CN112977887A - Satellite locking method and device and computer readable storage medium - Google Patents
Satellite locking method and device and computer readable storage medium Download PDFInfo
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Abstract
The invention provides a satellite locking method and device and a computer readable storage medium. The locking method comprises the following steps: acquiring a first diagonal star and a second diagonal star of the satellite antenna, wherein the first diagonal star is a diagonal star under a geographic coordinate system, and the second diagonal star is a theoretical diagonal star; controlling the satellite antenna to rotate to a second opposite satellite angle; acquiring the maximum value of the beacon signal strength of the satellite antenna in a preset range, and taking the maximum value of the beacon signal strength as the target position of the satellite antenna; the satellite antenna is controlled to rotate to the target position, so that the satellite to be locked is locked by the method.
Description
Technical Field
The present invention relates to the field of satellite communications technologies, and in particular, to a method and an apparatus for locking a satellite, and a computer-readable storage medium.
Background
In the field of satellite communication, a satellite antenna is automatically searched, a function of locking a satellite needs to be realized, and two signal judgment methods are commonly used in the day ahead: one is to find the maximum value of AGC (automatic gain control) level as the main lobe for finding satellite, and the other is to use the locking signal of beacon receiver to judge satellite locking without scanning all the rotation range. The former needs to rotate the position by 360 degrees to really determine the maximum AGC level position, and needs a long time; in the latter, since the beacon receiver is susceptible to interference, the satellite is found out by mistake, or the side lobe of the satellite is easily locked, and it also takes a long time to actually lock the satellite.
Therefore, how to realize the rapid and accurate locking of the antenna to the satellite is a problem that the satellite communication is continuously explored.
Disclosure of Invention
The invention mainly provides a satellite locking method and device and a computer readable storage medium, which can solve the problem that the satellite locking needs a long time in the prior art.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a locking method of a satellite, the locking method including: acquiring a first diagonal star and a second diagonal star of a satellite antenna, wherein the first diagonal star is a diagonal star under a geographic coordinate system, and the second diagonal star is a theoretical diagonal star; controlling the satellite antenna to rotate to the second opposite star angle; acquiring the maximum value of the beacon signal strength of the satellite antenna in a preset range, and taking the maximum value of the beacon signal strength as the target position of the satellite antenna; and controlling the satellite antenna to rotate to the target position, so as to realize the locking of the satellite to be locked.
Wherein the obtaining a first and a second pair of star angles of the satellite antenna comprises: acquiring the geographic position of the satellite antenna and the longitude of the satellite to be locked; and calculating the first pair of star angles according to the geographic position and the longitude.
The first star angle comprises a first azimuth angle, a first pitch angle and a first polarization angle, and the calculation formula of the first azimuth angle, the first pitch angle and the first polarization angle is as follows:
wherein A is the first azimuth angle, E is the first pitch angle, Pthe first is a polarization angle, λ0Is the longitude of the ground station and is,
is the latitude of the ground station, and λ is the longitude of the satellite to be locked.
Wherein the obtaining a first and a second pair of star angles of the satellite antenna comprises: acquiring an attitude angle of the satellite antenna base, wherein the attitude angle comprises a roll angle, a pitch angle and a course angle; and calculating to obtain the second diagonal angle according to the attitude angle of the satellite antenna base.
Wherein the second diagonal star angle comprises a second azimuth angle, a second pitch angle and a second polarization angle, and the calculation formula is as follows:
Ej＝arcsin[sinRcosRsin(A-H)-cosRsinPcosEcos(A-H)+cosRcosPsinE]
wherein R is a roll angle in the attitude angle, P is a pitch angle in the attitude angle, H is a course angle in the attitude angle, J is the first polarization angle, A is the first azimuth angle, E is the first pitch angle, A is the first pitch anglejThe second azimuth angle, EjThe second pitch angle, PjThe second is the angle of polarization.
