna frame mechanism, a position detection unit and the like, wherein the CPU drives the antenna mechanism to rotate according to the pointing angle information output by the tracking control unit so as to realize real-time control of the antenna pointing, an antenna driving component 8 and a frame component (not shown) which are matched with the ground station antenna 7 are arranged on the servo control unit, the servo control unit is composed of a two-axis A/E (azimuth + elevation) or three-axis A/E/R (azimuth + elevation + transverse rolling) shaft frame mechanism, the motor, an angle measuring device and the like are arranged on a mechanism shaft, and radio frequency components such as an antenna feed source are used as loads of the antenna mechanism;
the servo control unit performs corresponding alignment on the antenna driving assembly according to the signal sent by the tracking control unit, so that the antenna can be aligned in real time;
the frame assembly is configured to include a base 9 matched with the antenna and used for supporting the antenna and providing a mounting position, the base is configured to be of a cone-shaped double-layer hollow structure and used for controlling the mounting position of the antenna so that the structure, the volume and the quality of the antenna are controllable, the upper part and the bottom of the base are respectively provided with a sand injection port 10 and a sand outlet 11, and the sand injection ports and the sand outlet are arranged through the structures of the sand injection ports and the sand outlet, so that the quality in the mounting and transporting processes is ensured, and scattered sand can be injected through a proper amount of sand to increase the quality of the antenna, and the stability after the mounting is better. The device adopting the scheme mainly comprises a tracking control unit, an ephemeris forecasting unit, a carrier tracking unit, an antenna servo control unit, an inertial navigation unit and the like, and is suitable for the satellite alignment requirement of a low-orbit satellite by adding the ephemeris forecasting unit on the device, and has the advantages of simple structure, convenience in installation, convenience in transportation and controllable volume and quality by structural design of a base. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 1, in another example, further includes:
a carrier tracking unit 12 communicatively coupled to the tracking control unit and having a carrier or signal receiver 13 (i.e., a beacon or beacon receiver) communicatively coupled thereto for forming a spatial closed loop by receiving satellite beacon signals or beacon signals by the beacon or beacon receiver to accomplish high accuracy tracking;
a position detection unit 14 in communication with the servo control unit. The device adopting the scheme accurately positions the movement angle and the position of the antenna through the matching of the carrier tracking unit and the position detection unit, and has the advantages of good implementation effect, strong operability, good adaptability and strong stability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 1, in another example, the ephemeris forecasting unit, the carrier tracking unit and the servo control unit are respectively provided with a first CPU 15, a second CPU 16 and a third CPU 17 matched with the tracking control unit;
the specific tracking control unit mainly comprises an MCU control processor and tracking control software, and the main control unit controls the antenna to accurately track the satellite according to current satellite orbit information, carrier wave information, antenna positioning information, attitude information and the like;
the specific servo control unit consists of a control CPU, a driver, a position detection unit and an angle encoder, and drives the antenna platform according to the control information of the tracking control unit to control the position and the speed;
the specific carrier tracking consists of a beacon receiver and a carrier tracking CPU, and high-precision tracking is completed by tracking satellite signals;
the specific ephemeris forecasting unit consists of an ephemeris forecasting module and a CPU, and according to the attitude information of the antenna, the attitude data of the antenna in a geographic coordinate system is calculated, and the azimuth, pitching and rolling angle data of the antenna axis aiming at the target low orbit satellite in the antenna coordinate system is obtained through coordinate conversion;
the tracking control unit is provided with an MCU 18 and a controller (not shown). The single chip microcomputer with independent operation is adopted for ephemeris forecasting, carrier tracking and servo control, the operation pressure of a main control CPU is effectively reduced, specifically, the device adopts an integrated design of a high-speed operation processor and a high-speed detection module, and can predict the orbit position information of a satellite in a subsequent period based on the kepler law of planetary motion according to the position information of the satellite at a certain moment (or initial moment), so as to guide a ground station antenna to achieve capturing, tracking and Aligning (ATP) of the satellite, establish a stable communication link channel between the ground station and the satellite, realize that the ground station is connected to the Internet through a low-orbit satellite, realize high-bandwidth data transmission requirements such as video conference, voice telephone, fax, file transmission and the like, and the device has the advantages of being good in implementation effect, strong in operability, good in adaptability and high in reliability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 1-2, in another example, the antenna driving assembly includes an azimuth motor 19, a pitch motor 20 and a roll motor 21, which are used for three-axis azimuth conversion of the antenna, so that the angle of the antenna can be matched with the low-orbit satellite;
