CN113437517A - Satellite tracking system and method for satellite station - Google Patents
Satellite tracking system and method for satellite station Download PDFInfo
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- CN113437517A CN113437517A CN202110428336.8A CN202110428336A CN113437517A CN 113437517 A CN113437517 A CN 113437517A CN 202110428336 A CN202110428336 A CN 202110428336A CN 113437517 A CN113437517 A CN 113437517A
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- 230000033001 locomotion Effects 0.000 claims description 13
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- 230000004807 localization Effects 0.000 description 2
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- 230000005587 bubbling Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
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Abstract
The invention provides a satellite station and satellite tracking system and a satellite station and satellite tracking method. The satellite station and satellite tracking method comprises the following steps: s101, a satellite station and a satellite system enter a tracking mode; s102, when the satellite signal identified by the receiver is gradually enhanced, the main control module controls the satellite antenna to step by a first angle along the original direction through the servo driving module, when the satellite signal identified by the receiver is weakened, the main control module controls the satellite antenna to continue to move by a second angle through the servo driving module, then the satellite antenna stops moving, the satellite antenna steps by a plurality of points in the opposite direction, and ACG points are collected and the angle value of the points is recorded after each step; and S103, the main control module determines the extreme value position according to a plurality of ACG points through a satellite finding modeling formula, and moves the satellite antenna to the position of the satellite signal extreme value corresponding to the two degrees of freedom of azimuth and elevation to complete satellite tracking. The satellite station and satellite tracking system solves the problem that the satellite tracking time and tracking precision of a traditional satellite antenna cannot meet the requirement of novel emergency communication in the prior art.
Description
Technical Field
The invention relates to the technical field of intelligent satellite stations, in particular to a satellite station and satellite tracking system and method.
Background
When a conventional portable station, a vehicle-mounted satellite station such as a static-through satellite and the like are searched and tracked, most of the satellite stations adopt satellite signal comparison, conical scanning or 'return' character scanning and the like to finally select the maximum position by repeatedly comparing the sizes, and meanwhile, due to the influence of motor control precision and the like, the extreme value of the acquired satellite signal may have a certain deviation from the actual extreme position of the satellite signal.
According to the traditional satellite antenna tracking method, the azimuth and the elevation are respectively determined from satellite signal no- > exists- > does not exist, then the reverse motion satellite signal no- > exists- > does not exist, all numerical values are recorded, the position corresponding to the maximum value is searched through a bubbling method, the traditional satellite antenna tracking method needs to repeatedly acquire a large number of points twice, the efficiency is low, the time consumption is long, the requirement on the servo control precision is high, the requirement that the time is life when the satellite antenna is applied to emergency communication is emphasized, the satellite antenna can be quickly and accurately tracked to the satellite on the rescue site, the service is opened, and the satellite station and satellite following time is greatly required in order to quickly upload the site information to a command platform in order to timely and correctly command and schedule in the emergency communication industry. The current traditional antenna satellite tracking time and tracking precision obviously cannot meet the requirements of novel emergency communication.
Disclosure of Invention
The invention aims to provide a satellite station and satellite tracking system and a satellite station and satellite tracking method, and the satellite station and satellite tracking system can solve the problem that the satellite tracking time and tracking precision of a traditional satellite antenna cannot meet the requirements of novel emergency communication in the prior art.
In order to achieve the above purpose, the invention provides the following technical scheme:
a satellite station satellite tracking method specifically comprises the following steps:
s101, a satellite station and a satellite system enter a tracking mode;
s102, judging satellite signals identified by a receiver through a main control module, controlling a satellite antenna to step by a first angle along the original direction through the servo driving module by the main control module when the satellite signals identified by the receiver are gradually enhanced, controlling the satellite antenna to continuously move by a second angle through the servo driving module by the main control module when the satellite signals identified by the receiver are weakened, stopping moving, stepping a plurality of points in the opposite direction, collecting ACG points after stepping each time and recording the angle value of the points;
and S103, the main control module determines the extreme value position according to a satellite finding modeling formula and a plurality of ACG points, and moves the satellite antenna to the position of the extreme value of the satellite signal corresponding to the two degrees of freedom of azimuth and elevation to complete satellite tracking.
On the basis of the technical scheme, the invention can be further improved as follows:
further, the method further includes S105, adjusting directions of the satellite antenna pitch axis and the azimuth axis through a servo driving module.
Further, the step S105 specifically includes finding the maximum position of the azimuth axis through the main control module, and adjusting the pitch axis at the maximum position of the azimuth axis.