Wherein the controlling the satellite antenna to rotate to the second diagonal comprises: obtaining angle difference values between azimuth angles, pitch angles and polarization angles in the first and second pairs of star angles; and controlling the first azimuth angle, the first pitch angle and the angle difference corresponding to the rotation of the motor of the first polarization angle in the satellite antenna.
Wherein the obtaining of the maximum value of the beacon signal strength of the satellite antenna within a preset range includes: controlling the satellite antenna to rotate within a preset range to obtain the strength value of the beacon signal within the preset range; and selecting the maximum value of the beacon signal strength in the preset range as the target position of the satellite antenna.
Wherein the controlling the satellite antenna to rotate within a preset range comprises: a motor for controlling the second azimuth angle and the second pitch angle of the satellite antenna to rotate within the preset range; or a motor for controlling the second azimuth angle and the second pitch angle of the satellite antenna to alternatively rotate within the preset range
In order to solve the technical problem, the invention adopts another technical scheme that: there is provided a locking device for a satellite comprising a processor and a memory, the memory storing computer instructions, the processor being coupled to the memory, the processor being operable to execute the computer instructions to implement a locking method as described above.
In order to solve the technical problem, the invention adopts another technical scheme that: there is provided a computer readable storage medium having stored thereon a computer program for execution by a processor to implement a locking method as described above.
The invention has the beneficial effects that: the invention provides a satellite locking method, a device and a computer readable storage medium, which are different from the prior art, the time required by primarily locking a satellite is shortened by acquiring the theoretical alignment star angle of a satellite antenna and not controlling the azimuth of the satellite antenna to rotate by 360 degrees, and after the satellite antenna reaches the theoretical alignment star angle, the satellite antenna is controlled to rotate in a preset range, the maximum value of the strength of the beacon signal acquired in the preset range is used as the target position of the satellite antenna, and the satellite antenna is controlled to rotate to the target position, so that the satellite can be locked quickly and accurately.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic flow chart diagram illustrating a first embodiment of a method for locking a satellite according to the present invention;
FIG. 2 is a schematic flow chart illustrating an embodiment of step S100 in FIG. 1 according to the present invention;
FIG. 3 is a schematic flow chart illustrating another embodiment of step S100 in FIG. 1 according to the present invention;
FIG. 4 is a flowchart illustrating an embodiment of step S200 of FIG. 1 according to the present invention;
FIG. 5 is a flowchart illustrating an embodiment of step S300 of FIG. 1 according to the present invention;
FIG. 6 is a schematic view of the motor alternating motion of the present invention at an azimuth angle and a second pitch angle;
FIG. 7 is a schematic block diagram of an embodiment of a locking apparatus for a satellite provided by the present invention;
FIG. 8 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of a method for locking a satellite according to the present invention, such as the method for locking a satellite according to the present invention shown in fig. 1, including the following steps:
s100, a first diagonal star and a second diagonal star of the satellite antenna are obtained, wherein the first diagonal star is a diagonal star under a geographic coordinate system, and the second diagonal star is a theoretical diagonal star.
Referring to fig. 2 further, fig. 2 is a schematic flow chart of an embodiment of step S100 of the present invention, and in this embodiment, a specific method for acquiring a first pair of star angles (i.e., a pair of star angles in a geographic coordinate system) is mainly described, where step S100 further includes the following sub-steps:
and S110, acquiring the geographic position of the satellite antenna and the longitude of the satellite to be locked.
Alternatively, the geographic location of the satellite antenna may include longitude and latitude information of the ground station. Wherein the geographical position of the satellite antenna can be determined using GPS positioning. After the longitude of the satellite to be locked is determined, the longitude is sent to the satellite antenna by the modem.
And S120, calculating to obtain a first pair of star angles according to the geographic position and the longitude.