the frame assembly also comprises a two-axis A/E or three-axis A/E/R shaft frame mechanism (not shown) matched with the antenna, wherein the frame assembly is composed of a two-axis A/E (azimuth + pitching) or three-axis A/E/R (azimuth + pitching + rolling) shaft frame mechanism, a motor, an angle measuring device and the like are arranged on a mechanism shaft, and a radio frequency assembly such as an antenna feed source and the like is used as a load of the antenna mechanism;
wherein the azimuth motor, the pitching motor, the rolling motor and the angle measuring device are arranged on a mechanism frame shaft;
the base is configured to be the reverse taper structure, so that the area of bottom installation position is controllable, just the top of base is provided with bottom surface matched with installation face 22, and it is used for cooperating with the axle frame mechanism of antenna, realizes the installation of antenna motor etc. and is connected through a plurality of ribs 23 of interval preset distance between bottom surface and the edge of installation face, and it is used for guaranteeing the structural stability between the two, and then makes it adapt to the installation and the stability needs of different occasions. The scheme has the advantages of good implementation effect, good adaptability, strong operability and strong stability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
As shown in fig. 2, in another example, the base is configured as a rectangular structure, and each edge of the base is pivoted with a matched fixing portion 24, which is used for enabling the bottom area of the base to be significantly reduced when the base is not used or transported, and is suitable for a mounting scene with a smaller mounting position, and only a matched mounting through hole is required to be arranged at a position where the mounting surface is matched with the mounting hole of the fixing portion;
wherein, the fixing part is provided with at least one mounting hole (not shown), and the mounting hole is provided with a locating pin strip or a screw (not shown) matched with the mounting hole, which is used for quickly and detachably fixing the base and the mounting position;
the fixed part is provided with flexible cushion layer 25 on the position of phase matched with the installation, and it is used for the vibrations of antenna rotation and exogenic action to get rid of to make it can adapt to different operational environment, comparatively excellent is to set up to the cavity form in the cushion layer, connects through flexible connection post or matched with protruding between the upper and lower lateral wall, in order to effectively get rid of its vibrations, still has the control allowance of skew vibrations, and then guarantees that the antenna has the relatively stable operating mode. The scheme has the advantages of good implementation effect and strong operability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
A method of applying a tracking device, comprising:
step one, an ephemeris forecast unit is used for forecasting the initial T 0 The satellite orbit parameter data of moment is calculated to obtain the satellite orbit coordinates of the orbit after the moment t, the position parameters of the satellite in an earth coordinate system are obtained through coordinate conversion and calculation, the low orbit satellite is different from the high orbit satellite, the longitude, latitude, speed, eccentricity and other parameters of each moment are all a variable, the tracking and calculation cannot be directly carried out by adopting the variable, the satellite orbit parameters are required to be converted into the ground WGS-84 coordinate system parameters, the position information of the satellite in the future time is calculated by combining the position time and other information of an antenna through an ephemeris module,the ephemeris module needs to process and calculate orbit data, and continuously corrects and ensures the prediction precision, which is the key of tracking and capturing satellites, and the working flow is as follows:
after the system is started, firstly, carrying out initialization configuration, positioning the position of the system by a GPS, receiving satellite information which is manually input or broadcast, and obtaining satellite initial T 0 Track parameter data at moment, and executing initialization return-to-zero action of the frame mechanism;
obtaining satellite orbit parameters at real time through ephemeris forecast, and converting the satellite orbit parameters from definition in orbit plane into earth coordinates for representation in order to be used for calculating the pointing angle of the ground station antenna; sequentially passing through an orbit system coordinate, an earth inertial coordinate system (ECI), a geocentric earth fixed coordinate system (ECEF), and then the earth coordinate system, and finally outputting longitude and latitude height (LBH) information of the satellite in the earth coordinate system for calculating a real-time pointing angle of the antenna relative to the satellite, which is consistent with the processing principle and process of the high orbit satellite and is not described in detail herein,