Further, the method further comprises S106, after the satellite tracking locking is completed, the main control module locks the current position information and stores the pitching information and the azimuth information.
A satellite station and satellite tracking system, comprising:
the satellite antenna is used for collecting satellite signals transmitted by the satellites;
the receiver is electrically connected with the satellite antenna and used for acquiring satellite signals;
a servo drive module;
the main control module is electrically connected with the receiver and the servo driving module, and controls the servo driving module to adjust the movement of the pitch axis and the azimuth axis of the satellite antenna in real time according to the satellite signals acquired by the receiver so as to track a target satellite.
Furthermore, the servo driving module comprises an azimuth driving module and an azimuth motor, the main control module is electrically connected with the azimuth motor, and the main control module is used for controlling the azimuth driving module to drive the azimuth motor;
the satellite signals identified by the receiver are judged through the main control module, when the satellite signals identified by the receiver are gradually enhanced, the main control module drives the azimuth motor to control the satellite antenna to step by a first angle along the original direction through the azimuth driving module, when the satellite signals identified by the receiver are weakened, the main control module drives the azimuth motor to control the satellite antenna to continue to move by a second angle through the azimuth driving module, the main control module stops moving, steps by a plurality of points in the opposite direction, collects ACG points after each step and records the angle value of the points.
Furthermore, the main control module determines the extreme value position according to a satellite searching modeling formula and a plurality of ACG points, and moves the satellite antenna to the position of the extreme value of the satellite signal corresponding to the azimuth, so as to complete the accurate search of the azimuth extreme value.
Further, the star finding modeling formula is as follows:
y＝ax2+bx+c
in the formula: x is a corresponding azimuth movement position value, y is a value corresponding to the actual satellite signal level acquired from a beacon or DVB (digital video broadcasting) of the main control board, and a, b and c are values of three parameters;
and obtaining the corresponding maximum satellite signal at the-b/2 a position according to an extreme value method corresponding to the curve equation.
Furthermore, the main control module determines the extreme value position according to a satellite searching modeling formula and a plurality of ACG points, and moves the satellite antenna to the position of the extreme value of the satellite signal corresponding to the azimuth, so as to complete the accurate search of the azimuth extreme value.
Furthermore, the servo driving module comprises a pitching driving module and a pitching motor, the main control module is electrically connected with the pitching motor, and the main control module is used for controlling the pitching driving module to drive the pitching motor;
and finding the maximum position of the azimuth axis of the satellite antenna through a main control module, and adjusting the pitching axis of the satellite antenna at the maximum position of the azimuth axis.
The invention has the following advantages:
according to the satellite station and satellite tracking system, the servo driving module is controlled in real time through the main control module according to the satellite signals collected by the multi-mode detection module to adjust the motion of the satellite antenna, and a target satellite is tracked; determining an extreme value position according to a plurality of ACG points through a satellite finding modeling formula, and moving a satellite antenna to the position of the extreme value of a satellite signal corresponding to the azimuth to complete satellite tracking; the satellite station satellite tracking system is simple in satellite tracking, fast in satellite tracking and high in precision. The emergency communication method can meet the urgent need of emergency communication in China, improve the capacity of coping with sudden public events in China, and has very important significance for guaranteeing the communication safety in China. The problem of traditional satellite antenna with the satellite time and the tracking accuracy can not satisfy novel emergent communication requirement among the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a satellite station tracking method in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a satellite tracking system of a satellite station according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a satellite tracking system of a satellite station according to an embodiment of the present invention;
FIG. 4 is a flow chart of satellite station tracking according to an embodiment of the present invention;
FIG. 5 is a flow chart of the orientation algorithm modeling in the embodiment of the present invention.
Description of reference numerals:
the system comprises a satellite antenna 10, a receiver 20, a servo driving module 30, an azimuth driving module 301, an azimuth motor 302, a pitch driving module 303, a pitch motor 304 and a main control module 40.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. 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.