Specifically, the first pair of satellite angles may be obtained by calculating according to the geographic position of the satellite antenna, which may include longitude and latitude information of the ground station, and longitude of the satellite to be locked, where the first pair of satellite angles includes a first azimuth angle a, a first pitch angle E, and a first polarization angle P, and the calculation formula is as follows:
wherein λ is0Is the longitude of the ground station and is,
is the latitude of the ground station, and λ is the longitude of the satellite to be locked.
Alternatively, in a specific embodiment, east is defined as positive, west is defined as negative, latitudes are both positive, R is 6378km of the earth's equatorial radius, h is ground station altitude (negligible), L is 35786km of orbital altitude from the ground, so the first pitch angle is:
referring to fig. 3, fig. 3 is a schematic flow chart of another embodiment of step S100 of the present invention, and the present embodiment mainly describes a specific method for obtaining a second pair of star angles (i.e. theoretical pair of star angles), and step S100 further includes the following sub-steps:
and S110a, acquiring attitude angles of the satellite antenna base, wherein the attitude angles comprise a roll angle, a pitch angle and a course angle.
Specifically, the attitude angle of the satellite antenna base can be determined according to the measurement results of the three-axis accelerometer and the three-axis magnetometer, wherein the attitude angle of the satellite antenna base comprises a roll angle, a pitch angle and a heading angle.
And S120a, calculating a second diagonal angle according to the attitude angle of the satellite antenna base.
Specifically, a second diagonal star angle is obtained through calculation according to the roll angle, the pitch angle and the course angle, and the second diagonal star angle comprises a second azimuth angle Aj(azimuth in carrier coordinate system), second pitch angle EjAnd second is the angle of polarization PjAnd the calculation formula is as follows:
Ej＝arcsin[sinRcosRsin(A-H)-cosRsinPcosEcos(A-H)+cosRcosPsinE]
wherein R is a roll angle in an attitude angle, P is a pitch angle in the attitude angle, H is a course angle in the attitude angle, J is a first polarization angle, and A is a first azimuth angle.
And S200, controlling the satellite antenna to rotate to a second opposite satellite angle.
Referring to fig. 4, fig. 4 is a flowchart illustrating an embodiment of step S200, and step S200 in fig. 4 further includes the following sub-steps:
s210, obtaining angle difference values among azimuth angles, pitch angles and polarization angles in the first pair of star angles and the second pair of star angles.
Specifically, the angle values of the first azimuth angle, the first pitch angle and the first polarization angle in the first pair of star angles, and the angle values of the second azimuth angle, the second pitch angle and the second polarization angle in the second pair of star angles are obtained through the calculation in the above steps, and the angle difference values of the corresponding angles are calculated respectively.
And S220, controlling the first azimuth angle, the first pitch angle and the angle difference corresponding to the rotation of the motor of the first polarization angle in the satellite antenna.
And respectively controlling the first azimuth angle, the first pitch angle and the corresponding angle difference value of the motor rotation of the first polarization angle in the satellite antenna according to the angle difference value of the corresponding angle, so that the satellite antenna rotates to a second opposite star angle (theoretical opposite star angle).
In the above embodiment, by obtaining the theoretical alignment angle of the satellite antenna, it is not necessary to control the azimuth of the satellite antenna to rotate 360 degrees, thereby shortening the time required for initially locking the satellite.
And S300, acquiring the maximum value of the beacon signal strength of the satellite antenna in a preset range, and taking the maximum value of the beacon signal strength as the target position of the satellite antenna.
Referring to fig. 5, fig. 5 is a flowchart illustrating an embodiment of step S300, and step S300 in fig. 5 further includes the following sub-steps:
and S310, controlling the satellite antenna to rotate within a preset range so as to obtain the strength value of the beacon signal within the preset range.
Specifically, in the embodiment of the present invention, the satellite antenna may be controlled to rotate within the preset range in the following two ways:
1. a motor for controlling a second azimuth angle and a second pitch angle of the satellite antenna rotates within a preset range; or
2. And the motor for controlling the second azimuth angle and the second pitch angle of the satellite antenna rotates alternatively within a preset range.