the tracking control unit carries out iterative operation based on the position parameters of the ground station and the satellite at the time t and the current attitude analysis information of the antenna so as to obtain the real-time pointing angle of the antenna relative to the satellite, the tracking control unit carries out real-time sampling on gyroscopes, accelerometers and GPS data by using a method which is common for automatically aiming at the satellite through program tracking, and carries out alignment and real-time attitude analysis within a certain time by using three accelerometer and three gyroscope data in the inertial measurement unit so as to carry out combined calculation to obtain attitude information such as azimuth, pitch, roll angle and the like of the carrier. For satellite signals with low tracking precision requirements and wider beams, the program tracking speed is high, the system is simple to realize, and quick initial acquisition of satellites is easy to realize, but for low-orbit satellites, accurate tracking cannot be completed by single program tracking, and the tracking precision is seriously affected by ephemeris forecasting accuracy and the delay of an antenna servo system. Therefore, to realize the tracking alignment of the ground station antenna relative to the satellite by adopting the scheme, the geographic coordinate position of the satellite relative to the ground station needs to be known firstly, the position of the low-orbit satellite relative to the ground is different from that of the high-orbit satellite, the position of the low-orbit satellite relative to the ground is changed at any time, and parameters such as longitude, latitude, altitude and the like of the satellite are all variables; therefore, when calculating the pointing angle of the ground station relative to the satellite, the geographic coordinates and operation parameters of the satellite at the moment, such as longitude, latitude, altitude (LBH), operation speed vector and the like, need to be calculated firstly, which is a core key technology of low orbit satellite tracking, and an ephemeris forecasting unit predicts the orbit position information of the satellite at a certain subsequent moment or a certain period based on the kepler law of planetary motion and orbit dynamics model calculation according to the received initial satellite orbit parameters, and deduces the position coordinate parameters of the satellite in an earth coordinate system through coordinate system conversion, thereby realizing ephemeris forecasting; the automatic antenna system adopts the forward correction technology of offset, and carries out iterative operation according to ephemeris forecast input quantity and gesture analysis information, so that the antenna can obtain high-precision accurate alignment indexes. The method has the advantages of good implementation effect, high accuracy, good adaptability and high reliability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
In another example, in the first step, the satellite orbit parameter is obtained by positioning the position of the satellite by GPS, receiving broadcast satellite information or manually inputting the satellite information, and performing a corresponding initialization zeroing action of the shaft frame mechanism after obtaining orbit parameter data of the initial time of the satellite;
the satellite orbit parameters include: the semi-major axis a, the orbit eccentricity e, the orbit inclination i, the orbit ascending intersection point right angle omega, the near-site angular distance omega and the satellite flat near-site angle M of the satellite elliptical orbit jointly define the position of the satellite relative to the earth; wherein: a. e, omega, i define the orbital plane of the satellite, omega define the azimuth of the ellipse in the orbital plane, and M define the position of the satellite relative to the near-spot
Wherein, because the orbit plane, the orbit ellipse azimuth and the near-place angular distance of the satellite have smaller changes in a short time, the real-time included angle of the satellite relative to the near place in the orbit plane is determined, and the satellite is also determinedReal-time position, thus, ephemeris forecast, i.e. for the flat spot angle M t To calculate in real time the flat spot angle M t The calculation formula of (2) is as follows:
in the above formula, μ= 3.986005 ×10 14 m 3 /s 2 The value range of Mt is [0 DEG, 360 DEG ] which is the gravitational constant and fix represents rounding operation. In engineering design application, the scheme adopts a satellite orbit pre-pushing technology (ephemeris forecast for short), utilizes the position and speed information of the satellite at the initial moment (or at a certain moment), predicts the orbit position and speed vector information of the satellite in a subsequent period of time based on the kepler law of planetary motion, and has the advantages of good implementation effect, strong operability and good adaptability as shown in fig. 7. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
In another example, in the second step, the tracking control unit converts longitude and latitude parameters of the real-time satellite and the ground station into cartesian coordinate representations in the earth coordinate system based on the ephemeris forecasting unit, and then calculates the real-time pointing angle of the antenna through the following calculation process steps a-d for guiding the ground station to find the satellite;
a. respectively converting the geodetic coordinates of the ground station and the satellite into geodetic coordinates of the earth-centered earth-fixed coordinate system [ X ] s ,Y s ,Z s ]And [ X ] u ,Y u ,Z u ]The representation is:
wherein N is the radius of curvature of the circle of the mortise and the circle, and a is the long half shaft of the ellipsoid; b is a short half shaft of an ellipsoid,the longitude and latitude height of lambda and h satellites;
b. the vector s of subscriber station pointing to the satellite is expressed in ECEF coordinate system as:
s＝[X s -X u ,Y s -Y u ,Z s -Z u ]
c. calculating a vector l= [ X, Y, Z ] of a vector s of a subscriber station pointing to a satellite in a geographic coordinate system;
d. the antenna pointing angle at which the subscriber station points at the satellite can be calculated:
azimuth angle ψ=arctan 2 (Z, X)
Pitch angle θ=arcsin (Y/N).