As shown in fig. 1, a satellite station and satellite tracking method specifically includes:
s101, starting a tracking mode;
in the step, the satellite station and the satellite system enter a tracking mode;
s102, the main control module controls the servo driving module to adjust the motion of the satellite antenna;
in this step, the satellite signal recognized by the receiver 20 is judged through the main control module 40, when the satellite signal recognized by the receiver 20 is gradually enhanced, the main control module 40 controls the satellite antenna 10 to step by a first angle along the original direction through the servo driving module 30, when the satellite signal recognized by the receiver 20 has a weakening trend, the main control module 40 controls the satellite antenna 10 to continue to move by a second angle through the servo driving module 30, then the movement is stopped, a plurality of points are stepped in the opposite direction, and an ACG point is collected and an angle value of the point is recorded after each stepping;
s103, moving the satellite antenna to the position of the extreme value of the satellite signal corresponding to the two degrees of freedom of azimuth and elevation;
in this step, the main control module 40 determines the extreme position according to a satellite finding modeling formula and a plurality of ACG points, and moves the satellite antenna 10 to the extreme position of the satellite signal corresponding to two degrees of freedom, namely azimuth and elevation, to complete satellite tracking.
On the basis of the technical scheme, the invention can be further improved as follows:
further, the method further includes S105, adjusting the directions of the pitch axis and the azimuth axis of the satellite antenna 10 by the servo driving module 30.
Further, the step S105 specifically includes finding the maximum position of the azimuth axis through the main control module 40, and adjusting the pitch axis at the maximum position of the azimuth axis.
Further, the method further includes step S106, after locking with the star is completed, the main control module 40 locks the current position information, and stores the pitch information and the azimuth information.
As shown in fig. 2-3, a satellite station and satellite tracking system comprises:
a satellite antenna 10 for collecting satellite signals from satellites;
a receiver 20 electrically connected to the satellite antenna 10 for collecting satellite signals;
a servo drive module 30;
the main control module 40 is electrically connected to the receiver 20 and the servo driving module 30, and the main control module 40 controls the servo driving module 30 to adjust the movement of the pitch axis and the azimuth axis of the satellite antenna 10 in real time according to the satellite signal acquired by the receiver 20, so as to track the target satellite.
As shown in fig. 4, the satellite station and satellite tracking system of the present invention adopts a general design for hardware and structure, a small dc motor is used for servo, and a driver is self-developed, compared with a conventional antenna: the combination of step motor and standard servo module, small, weight is also light a lot, and the satellite station tracks the flow as follows:
s101, initializing an antenna;
s102, unfolding an antenna;
s103, preparing an antenna for searching;
s104, searching an antenna;
s105, tracking the antenna (including locking);
s106, antenna collection;
in the step, after the servo finishes the satellite tracking and locking, the current position information, the pitching information, the azimuth information and the like are stored, so that the satellite can be quickly aimed at next time.
S107, the antenna is manual;
in this step, the antenna manual operation can affect the antenna preparation search, the antenna tracking (including locking) and the antenna collection;
as shown in fig. 5, the satellite station determines whether to position before completing the search, and if the longitude and latitude at this time are consistent with the longitude and latitude information stored last time, the satellite station directly operates the pitching to the pitching position stored last time, and if not, the satellite station performs the calculation search according to the new position information. If not (within 30 s), the satellite antenna 10 will take out the last stored positioning information, calculate the theoretical pitch, azimuth, polarization, and then start the search. The satellite station and the satellite system enter a tracking mode after completing searching each time;
satellite tracking signal standard: current signal strength > tracking signal strength
When the satellite signal received by the receiver 20 is gradually increased, the satellite antenna 10 moves along the direction, the direction is stepped within 0.2 degrees each time, the azimuth continues to move in the direction before tracking, and when the receiver 20 identifies the signal weakening trend, the azimuth continues to move by 1.05 degrees and stops moving. Stepping in the reverse direction by 0.15 degrees and 16 points in total by 2.4 degrees, and acquiring an AGC point after each stepping to ensure that the AGC of the point is reliable and effective and recording the angle value of the point; and comparing the 16 groups of data with 5 points on both sides of the maximum point, performing fitting processing to quickly obtain the corresponding angle of the maximum AGC point, wherein the angle value is the corresponding value of the X axis, the signal intensity is the corresponding value of the Y axis, and judging the validity of the angle.
Further, the servo driving module 30 includes an azimuth driving module 301 and an azimuth motor 302, the main control module 40 is electrically connected to the azimuth motor 302, and the main control module 40 is configured to control the azimuth driving module 301 to drive the azimuth motor 302;
the satellite signals identified by the receiver 20 are judged through the main control module 40, when the satellite signals identified by the receiver 20 are gradually enhanced, the main control module 40 drives the azimuth motor 302 through the azimuth driving module 301 to control the satellite antenna 10 to step by a first angle along the original direction, when the satellite signals identified by the receiver 20 have a weakening trend, the main control module 40 drives the azimuth motor 302 through the azimuth driving module 301 to control the satellite antenna 10 to continuously move by a second angle, then the movement is stopped, a plurality of points are stepped in the opposite direction, ACG points are collected after each stepping, and the angle value of the points is recorded.
