CN106712866B

CN106712866B - Communication-in-motion terminal station system and tracking method thereof

Info

Publication number: CN106712866B
Application number: CN201710044183.0A
Authority: CN
Inventors: 姜汝丹; 苗龙; 张晓峰; 于瑞涛
Original assignee: Nanjing Jingdi Communication Equipment Co ltd
Current assignee: Nanjing Jingdi Communication Equipment Co ltd
Priority date: 2017-01-19
Filing date: 2017-01-19
Publication date: 2022-12-02
Anticipated expiration: 2037-01-19
Also published as: CN106712866A

Abstract

The embodiment of the invention relates to the field of communication, in particular to a communication-in-motion terminal station system and a tracking method thereof, which are used for improving the tracking speed and accuracy. In the embodiment of the invention, signals transmitted by a satellite are received; under the condition that the strength of the signal is determined to be larger than the strength threshold value, adjusting the phase and the amplitude of the antenna through a phase control tracking system so as to align the antenna with the satellite; and under the condition that the strength of the signal is not larger than the strength threshold value, adjusting the rotating platform carrying the antenna through a mechanical tracking system so as to align the antenna with the satellite. In the embodiment of the invention, the tracking system and the tracking method are flexibly selected according to the magnitude relation between the strength of the received satellite signal and the strength threshold, and the phase control tracking system is used for adjusting the antenna under the condition that the signal strength is greater than the strength threshold, so that the tracking precision is high and the tracking speed is high; in the case where the received signal strength is not greater than the strength threshold, a greater range of scanning can be achieved using mechanical tracking.

Description

Communication-in-motion terminal station system and tracking method thereof

Technical Field

The embodiment of the invention relates to the field of communication, in particular to a communication-in-motion terminal station system and a tracking method thereof.

Background

The communication-in-motion end station system is short for a mobile satellite ground end station system. Through the communication-in-motion terminal station system, the requirement that mobile carriers such as various vehicles, ships, high-speed rails, airplanes and the like continuously transmit services such as voice, data, high-definition dynamic images, faxes and the like in real time through satellites in motion can be met. Has wide development and application prospect, and can meet the requirements of various communication services under various military and civil emergency communication and mobile conditions.

Because the distance between the satellite and the ground is very long, the link loss is large, and therefore, a high-gain directional antenna is required to be adopted to realize the broadband communication between the mobile carrier platform and the satellite. Meanwhile, the influence of high gain is that the radiation beam of the antenna is very narrow (generally only about 2 degrees or less), while the carrier moves at high speed, the position, particularly the attitude angle of the carrier, changes rapidly, so that the attitude of the antenna changes rapidly, and if the attitude of the antenna changes too much and exceeds the beam width of the antenna, the gain of the antenna is reduced, so that the communication error rate is increased, particularly when the carrier encounters a condition that the storm is relatively large on an undulating road surface, a sharp change is easily caused when the ship body faces composite motions such as rolling, pitching and steering of the ship body, and if the tracking response speed or accuracy of the antenna is not enough, the attitude of the antenna deviates from the satellite, so that communication interruption occurs. Therefore, the beams radiated by the antennas must always be directed at the satellite with a certain accuracy and kept tracking in order to guarantee the stability of the communication link.

At present, a mechanical tracking system is generally used in a communication-in-motion antenna system, and the mechanical tracking system includes a duplexer, a receiver, a transmitter, a main controller, a conical scanning motor, a time sequence switch, a rotating platform, a mechanical adjustment controller, and a conventional reflecting surface or a shaped main reflecting surface. In the motion process of the carrier, according to the posture of the antenna fed back by the inertial navigation system, the traditional reflecting surface or the shaped main reflecting surface is adjusted through the mechanical adjustment controller to achieve the aim that the antenna is aligned with the satellite, but the beam radiated by the antenna is mechanically driven, so that the tracking speed is low, the pointing error is large, and the tracking precision is low.

In summary, a tracking scheme for a communication-in-motion end station system is needed to flexibly select a tracking method and improve tracking speed and accuracy.

Disclosure of Invention

The embodiment of the invention provides a communication-in-moving terminal station system and a tracking method thereof, which are used for flexibly selecting a tracking method and improving the tracking speed and accuracy.