The tracking device software adopting the scheme adopts a modularized design, and can effectively realize the automatic satellite finding and tracking functions by combining an antenna driving mechanism through acquiring the orbit parameters of the satellite as shown in the algorithm of fig. 4 and the schematic block diagram of fig. 6, and has the advantages of good implementation effect, strong operability and good adaptability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
In another example, in step two, carrier tracking by the carrier tracking unit is configured to employ cone scanning and real-time beacon value feedback correction techniques to provide high-speed stable feedback parameters to the system;
the carrier or signal wave receiver of the carrier tracking unit receives and tracks the carrier signal of the satellite in real time, the principle is as shown in figure 5, the carrier signal is scanned and tracked by adopting the channelized FFT receiving technology and the frequency tracking technology for FPGA, and the carrier amplitude is acquired to output the corresponding beacon voltage value AGC;
the tracking control unit detects the angle of the satellite offset main beam according to the received AGC signal, and forms a high-stability closed loop control circuit with real-time feedback correction of an angle measurement encoder in the inertia measurement unit, and in order to overcome the influence of Doppler frequency shift effect in the signal transmission process, the tracking control unit buddies an antenna and a satellite Doppler frequency shift value according to the satellite track, a satellite main station, the ground station position and the relative motion relation, and is used for frequency compensation of a carrier tracking receiver, so that the antenna beam is always accurately aligned with and tracked to the satellite. For tracking of low orbit satellites, we cannot rely on program tracking entirely, and time accuracy, computational accuracy and mechanical response feedback time all affect high accuracy tracking and acquisition of satellites. The carrier tracking is based on program tracking, can rapidly judge the deviation direction of an antenna beam and a target source, and is an efficient antenna tracking technology. The scheme has the advantages of good implementation effect, strong operability, good adaptability and high alignment reliability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
In another example, the algorithm flow of the real-time beacon value feedback correction technique includes:
s1, the CPU of the carrier tracking unit compares the current beacon voltage value V1 received from the carrier or the signal wave receiver with the previous beacon voltage value V0 for the first time, if the difference value is larger than or equal to a preset value, the correction is finished, otherwise, S2-S4 are executed;
s2, giving the value of V1 to V0;
s3, acquiring a beacon voltage value V2 in real time;
s4, comparing the value of V2 with the value of V0 for the second time, if the difference value is greater than or equal to 0, carrying out S3, otherwise carrying out S5-S7;
s5, subtracting the azimuth position of V0 by 0.4 degrees and outputting;
s6, acquiring a beacon voltage value V3 in real time;
s7, comparing the value of V3 with the value of V0 for the third time, if the difference value is greater than or equal to 0, giving the value of V3 to V0, executing S5-S7, otherwise executing S8;
and S8, adding the azimuth position of V3 by 0.2 DEG for output, and finishing correction. The algorithm flow adopting the scheme is shown in fig. 3, so that the calculation accuracy of the algorithm is higher, and the algorithm has the advantages of good implementation effect, good stability and high reliability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
In another example, further comprising:
step three, the tracking control unit obtains the target pointing direction according to calculation, and the servo control unit controls the tracking control unit to finish the pointing tracking of the antenna;
step four, the tracking device starts to build a chain after locking the satellite, initiates an access request, and sends self identity information and position information to a satellite master station; the method comprises the steps that the capturing rate of satellites entering an airspace by an antenna is determined, the automatic tracking success rate of the antenna is determined, the single capturing rate of the system is not very high, in order to improve the first capturing rate, the system increases the low elevation angle conical scanning range and scanning speed in the initial airspace where the satellites fly in while improving the accuracy of ephemeris forecast parameters, the time deviation generated by different elevation angles is continuously corrected along the track direction, the capturing probability of initial satellite finding can be improved, the device firstly obtains the orbit operation information of a target satellite, calculates the theoretical azimuth, pitching angle and the change track of the low-orbit satellite through the geographic position information, the ephemeris information of the target satellite and the current moment, controls the antenna to carry out track adjustment according to time at the theoretical pitch angle, then controls the antenna to carry out omnibearing search, and judges the signal strength through a carrier receiver and signal tracking, so that the automatic satellite finding process is realized;
step five, after receiving the access request, the master station calculates a communication sequence of a user for a period of time in the future, allocates an IP address and channel resources, and sends the tracking device and the satellite communication sequence to the tracking device;
step six, the tracking device successfully builds a chain, calculates future antenna pointing direction in advance according to the communication sequence, and enters a continuous communication state;
and seventhly, the satellite master station end application software generates service data, the service data are sent to the terminal user through a WIFI or LAN protocol, and the terminal user receives and processes signals and information and implements service communication. By adopting the scheme, satellite alignment and communication of satellites are realized through the device, so that the ground antenna station can be directly applied to low-orbit satellites to realize data communication, and the device has the advantages of good implementation effect, strong operability and good adaptability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
The number of equipment and the scale of processing described herein are intended to simplify the description of the present invention. Applications, modifications and variations to the tracking apparatus of the low-orbit satellite ground station antenna and the method of use thereof of the present invention will be apparent to those skilled in the art.