Further, the main control module 40 determines the extreme value position according to a satellite finding modeling formula and a plurality of ACG points, and moves the satellite antenna 10 to the extreme value position of the satellite signal corresponding to the azimuth, thereby completing the fine search of the azimuth extreme value.
Further, the star finding modeling formula is as follows:
y＝ax2+bx+c
in the formula: x is a corresponding azimuth movement position value, y is a value corresponding to the actual satellite signal level acquired from a beacon or DVB (digital video broadcasting) of the main control board, and a, b and c are values of three parameters;
and obtaining the corresponding maximum satellite signal at the-b/2 a position according to an extreme value method corresponding to the curve equation.
At the selected 5 points, it can be calculated: the values of the three parameters a, b and c are obtained according to an extreme value method corresponding to a curve equation, the maximum signal corresponding to the position-b/2 a is obtained, in the actual test and verification, the difference of the extreme value signal is found to be 0.1 through a manual mode, but the fluctuation of the satellite signal is far greater than 0.1, so the influence on the tracking precision caused by errors can be ignored.
After the maximum position is determined, the azimuth of the satellite antenna 10 is directly moved to the position of the extreme value of the azimuth corresponding signal, and at the moment, the accurate search of the extreme value of the azimuth is completed. Compared with the traditional antenna, the method only needs to collect a small number of points, can realize the confirmation of the extreme value position through fitting after judging the signal change trend, and can save more than half of the tracking time compared with the traditional satellite tracking.
Further, the main control module 40 determines the extreme value position according to a satellite finding modeling formula and a plurality of ACG points, and moves the satellite antenna 10 to the extreme value position of the satellite signal corresponding to the azimuth, thereby completing the fine search of the azimuth extreme value.
Further, the servo driving module 30 includes a pitch driving module 303 and a pitch motor 304, the main control module 40 is electrically connected to the pitch motor 304, and the main control module 40 is configured to control the pitch driving module 303 to drive the pitch motor 304;
the maximum position of the azimuth axis of the satellite antenna 10 is found through the main control module 40, and the pitch axis of the satellite antenna 10 is adjusted at the maximum position of the azimuth axis.
After the direction is adjusted, the pitching is started to be modulated, and the principle and the method are the same as the direction. The target satellite can be quickly and accurately tracked through the azimuth and elevation adjusting antenna, the satellite locking time can be controlled within 50s, and the tracking efficiency can be improved by more than 60% compared with that of the traditional satellite antenna 10. When the satellite station tracks and is finely adjusted in the later stage, the two-axis direction adjustment of pitching and azimuth is mainly carried out, the position of the maximum value of a signal is found in one axis direction firstly, then the position of the maximum value is adjusted in the other axis, and each axial motion mode and the control strategy are consistent.
After the servo is completed and the satellite is locked, the current position information, the pitching information, the azimuth information and the like are stored, so that the satellite can be quickly aimed at next time.
The satellite station and satellite tracking system has the following advantages:
fast star following: compared with the traditional antenna satellite tracking, the efficiency can be improved by more than 60%;
the general type is strong: the antenna can be suitable for a vehicle-mounted static satellite antenna 10, a portable station satellite antenna 10, a medium-large fixed station and the like;
the realization is simple, and is with low costs: the module adopts a traditional hardware detection module, is convenient to install, has low price and is very beneficial to the application and popularization of the market;
the localization rate is 100%, and the whole product is a localization device.
