CN116743224B - Satellite automatic tracking method, satellite tracking system and satellite tracking device - Google Patents
Satellite automatic tracking method, satellite tracking system and satellite tracking device Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
- H04B7/0613—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
- H04B7/0686—Hybrid systems, i.e. switching and simultaneous transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
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- 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
- H04B7/18517—Transmission equipment in earth stations
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Abstract
The application relates to the technical field of satellite communication, and particularly discloses an automatic satellite tracking method, an automatic satellite tracking system and an automatic satellite tracking device, wherein the automatic satellite tracking method comprises the following steps: antenna parameters of a receiving phased array antenna, wherein the antenna parameters comprise an antenna course angle H and an antenna longitude lambda D Latitude of antennaAntenna height; calculating a first azimuth angle A and a first pitch angle E of a satellite relative to the phased array antenna under a current geographic coordinate system according to the antenna parameters and known satellite parameters; selecting a target satellite according to a first azimuth angle A and a first pitch angle E under a current geographic coordinate system, and selecting a target array plane in the phased array antenna; the method and the device can improve the accuracy of the calculation result, so that the phased array antenna can track the satellite rapidly and accurately.
Description
Technical Field
The present application relates to the field of satellite communications technologies, and in particular, to an automatic satellite tracking method, a satellite tracking system, and a satellite tracking device.
Background
Establishing communication between the ground station antenna and the satellite, the phased array antenna needs to have the ability to automatically track the satellite to ensure that the antenna beam is always directed at the satellite. For low orbit satellite communication, because the orbit period is short and the orbit period is only about ten minutes in the visual field and keeps moving all the time, the phased array antenna needs to be capable of rapidly responding to the movement of the satellite, namely the antenna needs to rapidly and accurately track the satellite so as to ensure the high quality completion of the communication process. In the prior art, the phased array antenna generally adopts a mechanical mode to adjust the antenna direction, and the antenna moves along with the transit satellite through a mechanical turntable to realize tracking, so that the defect of large mechanical driving error and low precision is overcome. Another method is based on satellite tracking with a gyroscopic sensor, which needs to be calibrated every two days, responsible for the reduction of tracking accuracy. In addition, in the calculation of the tracking angle, the tracking calculation method adopted in the prior art needs to frequently correct the attitude angle of the antenna, so that the final calculation result is easy to respond slowly or has larger error, and the antenna cannot realize rapid and accurate tracking of the satellite.
Disclosure of Invention
The application aims to provide an automatic satellite tracking method and a satellite tracking system, which avoid frequent correction of attitude angles by improving a calculation method, so that a phased array antenna can track a satellite rapidly and accurately.
Embodiments of the present application are implemented as follows:
in a first aspect, an embodiment of the present application provides an automatic satellite tracking method, which is applied to a control end in a satellite tracking system, where the satellite tracking system further includes: a phased array antenna communicatively coupled to the control end, the method comprising:
antenna parameters of a receiving phased array antenna, wherein the antenna parameters comprise an antenna course angle H and an antenna longitude lambda D Latitude of antennaAntenna height;
calculating a first azimuth angle A and a first pitch angle E of a satellite relative to the phased array antenna under a current geographic coordinate system according to the antenna parameters and known satellite parameters; wherein the known satellite parameters include satellite longitude lambda S Latitude of satelliteSatellite altitude h;
selecting a target satellite according to a first azimuth angle A and a first pitch angle E under a current geographic coordinate system, and selecting a target array plane in the phased array antenna;
and distributing corresponding wave beams to the target array surface, and indicating the target array surface to track the target satellite.
As an optional implementation manner, before the selecting the target array plane in the phased array antenna, the method further includes:
calculating a second azimuth angle Aj and a second pitch angle Ej of the satellite under the carrier coordinate system according to the first azimuth angle A, the first pitch angle E and the antenna course angle H under the current geographic coordinate system;
calculating the pitch angle of the antenna array face under the spherical coordinate system through the second azimuth angle Aj and the second pitch angle EjθAnd azimuth angle。
As an optional implementation manner, the allocating a corresponding beam to the target array plane includes:
according to the pitch angle of the antenna array face under the spherical coordinate systemθAnd azimuth angleAnd distributing corresponding wave beams to the target array surface.