In this way, the strength value of the beacon signal within the preset range can be obtained.
And S320, selecting the maximum value of the beacon signal strength in the preset range as the target position of the satellite antenna.
And obtaining the maximum value of the beacon signal strength in the preset range through algorithm comparison, and taking the maximum value as the target position of the satellite antenna.
S400, the satellite antenna is controlled to rotate to a target position, and therefore locking of the satellite to be locked is achieved.
Further, the satellite antenna is controlled to rotate to the maximum value of the beacon signal strength, so that the satellite is accurately locked.
In the above embodiment, the theoretical alignment angle of the satellite antenna is obtained, and the direction of the satellite antenna does not need to be controlled to rotate by 360 degrees, so that the time required for primarily locking the satellite is shortened, after the satellite antenna reaches the theoretical alignment angle, the satellite antenna is controlled to rotate within a preset range, the maximum value of the strength of the beacon signal obtained within the preset range is used as the target position of the satellite antenna, and the satellite antenna is controlled to rotate to the target position, so that the satellite can be locked quickly and accurately.
Example 1
Determining the geographic position of a satellite antenna according to GPS positioning, sending the longitude of a satellite to be locked to the satellite antenna by a modem, and calculating according to the geographic position of the satellite antenna and the longitude of the satellite to be locked to obtain a first satellite angle (a satellite angle under a geographic coordinate system):
λ0is the longitude of the ground station and is,
is the latitude of the ground station, and λ is the longitude of the satellite to be locked. East longitude is defined as positive, west longitude is defined as negative, latitudes are both positive, R is 6378km of the equator radius of the earth, h is the height of the ground station (negligible), and L is the height of the orbit from the ground 35786km, so
Acquiring an attitude angle of a satellite antenna base, wherein the attitude angle comprises a roll angle, a pitch angle and a course angle, and calculating according to the attitude angle of the satellite antenna base to obtain a second opposite star angle (theoretical opposite star angle):
Ej＝arcsin[sinRcosRsin(A-H)-cosRsinPcosEcos(A-H)+cosRcosPsinE]
r is a roll angle in the attitude angle, P is a pitch angle in the attitude angle, H is a course angle in the attitude angle, J is the first polarization angle, A is the first azimuth angle, E is the first pitch angle, A is the second polarization anglejThe second azimuth angle, EjThe second pitch angle, PjThe second is the angle of polarization.
And controlling a first azimuth angle, a first pitch angle and a motor of a first polarization angle of the satellite antenna to rotate by corresponding angles according to the theoretical alignment angle, so that the satellite antenna rotates to the theoretical alignment angle.
After the satellite antenna reaches the theoretical satellite alignment position, the motor for controlling the second azimuth angle and the second pitch angle rotates within a certain range, corresponding beacon signal strength is obtained, the maximum value of the beacon signal strength within the preset range is selected as the target position of the satellite antenna, the satellite antenna is controlled to rotate to the target position, and therefore the satellite is accurately and quickly locked.
Example 2
Determining the geographic position of the satellite antenna, sending the longitude of the satellite to be locked to the satellite antenna by the modem, and calculating according to the geographic position of the satellite antenna and the longitude of the satellite to be locked to obtain a first satellite angle (a satellite angle under a geographic coordinate system):
λ0is the longitude of the ground station and is,
is the latitude of the ground station, and λ is the longitude of the satellite to be locked. East longitude is defined as positive, west longitude is defined as negative, latitudes are both positive, R is 6378km of the equator radius of the earth, h is the height of the ground station (negligible), and L is the height of the orbit from the ground 35786km, so
Determining the attitude angle of the antenna base according to the measurement results of the triaxial accelerometer and the triaxial magnetometer, wherein the attitude angle comprises a roll angle, a pitch angle and a course angle, and calculating according to the attitude angle of the satellite antenna base to obtain a second diagonal star angle (theoretical diagonal star angle):
Ej＝arcsin[sinRcosRsin(A-H)-cosRsinPcosEcos(A-H)+cosRcosPsinE]
r is a roll angle in the attitude angle, P is a pitch angle in the attitude angle, H is a course angle in the attitude angle, J is the first polarization angle, A is the first azimuth angle, E is the first pitch angle, A is the second polarization anglejThe second azimuth angle, EjThe second pitch angle, PjThe second is the angle of polarization.