The embodiment of the invention provides a tracking method of a communication-in-motion end station system, which comprises the following steps:

receiving signals transmitted by satellites; in the event that the strength of the signal is determined to be greater than a strength threshold, adjusting, by a phased tracking system, a phase and amplitude of an antenna to align the antenna with the satellite; in the event that the strength of the signal is determined to be not greater than the strength threshold, a rotating platform carrying the antenna is adjusted by a mechanical tracking system to align the antenna with the satellite.

Optionally, the adjusting the phase and amplitude of the antenna by the phase tracking system to align the antenna with the satellite comprises: analyzing the signal to determine the beam pointing information to be adjusted of the antenna in the alignment state of the antenna and the satellite; determining a phase to be adjusted and an amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset phase and amplitude mapping table of the beam pointing information and the feed source array; and adjusting the phase of the antenna to be the phase to be adjusted and adjusting the amplitude of the antenna to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, so that the beam direction of the adjusted antenna is the beam direction to be adjusted.

Optionally, the antenna comprises the feed array and a main reflector; the adjusting the phase of the antenna to the phase to be adjusted and the amplitude of the antenna to the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted so that the beam direction of the adjusted antenna is the beam direction to be adjusted includes: and adjusting the phase of the feed source in the feed source array into the phase to be adjusted and adjusting the amplitude of the feed source in the feed source array into the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, so that the beam direction of the adjusted antenna is the beam direction to be adjusted.

Optionally, after analyzing the signal, the method further includes: converting said signal in the radio frequency domain into a digital domain signal; determining a phase to be adjusted and an amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset mapping table of weighted values of the beam pointing information and the phase and amplitude of the feed source array in a digital domain; and adjusting the phase of the antenna to be the phase to be adjusted and adjusting the amplitude of the antenna to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, so that the beam direction of the adjusted antenna is the beam direction to be adjusted.

Optionally, the feed array comprises at least three feeds.

Optionally, the adjusting, by a mechanical tracking system, a rotating platform carrying the antenna to align the antenna with the satellite in the case where it is determined that the strength of the signal is not greater than the strength threshold includes: acquiring the motion parameters of the antenna and the current position parameters of the antenna; determining the attitude to be adjusted of the antenna according to the motion parameters of the antenna and the current position parameters of the antenna; determining position parameter variation information of the rotating platform according to the acquired current attitude of the antenna and the attitude to be adjusted; and adjusting the rotating platform bearing the antenna according to the position parameter variation information so as to adjust the posture of the antenna to the posture to be adjusted.

The embodiment of the invention provides a communication-in-motion end station system, which comprises:

a communication system for receiving signals transmitted by satellites;

a main controller connected to the communication system; for sending a first control command to a phase-controlled tracking system if the strength of the signal is determined to be greater than a strength threshold; in the event that the strength of the signal is determined not to be greater than the strength threshold, sending a second control command to the mechanical tracking system; wherein the first control command is to cause the phased tracking system to adjust the antenna; wherein the second control command is to cause the mechanical tracking system to adjust the antenna;

the phase control tracking system is connected with the main controller; the antenna is used for adjusting the phase and the amplitude of the antenna according to the first control command so as to align the antenna with the satellite; the mechanical tracking system is connected with the main controller; and the antenna adjusting device is used for adjusting a rotating platform bearing the antenna according to the second control command so as to align the antenna with the satellite.

Optionally, the phased tracking system comprises: the feed source array offset controller is connected with the main controller and the phase shift/time delay component module; for executing, according to the first control command: analyzing the signal, and determining the directional information of the beam to be adjusted of the antenna in the alignment state of the antenna and the satellite; determining a phase to be adjusted and an amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset phase and amplitude mapping table of the beam pointing information and the feed source array; sending the phase to be adjusted and the amplitude to be adjusted to the phase shifting/time delay component module; the phase shift/time delay component module is connected with an antenna; and the phase adjusting unit is used for adjusting the phase of the antenna to be the phase to be adjusted and adjusting the amplitude of the antenna to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, so that the beam direction of the adjusted antenna is the beam direction to be adjusted.

Optionally, the antenna comprises the feed array and a main reflector; the phase shift/time delay component module is connected with a feed source array in the antenna; the method is specifically used for: and adjusting the phase of the feed source in the feed source array to be the phase to be adjusted and adjusting the amplitude of the feed source in the feed source array to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted so as to enable the beam direction of the adjusted antenna to be the beam direction to be adjusted.