As an alternative embodiment, the calculating the first azimuth angle a and the first pitch angle E of the satellite relative to the phased array antenna in the current geographic coordinate system according to the antenna parameters and the known satellite parameters includes:
according toCalculating an included angle beta between a connecting line from the phased array antenna to the earth center and a connecting line from a satellite point below the satellite to the earth center;
according toCalculating a first azimuth angle A of the satellite relative to the phased array antenna in a local geographic coordinate system, wherein delta lambda is the satellite longitude lambda S With the antenna longitude lambda D Is a difference of Δλ= |λ S -λ D |；
According toCalculating a first pitch angle E, wherein r s R is the distance from the satellite to the earth center E R is the distance from the ground point where the phased array antenna is located to the center of the earth s =r E +satellite altitude h.
As an optional implementation manner, the calculating the second azimuth angle Aj and the second pitch angle Ej of the satellite in the carrier coordinate system according to the first azimuth angle a, the first pitch angle E and the heading angle H in the current geographic coordinate system includes:
according toCalculating to obtain a second pitch angle Ej of the satellite under the carrier coordinate system;
according toCalculating to obtain a second azimuth angle Aj of the satellite under the carrier coordinate system; wherein R is the antenna roll angle, P is the antenna pitch angle, and all are obtained by antenna parameters.
As an alternative implementation manner, the pitch angle of the antenna array surface under the spherical coordinate system is calculated through the second azimuth angle Aj and the second pitch angle EjθAnd azimuth angleComprising:
according toCalculating to obtain pitch angle of antenna array face under spherical coordinate systemθ；
According toCalculating to obtain azimuth angle of antenna array face under spherical coordinate system。
In a second aspect, an embodiment of the present application discloses a satellite tracking system, including a phased array antenna and a control terminal; the control end is used for executing the method of the first aspect.
As an alternative embodiment, the phased array antenna includes a main array plane and a side array plane; the side array surface is multiple and surrounds the main array surface, and the side array surface is perpendicular to the main array surface.
As an alternative implementation manner, there are four side array surfaces, and the four side array surfaces and the main array surface enclose a rectangular antenna array surface with a downward opening; and the side array surface and the main array surface are respectively provided with a plurality of wave beams.
In a third aspect, an embodiment of the present application provides a satellite tracking device, which is applied to a control end in a satellite tracking system, where the satellite tracking system further includes: a phased array antenna in communication with the control end, the apparatus comprising:
a communication module for receiving antenna parameters of the phased array antenna, wherein the antenna parameters comprise an antenna heading angle H and an antenna longitude lambda D Latitude of antennaAntenna height;
the calculation module is used for calculating a first azimuth angle A and a first pitch angle E of the satellite relative to the phased array antenna under the current geographic coordinate system according to the antenna parameters and the known satellite parameters; wherein the known satellite parameters include satellite longitude lambda S Latitude of satelliteSatellite altitude h;
the selection module is used for selecting a target satellite according to a first azimuth angle A and a first pitch angle E under the current geographic coordinate system and selecting a target array plane in the phased array antenna;
and the allocation module is used for allocating corresponding wave beams to the target array surface so as to instruct the target array surface to track the target satellite.
The beneficial effects of the embodiment of the application include:
according to the satellite automatic tracking method provided by the embodiment of the application, according to the antenna parameters and the known satellite parameters, a first azimuth angle A and a first pitch angle E of a satellite relative to a phased array antenna under a current geographic coordinate system are calculated, and then a target satellite is selected according to the first azimuth angle A and the first pitch angle E under the current geographic coordinate system, and a target array plane is selected in the phased array antenna; and distributing corresponding wave beams to the target array surface, and indicating the target array surface to track the target satellite. Compared with the prior art, the application can avoid frequent correction of the attitude angle, simplify the calculation process and promote the pitch angleθAnd azimuth angleThe accuracy of the output result enables the phased array antenna to track the satellite quickly and accurately.