Although embodiments of the invention have been disclosed above, they are not limited to the use listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. Therefore, the invention is not to be limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (8)
1. A tracking device for a low-orbit satellite ground station antenna, comprising:
an ephemeris forecasting unit, which is connected with an ephemeris receiver in communication connection with the low orbit satellite for receiving the ephemeris;
the tracking control unit is in communication connection with the ephemeris forecasting unit, and is connected with the GPS and/or Beidou positioning unit and the inertial measurement unit;
the servo control unit is in communication connection with the tracking control unit, and is provided with an antenna driving assembly and a frame assembly which are matched with the ground station antenna;
the frame assembly is configured to comprise a base matched with the antenna, the base is configured to be of a cone-shaped double-layer hollow structure, and a sand injection port and a sand outlet are respectively arranged at the upper part and the bottom of the base;
also included is a method of applying a tracking device, comprising:
step one, an ephemeris forecast unit is used for forecasting the initial T 0 The satellite orbit parameter data at the moment is calculated to obtain satellite orbit coordinates of the orbit after the moment t, and the satellite orbit coordinates are converted and solved to obtain the position parameters of the satellite in an earth coordinate system;
step two, the tracking control unit carries out iterative operation based on the position parameters of the ground station and the satellite at the time t and the current attitude analysis information of the antenna so as to obtain the real-time pointing angle of the antenna relative to the satellite;
in the first step, the satellite orbit parameters are obtained by GPS positioning of the self position, receiving of broadcast satellite information or manual input, and after orbit parameter data of the initial moment of the satellite are obtained, the corresponding initialization and zeroing actions of the shaft frame mechanism are executed;
the satellite orbit parameters include: the semi-major axis a, the orbit eccentricity e, the orbit inclination i, the orbit ascending intersection point right angle omega, the near-site angular distance omega and the satellite flat near-site angle M of the satellite elliptical orbit jointly define the position of the satellite relative to the earth;
wherein: a. e, Ω, i define the orbital plane of the satellite, ω define the azimuth of the ellipse in the orbital plane, and M define the relative proximately located position of the satellite;
wherein, real-time flat-near place angle M t The calculation formula of (2) is as follows:
in the above formula, μ= 3.986005 ×10 14 m 3 /s 2 For the gravitational constant, fix represents the rounding operation, M t The value range is [0 DEG, 360 deg).
2. The tracking device for a low-orbit satellite ground station antenna according to claim 1, further comprising:
the carrier tracking unit is in communication connection with the tracking control unit and is in communication connection with a carrier or signal wave receiver;
and a position detection unit in communication with the servo control unit.
3. The tracking device of the low-orbit satellite ground station antenna according to claim 2, wherein the ephemeris forecasting unit, the carrier tracking unit and the servo control unit are respectively provided with a first CPU, a second CPU and a third CPU which are matched with the tracking control unit;
and the tracking control unit is provided with an MCU and a controller.
4. The tracking device for a low-orbit satellite ground station antenna according to claim 1, wherein the antenna driving assembly comprises azimuth motor, elevation motor and roll motor in cooperation with the antenna;
the frame assembly also comprises a two-axis A/E or three-axis A/E/R shaft frame mechanism matched with the antenna;
wherein the azimuth motor, the pitching motor, the rolling motor and the angle measuring device are arranged on a mechanism frame shaft;
the base is configured to be of an inverted cone structure, the top of the base is provided with a mounting surface matched with the bottom surface, and the bottom surface is connected with the edge of the mounting surface through a plurality of ribs at intervals of a preset distance.