Optionally, a phased tracking system, comprising: an analog-to-digital/digital-to-analog conversion module connected to the beam forming network module, configured to: converting the signal in the radio frequency domain into a signal in the digital domain; a digital signal controller connected to the beamforming network module and configured to: determining a mapping table of weighted values of the beam pointing information and the phase and the amplitude of the feed source array in a digital domain; a beam forming network module connected to the feed array for: and determining the phase to be adjusted and the amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a mapping table of the weighted values of the beam pointing information and the weighted values of the phase and the amplitude of the feed source array in the digital domain.

Optionally, the feed array comprises at least three feeds.

Optionally, the mechanical tracking system comprises: the mechanical adjustment controller is connected with the main controller and the servo motor; for executing, according to the second control command: determining the attitude to be adjusted of the antenna according to the acquired motion parameters of the antenna and the current position parameters of the antenna; determining position parameter variation information of the rotating platform according to the acquired current attitude of the antenna and the attitude to be adjusted; sending the position parameter variation information of the rotating platform to the servo motor; the servo motor is connected with the rotating platform; and the rotating platform is used for adjusting the rotating platform bearing the antenna according to the position parameter variation information so as to adjust the posture of the antenna to the posture to be adjusted.

In the embodiment of the invention, the tracking system and the tracking method are flexibly selected according to the strength of the received satellite signal and the strength threshold value, so that the alignment of the antenna and the satellite is realized, and the phase and the amplitude of the antenna are adjusted by the phase control tracking system under the condition that the strength of the signal is determined to be greater than the strength threshold value, so that the antenna is aligned with the satellite; under the condition that the intensity of the received signal is high, the phase-controlled tracking system is used for tracking, so that high tracking precision and high tracking speed can be achieved; in the case where the received signal strength is not greater than the strength threshold, a greater range of scanning may be achieved using a mechanical tracking system for tracking. Therefore, the tracking system and the tracking method are flexibly selected according to the strength of the received signal, so that the tracking precision and speed are improved, and the large-scale scanning can be realized.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below.

Fig. 1 is a schematic structural diagram of a communication-in-motion end station system according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a communication system according to an embodiment of the present invention;

fig. 3 is a schematic diagram of an architecture of a tracking system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of another communication-in-motion end station system according to an embodiment of the present invention;

fig. 5 is a schematic flowchart of a tracking method of a communication-in-motion end station system according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a cone scanning and tracking system according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a single-pulse tracking system according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of an arrangement manner of a feed source array according to an embodiment of the present invention;

fig. 8a is a schematic structural diagram of another arrangement manner of a feed source array according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of another arrangement of the feed source array according to the embodiment of the present invention;

fig. 9a is a schematic structural diagram of another arrangement manner of a feed source array according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a principle that an antenna performs phase control adjustment in a digital domain according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a mobile communication end station system integrated in an outdoor platform according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a part of a structure of a satellite communication terminal in motion system integrated indoors according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a part of a communication-in-motion end station system integrated indoors according to another embodiment of the present invention;

fig. 14 is a flowchart illustrating another tracking method for a communication-in-motion end station system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 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.

Fig. 1 shows a schematic architecture diagram of a communication-in-motion end station system to which an embodiment of the present invention is applied. As shown in fig. 1, the mobile communication system 100 may include a communication system 101, a tracking system 102, a master controller 106, and a service processing unit 107. The communication system is used for transmitting signals to the satellite in an uplink mode and transmitting the signals to the ground communication terminal station system in motion in a downlink mode through retransmission. The tracking system has the function of ensuring that the antenna can be aligned to the satellite in real time in the motion process of the carrier, and the stability of a communication link is ensured. The tracking system and the communication system can be connected with the main controller in a cable, waveguide and other transmission line mode, and the main controller is used for receiving signals from the communication system and sending finally processed signals to the communication system. The basic principle of tracking the satellite by the communication system in the communication terminal station system in motion is that the communication system in the communication terminal station system in motion receives a beacon signal transmitted by the satellite, the tracking system detects an error angle between the direction of a radiation beam of an antenna and the direction of the satellite according to the received beacon signal of the satellite, and a controller controls the antenna to move towards the direction of decreasing error angle, so that the radiation beam of the antenna is aligned to the satellite.