The satellite tracking system provided by the application comprises a phased array antenna and a control end; compared with the prior art, the satellite automatic tracking method ensures that the tracking angle of the tracking system is irrelevant to the posture of the phased array antenna carrier, namely the pitch angle of the phased array antennaθAnd azimuth angleThe satellite tracking system provided by the application can avoid the adoption of a gyroscope to provide the carrier attitude angle of the phased array antenna, thereby avoiding the correction of the carrier attitude angle. The application can avoid frequently correcting the attitude angle, so that the phased array antenna can track the satellite rapidly and accurately.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a satellite tracking system according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of an automatic satellite tracking method according to an embodiment of the application;
FIG. 3 is a schematic diagram of the azimuth pitch of a satellite in the current geographic coordinate system;
FIG. 4 is a schematic flow chart of an automatic satellite tracking method according to an embodiment of the application;
FIG. 5 is a schematic diagram of satellite azimuth pitch in the spherical coordinate system of the antenna array surface;
FIG. 6 is a schematic diagram of a satellite tracking system according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a satellite tracking device according to an embodiment of the application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The embodiment of the application can be applied to a satellite tracking system to solve the technical problem that a phased array antenna cannot realize rapid and accurate tracking of satellites.
Fig. 1 is a schematic structural diagram of a satellite tracking system according to an embodiment of the present application, as shown in fig. 1, the satellite tracking system includes: phased array antenna 101 and control side 102, wherein control side 102 may be a processing device such as a computer, server, etc., without limitation.
Optionally, in the embodiment of the present application, the antenna end may receive GPS data packets in GPGGA and GPTRA formats through a dual antenna of a southward navigation (GNSS receiver), parse out information such as local longitude and latitude heights, heading angles, and the like, and send the information to the control end, and the control end performs the next processing to achieve tracking of satellites.
Fig. 2 is a schematic flow chart of an automatic satellite tracking method according to an embodiment of the present application, and referring to fig. 2, the method is applied to the control terminal 102, and includes:
s201, antenna parameters of the phased array antenna 101 are received.
Wherein the antenna parameters may include heading angle H, antenna longitude lambda D Latitude of antennaAntenna height;the antenna parameters may be derived from a navigation device disposed on phased array antenna 101.
S202, calculating a first azimuth angle A and a first pitch angle E of the satellite relative to the phased array antenna 101 under the current geographic coordinate system according to the antenna parameters and the known satellite parameters.
Wherein the known satellite parameters include satellite longitude lambda S Latitude of satelliteSatellite altitude h; the satellite parameters may be obtained by analyzing the SGP4 algorithm of the control end 102 according to the track number file TLE, where the track number file TLE may be obtained by monitoring the on-orbit space target by a related department or person in advance, or may be obtained by monitoring the on-orbit space target according to other organizations, which is not limited herein.
In the embodiment of the application, the control end can monitor the update of the two-row track root number file in real time, and if the file is updated, the file is reintroduced into the system. Optionally, the two-row orbital root file and the GPGGA/GPTRA packet from the GNSS receiver are parsed according to the format, and the azimuth pitch parameters of all satellites in the local geographic coordinate system at a preset interval (e.g., 500 ms) for one hour before and after the moment are calculated.
An alternative way of calculation is as follows:
according toCalculating an included angle beta between a connecting line of the phased array antenna 101 to the earth center and a connecting line of a satellite sub-satellite point to the earth center;
according toCalculating a first azimuth angle a of the satellite relative to phased array antenna 101 in a local geographic coordinate system, wherein Δλ is the satellite longitude λ S With the antenna longitude lambda D Is a difference of Δλ= |λ S -λ D |；
According toCalculating a first pitch angle E, wherein r s R is the distance from the satellite to the earth center E R is the distance from the ground point where the phased array antenna 101 is located to the center of the earth s =r E +satellite altitude h.
Referring to fig. 3, a schematic diagram of the azimuth pitch of a satellite in the current geographic coordinate system is shown.
The geographic coordinate system is the earth surface where the origin is located on the carrier of the phased array antenna 101, and is a right-hand rectangular coordinate system with an axis coincident with the geographic perpendicular. The origin O of the geographical coordinate system, commonly referred to as the northeast-day coordinate system, is selected at the carrier's center of gravity, ox pointing eastward, oy pointing north, oz pointing the day along the vertical. Wherein the carrier may be a vehicle or other load bearing device.
S203, selecting a target satellite according to the first azimuth angle A and the first pitch angle E in the current geographic coordinate system, and selecting a target array plane in the phased array antenna.