5. The tracking device of the low-orbit satellite ground station antenna according to claim 1, wherein in the second step, the tracking control unit converts longitude and latitude parameters of the real-time satellite and the ground station into cartesian coordinate representations in an earth coordinate system based on an ephemeris forecast unit, and then calculates a real-time pointing angle of the antenna for guiding a satellite finding of the ground station through the following calculation process steps a to d;
a. respectively converting the geodetic coordinates of the ground station and the satellite into geodetic coordinates of the earth-centered earth-fixed coordinate system [ X ] s ,Y s ,Z s ]And [ X ] u ,Y u ,Z u ]The representation is:
wherein N is the radius of curvature of the circle of the mortise and the circle, and a is the long half shaft of the ellipsoid; b is a short half shaft of an ellipsoid,lambda and h are the longitude and latitude heights of the satellite;
b. the vector s of subscriber station pointing to the satellite is expressed in ECEF coordinate system as:
s＝[X s -X u ,Y s -Y u ,Z s -Z u ]
c. calculating a vector l= [ X, Y, Z ] of a vector s of a subscriber station pointing to a satellite in a geographic coordinate system;
d. the antenna pointing angle at which the subscriber station points at the satellite can be calculated:
azimuth angle ψ=arctan 2 (Z, X)
Pitch angle θ=arcsin (Y/N).
6. The tracking device for the low-orbit satellite ground station antenna according to claim 1, wherein in the second step, a carrier or signal wave receiver of the carrier tracking unit receives and tracks a carrier signal of the satellite in real time, a channelized FFT receiving technology and a frequency tracking technology for FPGA are adopted to scan and track the carrier signal, and the carrier amplitude is collected to output a corresponding signal;
the carrier tracking of the carrier tracking unit is configured to adopt cone scanning and real-time beacon value feedback correction technology to provide high-speed stable feedback parameters for the tracking control unit;
the tracking control unit detects the angle of the satellite offset main beam according to the received feedback parameters, and forms a high-stability closed loop control circuit with real-time feedback correction of an angle measurement encoder in the inertial measurement unit, and in order to overcome the influence of Doppler frequency shift effect in the signal transmission process, the tracking control unit buddies an antenna and a satellite Doppler frequency shift value according to the satellite track, a satellite main station, the ground station position and the relative motion relation, and is used for frequency compensation of a carrier tracking receiver, so that the antenna beam is always accurately aligned with and tracked to the satellite.
7. The tracking device for a low-orbit satellite ground station antenna according to claim 6, wherein the algorithm flow of the real-time beacon value feedback correction technique comprises:
s1, the CPU of the carrier tracking unit compares the current beacon voltage value V1 received from the carrier or the signal wave receiver with the previous beacon voltage value V0 for the first time, if the difference value is larger than or equal to a preset value, the correction is finished, otherwise, S2-S4 are executed;
s2, giving the value of V1 to V0;
s3, acquiring a beacon voltage value V2 in real time;
s4, comparing the value of V2 with the value of V0 for the second time, if the difference value is greater than or equal to 0, carrying out S3, otherwise carrying out S5-S7;
s5, subtracting the azimuth position of V0 by 0.4 degrees and outputting;
s6, acquiring a beacon voltage value V3 in real time;
s7, comparing the value of V3 with the value of V0 for the third time, if the difference value is greater than or equal to 0, giving the value of V3 to V0, executing S5-S7, otherwise executing S8;
and S8, adding the azimuth position of V3 by 0.2 DEG for output, and finishing correction.
8. The tracking device for a low-orbit satellite ground station antenna according to claim 1, further comprising:
step three, the tracking control unit obtains the target pointing direction according to calculation, and the servo control unit controls the tracking control unit to finish the pointing tracking of the antenna;
step four, the tracking device starts to build a chain after locking the satellite, initiates an access request, and sends self identity information and position information to a satellite master station;
step five, after receiving the access request, the master station calculates a communication sequence of a user for a period of time in the future, allocates an IP address and channel resources, and sends the tracking device and the satellite communication sequence to the tracking device;
step six, the tracking device successfully builds a chain, calculates future antenna pointing direction in advance according to the communication sequence, and enters a continuous communication state;
and seventhly, the satellite master station end application software generates service data, the service data are sent to the terminal user through a WIFI or LAN protocol, and the terminal user receives and processes signals and information and implements service communication.
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