And controlling a first azimuth angle, a first pitch angle and a motor of a first polarization angle of the satellite antenna to rotate by corresponding angles according to the theoretical alignment angle, so that the satellite antenna rotates to the theoretical alignment angle.
Referring to fig. 6, fig. 6 is a schematic view showing the motor alternating motion of the present invention with the azimuth angle and the second pitch angle. Optionally, in the present application, step tracking, also called extremum tracking, moves in any direction to set a search angle, and determines a deviation direction of the antenna pointing to the target satellite according to the beacon signal strength before and after the movement, if the strength increases, the direction is changed to adjust the antenna, otherwise, the direction is adjusted in the opposite direction, and then the next search is performed, and the operation is performed cyclically according to the search, determination, and adjustment modes. Further, after the satellite antenna reaches the theoretical opposite satellite angle position, the motors controlling the second azimuth angle and the second pitch angle rotate alternately in a certain range, corresponding beacon signal strength is obtained, the maximum value of the beacon signal strength in the preset range is selected as the target position of the satellite antenna, the satellite antenna is controlled to rotate to the target position, and therefore the satellite is locked accurately and quickly.
In the above embodiment, the theoretical alignment angle of the satellite antenna is obtained, and the direction of the satellite antenna does not need to be controlled to rotate by 360 degrees, so that the time required for primarily locking the satellite is shortened, after the satellite antenna reaches the theoretical alignment angle, the satellite antenna is controlled to rotate within a preset range, the maximum value of the strength of the beacon signal obtained within the preset range is used as the target position of the satellite antenna, and the satellite antenna is controlled to rotate to the target position, so that the satellite can be locked quickly and accurately.
Referring to fig. 7, fig. 7 is a schematic block diagram of an embodiment of a satellite locking device according to the present invention, in which a holder control device in the embodiment includes a processor 410 and a memory 420, the processor 410 is coupled to the memory 420, the memory 420 stores computer instructions, and the processor 410 executes the computer instructions to implement a satellite locking method in any of the embodiments.
The processor 410 may also be referred to as a Central Processing Unit (CPU), among others. The processor 410 may be an integrated circuit chip having signal processing capabilities. The processor 410 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor, but is not limited thereto.
Referring to fig. 8, fig. 8 is a schematic block diagram of an embodiment of a computer-readable storage medium provided by the present invention, in which a computer program 510 is stored, and the computer program 510 can be executed by a processor to implement the satellite locking method in any of the above embodiments.
Optionally, the readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or may be a terminal device such as a computer, a server, a mobile phone, or a tablet.
Different from the prior art, the embodiment of the invention has the advantages that the theoretical alignment angle of the satellite antenna is obtained, the direction of the satellite antenna does not need to be controlled to rotate by 360 degrees, so that the time required for primarily locking the satellite is shortened, the satellite antenna is controlled to rotate within the preset range after reaching the theoretical alignment angle, the maximum value of the strength of the beacon signal obtained within the preset range is used as the target position of the satellite antenna, and the satellite antenna is controlled to rotate to the target position, so that the satellite can be quickly and accurately locked.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of locking a satellite, the method comprising:
acquiring a first diagonal star and a second diagonal star of a satellite antenna, wherein the first diagonal star is a diagonal star under a geographic coordinate system, and the second diagonal star is a theoretical diagonal star;
controlling the satellite antenna to rotate to the second opposite star angle;
acquiring the maximum value of the beacon signal strength of the satellite antenna in a preset range, and taking the maximum value of the beacon signal strength as the target position of the satellite antenna;
and controlling the satellite antenna to rotate to the target position, so as to realize the locking of the satellite to be locked.