Fig. 2 shows an architectural diagram of a communication system to which an embodiment of the invention is applied. As shown in fig. 2, the communication system 101 architecture may include a receiver 103, a transmitter 104, and a duplexer 105. The communication system is used for realizing the functions of signal transmission and service processing; the duplexer is connected with the receiver and the transmitter by means of cables. The main controller 106 is connected to the receiver and the transmitter via cables. The duplexer is used for isolating transmitting signals from receiving signals, ensuring that the receiving and the transmitting can work normally at the same time, namely, a weak receiving signal is received, a larger transmitting signal is transmitted, and the receiving signal and the transmitting signal are required to respectively complete functions without mutual influence.

The communication system comprises an uplink and an uplink, wherein the downlink process is as follows: and when the antenna receives the signal transmitted by the satellite transponder, the signal is transmitted to the receiver through the duplexer, the main controller performs power amplification and down-conversion processing to convert the radio-frequency signal into a baseband signal, demodulates the signal and transmits the baseband signal to the corresponding service processing unit. Similarly, the procedure for the uplink of the communication system is: the service processing unit transmits the signal to the main controller, the main controller modulates the signal, the baseband signal is up-converted to a radio frequency signal through the transmitter, the radio frequency signal is amplified through power, and the radio frequency signal is transmitted to the satellite transponder through the duplexer and the antenna.

Fig. 3 shows an architecture diagram of a tracking system to which an embodiment of the invention is applied. As shown in FIG. 3, the tracking system 102 comprises a phased feed array 108, a main reflecting surface 109, a phase shift/delay component 110, a phase shift/delay component refers to a phase shifter or a delay device, a feed array offset controller 111, an inertial navigation system 112, a GPS113, a mechanical adjustment controller 114, a rotating platform 115 and a servo motor 116; the GPS and inertial navigation system can be connected with the mechanical adjustment controller through a cable, and the mechanical adjustment controller can be connected with the main controller through a cable.

The inertial navigation system is an autonomous navigation system which does not depend on external information and does not radiate energy to the outside, is a key component of a communication-in-the-middle terminal system, and can internally comprise three high-precision gyroscopes, three quartz accelerometers and corresponding circuits; the basic working principle of the inertial navigation system is based on Newton's law of mechanics, and the acceleration of a carrier in an inertial reference system is measured, the acceleration is integrated with time (the position of the next point is calculated according to the course angle and the speed of a moving body which are continuously measured from the position of a known point), and the acceleration is converted into a navigation coordinate system, so that information such as the speed, the yaw angle, the position and the like in the navigation coordinate system can be obtained; therefore, the attitude and the motion parameters of the antenna, such as the motion speed, the acceleration, the geomagnetic flux and other information of the antenna can be obtained through the GPS and the inertial navigation system; the attitude of the antenna comprises information such as a pitch angle, a direction angle, a roll angle, a polarization angle and the like of the antenna; in the embodiment of the invention, in order to simplify the tracking complexity of a mechanical tracking system, a four-dimensional coordinate system of a pitch angle, a direction angle, a roll angle and a polarization angle of an antenna attitude is subjected to dimension reduction and is mapped into a three-dimensional coordinate system of the pitch angle, the direction angle and the polarization angle. The GPS and inertial navigation system outputs the pitch angle, the direction angle, the polarization angle and the motion parameters of the antenna to the main controller.

The main controller is used for processing the received attitude of the antenna, the signal transmitted by the satellite and the current attitude of the antenna fed back by the mechanical adjustment controller; the main controller calculates the received current attitude of the antenna fed back by the mechanical adjustment controller and the attitude and motion parameters of the antenna output by the GPS and the inertial navigation system to obtain the attitude to be adjusted of the antenna, and transmits the attitude to be adjusted of the antenna to the mechanical adjustment controller. Generally, the antenna attitude includes information such as a pitch angle, a roll angle, and a polarization angle of the antenna; in the embodiment of the invention, in order to simplify the tracking complexity of a mechanical tracking system, a four-dimensional coordinate system of a pitch angle, a direction angle, a roll angle and a polarization angle of an antenna attitude is subjected to dimension reduction and is mapped into a three-dimensional coordinate system of the pitch angle, the direction angle and the polarization angle.