It should be noted that, the SGP4 algorithm built in the control end 102 analyzes and obtains satellite parameters of the in-orbit satellites according to the orbit root number file TLE, so that the control end 102 can make the satellite longitude λ of each in-orbit satellite S Latitude of satelliteAnd satellite height h is presented to the user so that the user can select the target satellite as desired.
Phased array antenna 101 includes a plurality of planes, with different orientations of the planes, the target planes being further selected for better tracking of the target satellite.
The phased array antenna can be fixedly arranged, so that the attitude angle of each array surface becomes a constant value, and the detection of the attitude angle of each array surface by using a gyroscope and other detection settings is avoided. Because the attitude angle becomes a fixed value in the calculation, frequent correction of each array face attitude angle is avoided. Therefore, when the target satellite is selected, only the array surface which is correspondingly matched with the pitch angle and the azimuth angle is selected in the phased array antenna according to the pitch angle and the azimuth angle of the target satellite relative to the phased array antenna, and the signal transmission with the target satellite is established through the array surface.
The control end can select the visible satellite according to the first azimuth angle A and the first pitch angle E of all satellites in the local geographic coordinate system, display the visible satellite to a user for selecting a target satellite, and automatically switch to the next satellite of the same type after selecting the satellite of the low orbit satellite.
S204, corresponding wave beams are distributed to the target array surface, and the target array surface is instructed to track the target satellite.
According to the method, a first azimuth angle A and a first pitch angle E of a satellite relative to a phased array antenna under a current geographic coordinate system are calculated according to antenna parameters and known satellite parameters, a target satellite is selected according to the first azimuth angle A and the first pitch angle E under the current geographic coordinate system, and a target array plane is selected in the phased array antenna; and distributing corresponding wave beams to the target array surface, and indicating the target array surface to track the target satellite. Compared with the prior art, the application can avoid frequent correction of the attitude angle, simplify the calculation process and promote the pitch angleθAnd azimuth angleThe accuracy of the output result enables the phased array antenna to track the satellite quickly and accurately.
Further, the selected target satellite related data including the first azimuth a and the first elevation E, and heading angle information from the GNSS receiver may be received at preset intervals (e.g., 500 ms). Correspondingly, the first azimuth angle A and the first pitch angle E can be converted into the pitch angle in the spherical coordinate system of the antenna arrayθAnd azimuth angle。
Fig. 4 is a schematic flow chart of a satellite automatic tracking method according to another embodiment of the present application, as shown in fig. 3, before selecting a target array plane in the phased array antenna, the method further includes:
s301, calculating a second azimuth angle Aj and a second pitch angle Ej of the satellite in the carrier coordinate system according to a first azimuth angle A, a first pitch angle E and an antenna heading angle H in the current geographic coordinate system.
Wherein, alternatively the formula can be referred to:
according toCalculating to obtain a second pitch angle Ej of the satellite under the carrier coordinate system;
according toCalculating to obtain a second azimuth angle Aj of the satellite under the carrier coordinate system; wherein R is the antenna roll angle, P is the antenna pitch angle, and all are obtained by antenna parameters.
In an embodiment of the application, the vectors of satellites in the current geographic coordinate system。
The vector Pa in the current geographic coordinate system is known, the H angle is rotated around the Y axis of the current geographic coordinate system, the P angle is rotated around the Z axis of the current geographic coordinate system in the form of Euler angles, and the R angle is rotated around the X axis of the current geographic coordinate system in the form of Euler angles, so that the vector Pb in the carrier coordinate system is obtained.
The formula for calculating Pb is expressed as:
further, the method comprises the steps of,the method comprises the steps of carrying out a first treatment on the surface of the The second azimuth angle Aj and the second pitch angle Ej can be calculated according to the vector Pb.
S302, calculating the pitch angle of the antenna array face under the spherical coordinate system through the second azimuth angle Aj and the second pitch angle EjθAnd azimuth angle. For example:
according toCalculating to obtain pitch angle of antenna array face under spherical coordinate systemθ；
According toCalculating to obtain azimuth angle of antenna array face under spherical coordinate system。
Referring to fig. 5, a schematic diagram of the azimuth and elevation position of a satellite in the spherical coordinate system of the antenna array surface is shown.