2. The locking method according to claim 1, wherein said obtaining a first and a second pair of star angles of a satellite antenna comprises:
acquiring the geographic position of the satellite antenna and the longitude of the satellite to be locked;
and calculating the first pair of star angles according to the geographic position and the longitude.
3. The locking method according to claim 2, wherein the first pair of star angles includes a first azimuth angle, a first pitch angle, and a first polarization angle, and the first azimuth angle, the first pitch angle, and the first polarization angle are calculated by:
wherein A is the first azimuth angle, E is the first pitch angle, Pthe first is a polarization angle, λ0Is the longitude of the ground station and is,
is the latitude of the ground station, and λ is the longitude of the satellite to be locked.
4. The locking method according to claim 3, wherein said obtaining the first and second diagonals of the satellite antenna comprises:
acquiring an attitude angle of the satellite antenna base, wherein the attitude angle comprises a roll angle, a pitch angle and a course angle;
and calculating to obtain the second diagonal angle according to the attitude angle of the satellite antenna base.
5. The locking method according to claim 4, wherein the second pair of star angles comprises a second azimuth angle, a second pitch angle, and a second polarization angle, and the calculation formula is:
Ej＝arcsin[sin R cos R sin(A-H)-cos R sin P cos E cos(A-H)+cos R cos P sin E]
wherein R is a roll angle in the attitude angle, P is a pitch angle in the attitude angle, H is a course angle in the attitude angle, J is the first polarization angle, A is the first azimuth angle, E is the first pitch angle, A is the first pitch anglejThe second azimuth angle, EjThe second pitch angle, PjThe second is the angle of polarization.
6. The locking method according to claim 5, wherein the controlling the satellite antenna to rotate to the second diagonal comprises:
obtaining angle difference values between azimuth angles, pitch angles and polarization angles in the first and second pairs of star angles;
and controlling the first azimuth angle, the first pitch angle and the angle difference corresponding to the rotation of the motor of the first polarization angle in the satellite antenna.
7. The locking method according to claim 5, wherein the obtaining the maximum value of the beacon signal strength of the satellite antenna within a preset range comprises:
controlling the satellite antenna to rotate within a preset range to obtain the strength value of the beacon signal within the preset range;
and selecting the maximum value of the beacon signal strength in the preset range as the target position of the satellite antenna.
8. The locking method according to claim 7, wherein the controlling the satellite antenna to rotate within a preset range comprises:
a motor for controlling the second azimuth angle and the second pitch angle of the satellite antenna to rotate within the preset range; or
And controlling the motors of the second azimuth angle and the second pitch angle of the satellite antenna to alternately rotate within the preset range.
9. A locking apparatus for a satellite, comprising a processor and a memory, the memory storing computer instructions, the processor being coupled to the memory, the processor being operable to execute the computer instructions to implement a locking method according to any one of claims 1 to 8.
10. A computer-readable storage medium, on which a computer program is stored, the computer program being executable by a processor to implement a locking method according to any one of claims 1 to 8.
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| CN115361058A (en) * | 2022-10-19 | 2022-11-18 | 成都星联芯通科技有限公司 | Satellite portable station satellite-to-satellite method, device, storage medium and satellite portable station |
| CN116087869A (en) * | 2022-12-30 | 2023-05-09 | 泰斗微电子科技有限公司 | Satellite orientation method and device based on accelerometer and readable storage medium |
| CN116366131A (en) * | 2023-03-22 | 2023-06-30 | 中国电信股份有限公司卫星通信分公司 | Mobile terminal and satellite communication adjusting method, device and system |
| CN117978257A (en) * | 2024-03-28 | 2024-05-03 | 浙江中星光电子科技有限公司 | Satellite signal locking method, device, equipment and medium |
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