The mechanical adjustment controller is used for controlling the rotation of the servo motor and can be connected with the servo motor in a cable mode, the mechanical adjustment controller sends an instruction to the servo motor, the servo motor controls the rotation of the rotating platform according to the received instruction, and then the main reflecting surface is driven to rotate, and the beam direction of the antenna is changed. The rotary platform is used for bearing a main reflecting surface, the main reflecting surface can be a forming paraboloid reflecting surface, a cutting paraboloid reflecting surface and a flat reflecting surface, and for the flat reflecting surface, a phase shifting controller can be further added on the reflecting array patch to realize further beam adjustment.

The servo motor is an engine which controls the rotation of a mechanical element in a mechanical adjustment controller, the mechanical element can be a rotating platform, and the servo motor is an indirect speed change device of a supplementary motor, so that the control speed and the position precision are very accurate, and an electric signal can be converted into a torque and a rotating speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by the input signal and can quickly respond. Each feed source is independently provided with a corresponding phase shift/time delay component, and the feed source array offset controller controls the phase shift/time delay components to adjust the phase and amplitude of each feed source according to the phase and amplitude of the feed source corresponding to the beam to be adjusted so as to realize beam pointing.

Fig. 4 shows a schematic architecture diagram of another communication-in-motion end station system to which the embodiment of the present invention is applied, and as shown in fig. 4, the architecture of the communication-in-motion end station system includes a communication system 101, a tracking system 102, a master controller 106 and a service processing unit 107. The communication system includes a receiver 103, a transmitter 104, a duplexer 105; the tracking system comprises a feed source 108a, a feed source 108b, a feed source 108c, a feed source 108d, a main reflecting surface 109, a phase-shifting/time-delaying component 110a, a phase-shifting/time-delaying component 110b, a phase-shifting/time-delaying component 110c, a phase-shifting/time-delaying component 110d, a feed source array offset controller 111, an inertial navigation system 112, a GPS113, a mechanical adjustment controller 114, a rotating platform 115, a polarization motor 116a, a pitching motor 116b and an azimuth motor 116c; the structures in the communication system, the tracking system, the main controller 106 and the service processing unit 107 are connected by means of cables or waveguides. The antenna receives signals transmitted by the satellite transponder, the signals are received by the duplexer, the received beacon signals transmitted by the satellite are transmitted to the receiver by the duplexer, the signals are converted into baseband signals by the main controller through power amplification and down-conversion processing, the signals are demodulated and transmitted to the corresponding service processing unit; the baseband signal is an original signal which is not modulated (subjected to spectrum shifting or conversion) and is sent by a signal source, and is characterized by low frequency, a signal spectrum starts from the vicinity of zero frequency and has a low-pass form, the beacon signal transmitted by a satellite is recovered by demodulating the baseband signal, and the demodulated signal is sent to a corresponding service processing unit.

In the movement process of the carrier, the communication-in-motion end station system always reliably tracks the satellite to ensure the stability of a communication link, so that the main controller receives the antenna attitude and the movement parameters output by the GPS and the inertial navigation system, the beacon signal emitted by the satellite and the current attitude of the antenna fed back by the mechanical adjustment controller; the main controller sends an instruction to the feed source array bias controller according to the intensity of a received beacon signal transmitted by the satellite under the condition that the intensity of the signal is determined to be larger than an intensity threshold value, and the feed source array bias controller controls the phase shift/time delay assembly according to the received instruction to adjust the amplitude and the phase of the feed source so that a beam radiated by an antenna is aligned to the satellite;

the feed source array is used for adjusting the beam direction of the antenna, the feed source array is formed by arranging a plurality of feed sources according to a certain form, and the feed sources refer to continuous caliber antennas or primary radiators of antenna arrays and can be horn feed sources or plane patch feed sources; wherein, the radiation of the horn feed source is spherical waves.

The phase shift/time delay component is a phase shifter or a time delay component and is used for regulating and controlling the beam direction of the feed source array so that the beam emitted by the feed source can meet the preset beam direction; the phase shifter in the phase shift/delay component can be a continuous phase shifter or a digital phase shifter, and is an important component of a transmitting/receiving component in a communication-in-motion end station system, and the phase shifter should ensure that a required phase shift value is obtained in a certain frequency range, and simultaneously, certain requirements such as power resistance, temperature stability and the like are also required to be met so as to ensure that the phased array antenna can normally work on different frequencies and under variable environmental conditions.