The origin of the carrier coordinate system is the center of gravity O of the carrier, the longitudinal axis Oy is along the direction of the head and tail line of the carrier and points to the head of the carrier, the transverse axis Ox points to the right axis of the carrier, the Oz axis is perpendicular to the plane of the carrier, and the coordinate system forms a right-hand rectangular coordinate system. The antenna course angle H is an included angle between the Oy axis of the carrier and the north, and is positive clockwise by taking the north as a reference. The antenna pitch angle P is the angle between the Oz axis of the carrier and the local horizontal plane, and is agreed to be positive upwards. The antenna roll angle R is the angle at which the carrier Ox axis is tilted with respect to the local horizontal plane, assuming that the carrier right tilt is positive. The origin of the antenna array plane spherical coordinate system is the center of the array plane of the phased array antenna 101, the coordinate axis Xp of the rotating antenna array plane spherical coordinate system coincides with the axis Oz of the carrier coordinate system, the coordinate axis Yp of the rotating antenna array plane spherical coordinate system coincides with the axis Oy of the carrier coordinate system, and the coordinate axis Zp of the rotating antenna array plane spherical coordinate system is opposite to the axis Ox of the carrier coordinate system.
Optionally, the allocating a corresponding beam to the target array plane includes: according to the pitch angle of the antenna array face under the spherical coordinate systemθAnd azimuth angleAnd allocating corresponding beams to the target array surface.
Exemplary, if each facet of phased array antenna 101 can be in azimuthAt 0-45 deg. and pitch angleθReceiving satellite beams in an interval of 0-45 DEG。
For example, in an in-orbit multiple satellites, one of the satellites has azimuthAt 0 DEG pitch angleθAt 10 °, i.e. the satellite is north of the phased array antenna 101 and is pitchedθNo more than 45 deg.. While array number 2 of phased array antenna 101 faces north and so the satellite is tracked by beam 1 assigned to array number 2. If one satellite is also in azimuth 0 degree, pitch angleθIf the angle is not more than 45 °, the satellite should be allocated to the array plane 2, and the beam 1 is already occupied at this time, so that the satellite is allocated to the beam 2 of the array plane 2.
Compared with the prior art, the satellite automatic tracking method provided by the embodiment of the application can avoid frequent correction of the attitude angle, simplify the calculation process and promote the pitch angleθAnd azimuth angleThe accuracy of the output results enables the phased array antenna 101 to track satellites quickly and accurately.
Referring to fig. 6, the present application provides a satellite tracking system, and a phased array antenna 101 includes a main array plane 103 and a side array plane 104; the side array surface 104 is a plurality of and surrounds the main array surface 103, and the side array surface 104 is perpendicular to the main array surface 103.
Referring to fig. 6, as an alternative embodiment, there are four side array surfaces 104, where the four side array surfaces 104 and the main array surface 103 enclose a rectangular antenna array surface with a downward opening; the side array plane 104 and the main array plane 103 are each provided with a plurality of beams.
Illustratively, the main array plane 103 is disposed parallel to the horizontal plane, and the antenna heading angle H of the first side array plane 104 relative to the main array plane 103 is 180 °, the antenna roll angle R is 90 °, and the antenna pitch angle P is 0 °.
The second side array plane 104 has an antenna heading angle H of 270 ° with respect to the main array plane 103, an antenna roll angle R of 90 °, and an antenna pitch angle P of 0 °.
The third side array plane 104 has an antenna heading angle H of 0 °, an antenna roll angle R of 90 °, and an antenna pitch angle P of 0 ° with respect to the main array plane 103.
The fourth side array plane 104 has an antenna heading angle H of 90 ° with respect to the main array plane 103, an antenna roll angle R of 90 °, and an antenna pitch angle P of 0 °. It should be noted that, each array surface is provided with 8 beams, so the satellite tracking system provided by the embodiment of the application can track 40 satellites.
Therefore, the method does not need to detect the attitude angle of the carrier in real time in the calculation process, and does not need to frequently correct the attitude angle in the calculation process, so that the calculation method can be simplified, the accuracy of the calculation result can be improved, and the phased array antenna 101 can rapidly and accurately track the satellite.