The satellite station and satellite system has the following use process:
when the system is used, an operator enters a tracking mode with a satellite system at a satellite station; judging satellite signals identified by a receiver 20 through a main control module 40, when the satellite signals identified by the receiver 20 are gradually enhanced, controlling the satellite antenna 10 to step by a first angle along the original direction through a servo driving module 30 by the main control module 40, when the satellite signals identified by the receiver 20 have a weakening trend, controlling the satellite antenna 10 to continuously move by a second angle through the servo driving module 30 by the main control module 40, stopping the movement, stepping by a plurality of points in the opposite direction, collecting ACG points after each stepping, and recording the angle value of the points; the main control module 40 determines the extreme position according to a plurality of ACG points through a satellite-finding modeling formula, and moves the satellite antenna 10 to the position of the extreme position of the satellite signal corresponding to the azimuth, thereby completing satellite tracking.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used 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 more than one of the feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A satellite station and satellite tracking method is characterized by specifically comprising the following steps:
s101, a satellite station and a satellite system enter a tracking mode;
s102, judging satellite signals identified by a receiver through a main control module, controlling a satellite antenna to step by a first angle along the original direction through the servo driving module by the main control module when the satellite signals identified by the receiver are gradually enhanced, controlling the satellite antenna to continuously move by a second angle through the servo driving module by the main control module when the satellite signals identified by the receiver are weakened, stopping moving, stepping a plurality of points in the opposite direction, collecting ACG points after stepping each time and recording the angle value of the points;
and S103, the main control module determines the extreme value position according to a satellite finding modeling formula and a plurality of ACG points, and moves the satellite antenna to the position of the extreme value of the satellite signal corresponding to the two degrees of freedom of azimuth and elevation to complete satellite tracking.
2. The method according to claim 1, further comprising S105, adjusting directions of the satellite antenna pitch axis and the azimuth axis by a servo driving module.
3. The satellite station-to-satellite method according to claim 2, wherein the step S105 specifically includes finding a maximum position of the azimuth axis through the main control module, and adjusting the pitch axis at the maximum position of the azimuth axis.
4. The satellite station satellite tracking method according to claim 3, further comprising S106, wherein after satellite tracking locking is completed, the main control module locks current position information and stores pitch information and azimuth information.
5. A satellite station and satellite tracking system, comprising:
the satellite antenna is used for collecting satellite signals transmitted by the satellites;
the receiver is electrically connected with the satellite antenna and used for acquiring satellite signals;
a servo drive module;
the main control module is electrically connected with the receiver and the servo driving module, and controls the servo driving module to adjust the movement of the pitch axis and the azimuth axis of the satellite antenna in real time according to the satellite signals acquired by the receiver so as to track a target satellite.
6. The satellite tracking system according to claim 5, wherein the servo driving module comprises an azimuth driving module and an azimuth motor, the main control module is electrically connected to the azimuth motor, and the main control module is configured to control the azimuth driving module to drive the azimuth motor;
the satellite signals identified by the receiver are judged through the main control module, when the satellite signals identified by the receiver are gradually enhanced, the main control module drives the azimuth motor to control the satellite antenna to step by a first angle along the original direction through the azimuth driving module, when the satellite signals identified by the receiver are weakened, the main control module drives the azimuth motor to control the satellite antenna to continue to move by a second angle through the azimuth driving module, the main control module stops moving, steps by a plurality of points in the opposite direction, collects ACG points after each step and records the angle value of the points.
7. The satellite station satellite tracking system according to claim 6, wherein the main control module determines the extreme position according to a plurality of ACG points by using a satellite finding modeling formula, and moves the satellite antenna to the extreme position of the satellite signal corresponding to the azimuth, thereby completing the azimuth extreme value search.
8. The satellite tracking system of claim 7, wherein the star finding modeling formula is:
y＝ax2+bx+c
in the formula: x is a corresponding azimuth movement position value, y is a value corresponding to the actual satellite signal level acquired from a beacon or DVB (digital video broadcasting) of the main control board, and a, b and c are values of three parameters;
and obtaining the corresponding maximum satellite signal at the-b/2 a position according to an extreme value method corresponding to the curve equation.
9. The satellite station satellite tracking system according to claim 8, wherein the main control module determines the extreme position according to a plurality of ACG points through a satellite finding modeling formula, and moves the satellite antenna to the extreme position of the satellite signal corresponding to the azimuth, thereby completing the azimuth extreme value search.
10. The satellite tracking system according to claim 6, wherein the servo driving module comprises a pitch driving module and a pitch motor, the main control module is electrically connected to the pitch motor, and the main control module is configured to control the pitch driving module to drive the pitch motor;
and finding the maximum position of the azimuth axis of the satellite antenna through a main control module, and adjusting the pitching axis of the satellite antenna at the maximum position of the azimuth axis.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114531195A (en) * | 2022-02-18 | 2022-05-24 | 北京爱科迪通信技术股份有限公司 | Multi-mode multi-caliber multi-frequency-band backpack satellite station |
| CN114928416A (en) * | 2022-07-21 | 2022-08-19 | 成都金诺信高科技有限公司 | Automatic antenna inclination angle patrol optimization star search system and method |
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