Referring to fig. 1, an embodiment of the present application provides a satellite tracking device, which is applied to a control end 102 in a satellite tracking system, where the satellite tracking system further includes: phased array antenna 101 is communicatively coupled to control terminal 102, and referring to fig. 7, the apparatus includes:
a communication module 105 for receiving antenna parameters of the phased array antenna 101, wherein the antenna parameters include an antenna heading angle H and an antenna longitude lambda D Latitude of antennaAntenna height;
a calculation module 106, configured to calculate a first azimuth angle a and a first pitch angle E of the satellite relative to the phased array antenna 101 in a current geographic coordinate system according to the antenna parameters and the known satellite parameters; wherein the known satellite parameters include satellite longitude lambda S Latitude of satelliteSatellite altitude h;
a selection module 107, configured to select a target satellite according to a first azimuth angle a and a first pitch angle E in a current geographic coordinate system, and select a target array plane in the phased array antenna 101;
the allocation module 108 is configured to allocate a corresponding beam to the target array plane, so as to instruct the target array plane to track the target satellite.
In the present embodiment, the flow-throughThe over-distribution module 108 distributes the array, beam, and pitch angleθAnd azimuth angleInformation is sent to the phased array antenna 101, so that the phased array antenna 101 can select an optimal array plane corresponding to a satellite to conduct information transfer, rotation tracking of the phased array antenna 101 to the satellite is avoided, driving through a mechanical structure is structurally avoided, response speed of tracking can be effectively improved, and delay interference of the mechanical structure is eliminated.
In the prior art, the gyroscope is required to collect the attitude angle parameters of the phased array antenna 101, and the gyroscope needs to be calibrated frequently, otherwise, the accuracy of the collected attitude angle parameters is reduced, and errors are generated, so that frequent correction is required. In addition, in the tracking method adopted in the prior art, after the tracking angle of the phased array antenna 101 is calculated, the phased array antenna 101 is rotated by a mechanical structure so that the phased array antenna 101 and the satellite transmit signals. Certain delay exists in the whole process of controlling and driving the mechanical structure, and quick response cannot be realized, namely quick and accurate tracking of satellites cannot be realized.
In the satellite tracking device provided by the embodiment of the application, the phased array antenna 101 is stationary, a mechanical structure is not required to drive the phased array antenna 101 to rotate, and a gyroscope is not required to collect attitude angle parameters of the phased array antenna 101. Since the entire phased array antenna 101 is stationary, that is, the pose of each facet in the phased array antenna 101 is fixed, the pose angle of each facet is quantitative. It is not necessary for the gyroscope to detect the attitude angles (i.e., the antenna heading angle H, the antenna roll angle R, and the antenna pitch angle P). Therefore, the method can reduce the influence of the attitude angle on the calculation process, simplify the calculation method and improve the accuracy of the calculation result.
Compared with the prior art, the satellite automatic tracking method has the advantages that the tracking angle of the tracking system is irrelevant to the posture of the carrier of the phased array antenna 101, namely the pitch angle of the phased array antenna 101θAnd azimuth angleThe satellite tracking system provided by the application can avoid the adoption of a gyroscope to provide the carrier attitude angle of the phased array antenna 101, thereby avoiding the correction of the carrier attitude angle. The application can avoid frequent correction of attitude angles, so that the phased array antenna 101 can track satellites rapidly and accurately.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (8)
1. The automatic satellite tracking method is characterized by being applied to a control end in a satellite tracking system, and the satellite tracking system further comprises: a phased array antenna communicatively coupled to the control end, the method comprising:
antenna parameters of a receiving phased array antenna, wherein the antenna parameters comprise an antenna course angle H and an antenna longitude lambda D Latitude of antennaAntenna height;
calculating a first azimuth angle A and a first pitch angle E of a satellite relative to the phased array antenna under a current geographic coordinate system according to the antenna parameters and known satellite parameters; wherein the known satellite parameters include satellite longitude lambda S Latitude of satelliteSatellite altitude h;
selecting a target satellite according to a first azimuth angle A and a first pitch angle E under a current geographic coordinate system, and selecting a target array plane in the phased array antenna;
distributing corresponding wave beams to the target array surface and indicating the target array surface to track the target satellite;
before the target array plane is selected in the phased array antenna, the method further comprises:
calculating a second azimuth angle Aj and a second pitch angle Ej of the satellite under the carrier coordinate system according to the first azimuth angle A, the first pitch angle E and the antenna course angle H under the current geographic coordinate system;
calculating the pitch angle of the antenna array face under the spherical coordinate system through the second azimuth angle Aj and the second pitch angle EjθAnd azimuth angle；
The allocating the corresponding wave beam to the target array plane comprises the following steps:
according to the pitch angle of the antenna array face under the spherical coordinate systemθAnd azimuth angleAnd distributing corresponding wave beams to the target array surface.
2. The method of claim 1, wherein calculating a first azimuth angle a and a first elevation angle E of the satellite relative to the phased array antenna in a current geographic coordinate system based on the antenna parameters and known satellite parameters comprises:
according toCalculating an included angle beta between a connecting line from the phased array antenna to the earth center and a connecting line from a satellite point below the satellite to the earth center;
according toCalculating a first azimuth angle A of the satellite relative to the phased array antenna in a local geographic coordinate system, wherein delta lambda is the satellite longitude lambda S With the antenna longitude lambda D Is a difference of Δλ= |λ S -λ D |；
According toCalculating a first pitch angle E, wherein r s R is the distance from the satellite to the earth center E R is the distance from the ground point where the phased array antenna is located to the center of the earth s =r E +satellite altitude h.
3. The method according to claim 2, wherein calculating the second azimuth angle Aj and the second pitch angle Ej of the satellite in the carrier coordinate system based on the first azimuth angle a, the first pitch angle E, and the heading angle H in the current geographic coordinate system comprises:
according toCalculating to obtain a second pitch angle Ej of the satellite under the carrier coordinate system;
according toCalculating to obtain a second azimuth angle Aj of the satellite under the carrier coordinate system; wherein R is the antenna roll angle, P is the antenna pitch angle, and all are obtained by antenna parameters.
4. The method according to claim 3, wherein the pitch angle in the spherical coordinate system of the antenna array is calculated by the second azimuth angle Aj and the second pitch angle EjθAnd azimuth angleComprising:
according toCalculating to obtain pitch angle of antenna array face under spherical coordinate systemθ；
According toCalculating to obtain azimuth angle +.>。
5. A satellite tracking system comprising a phased array antenna and a control terminal; the control terminal is configured to perform the method of any one of claims 1-4.
6. The satellite tracking system of claim 5, wherein the phased array antenna comprises a main array plane and a side array plane; the side array surface is multiple and surrounds the main array surface, and the side array surface is perpendicular to the main array surface.
7. The satellite tracking system of claim 6, wherein there are four of the side arrays, the four side arrays and the main array enclosing a rectangular antenna array with a downward opening; and the side array surface and the main array surface are respectively provided with a plurality of wave beams.
8. A satellite tracking device, for use at a control end in a satellite tracking system, the satellite tracking system further comprising: a phased array antenna in communication with the control end, the apparatus comprising:
a communication module for receiving antenna parameters of the phased array antenna, wherein the antenna parameters comprise an antenna heading angle H and an antenna longitude lambda D Latitude of antennaAntenna height;
the calculation module is used for calculating a first azimuth angle A and a first pitch angle E of the satellite relative to the phased array antenna under the current geographic coordinate system according to the antenna parameters and the known satellite parameters; wherein the known satellite parameters include satellite warpDegree lambda S Latitude of satelliteSatellite altitude h;
calculating a second azimuth angle Aj and a second pitch angle Ej of the satellite under the carrier coordinate system according to the first azimuth angle A, the first pitch angle E and the antenna course angle H under the current geographic coordinate system;
calculating the pitch angle theta and the azimuth angle under the spherical coordinate system of the antenna array surface through the second azimuth angle Aj and the second pitch angle Ej；
The selection module is used for selecting a target satellite according to a first azimuth angle A and a first pitch angle E under the current geographic coordinate system and selecting a target array plane in the phased array antenna;
the distribution module is used for distributing corresponding wave beams to the target array surface, wherein the wave beams are distributed according to the pitch angle theta and the azimuth angle of the antenna array surface under the spherical coordinate systemAnd distributing corresponding wave beams to the target array surface so as to instruct the target array surface to track the target satellite.
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