Under the condition that the signal intensity is not greater than the intensity threshold value, the main controller sends an instruction to the mechanical adjustment controller, the mechanical adjustment controller controls the polarization motor according to the received instruction, the pitching motor and the azimuth motor drive the rotating platform to rotate, the main reflecting surface carried by the rotating platform also rotates, and therefore the beam radiated by the antenna is aligned to the satellite; the polarization motor is used for adjusting the polarization angle of the antenna, the pitching motor is used for adjusting the pitching angle of the antenna, and the azimuth motor is used for adjusting the azimuth angle of the antenna.

Based on the system architectures shown in fig. 1 to fig. 4, fig. 5 exemplarily shows a flowchart of a tracking method of a communication-in-motion end station system provided by an embodiment of the present invention, and as shown in fig. 5, the tracking method of the communication-in-motion end station system includes the following steps:

step 501, receiving signals transmitted by a satellite;

step 502, under the condition that the strength of the signal is determined to be greater than the strength threshold, adjusting the phase and amplitude of an antenna through a phase control tracking system so as to align the antenna with the satellite;

step 503, in case that the strength of the signal is determined not to be greater than the strength threshold, adjusting, by a mechanical tracking system, a rotating platform carrying the antenna to align the antenna with the satellite.

The execution sequence of the steps in the above flow is only an example, and the embodiment of the present invention is not limited to the execution sequence, for example, the sequence of step 502 and step 503 may be exchanged, and the specific execution step is determined according to the determined signal strength and the strength threshold.

According to the embodiment of the invention, the tracking system and the tracking method are flexibly selected according to the strength of the received satellite signal and the strength threshold value, so that the alignment of the antenna and the satellite is realized, the phase and the amplitude of the antenna are adjusted by the phase control tracking system under the condition that the signal strength is greater than the strength threshold value, so that the antenna and the satellite are aligned, and the phase control tracking is used under the condition that the strength of the received signal is greater, so that the tracking precision is high and the tracking speed is high; in the case where the received signal strength is not greater than the strength threshold, a larger range of scanning can be achieved using mechanical tracking. Therefore, the tracking system and the tracking method can be flexibly selected, the tracking precision and speed are improved, and large-scale scanning can be realized.

Alternatively, the basic principle of tracking the satellite by the communication-in-motion end station system is that the communication-in-motion end station system detects an error angle between the pointing direction of the antenna radiation beam and the direction of the satellite according to a received beacon signal of the satellite, and the controller controls the antenna to move in a direction of decreasing the error angle, so that the radiation beam of the antenna is directed at the satellite.

Optionally, there are various methods for automatically tracking the satellite by the mobile communication end station system in the carrier motion process, such as conical scanning tracking, stepping extremum tracking, and monopulse tracking; the cone scanning tracking is a self-tracking system widely applied, and the feed source system makes circular motion around the antenna symmetrical axis, or the feed source is inclined, or the subreflector is inclined and rotated, so that the antenna beam rotates in a cone shape. When the antenna axis is aligned with the satellite, the beacon level received by the earth station is a constant value; when the antenna is off the satellite, the beacon level will be amplitude modulated by a very low frequency signal. The modulation depth is related to the distance of the beam from the satellite axis and the phase of the modulation is related to the beam deviation direction, so that the pointing error of the antenna beam can be detected from the amplitude and phase of the modulated signal.

Optionally, fig. 6 exemplarily shows a schematic structural diagram of a cone scanning tracking system, and as shown in fig. 6, the cone scanning tracking system includes a duplexer 601, a receiver 602, a main controller 603, a cone scanning motor and timing switch 604, a rotating platform 605, a mechanical adjustment controller 606, a main reflecting surface 607, and an antenna beam 608 formed; the conical scanning motor and the time sequence switch output reference signals to the main controller. Although the conical scanning tracking system has low cost, the tracking precision and speed are relatively low, signals are lost, and meanwhile, the reliability and load requirements of the mechanical system are high by driving beams in a mechanical mode.

Step extremum scanning is to aim the antenna at the satellite by finding the maximum field strength signal, and during tracking, observe the received satellite signal from the field strength indicator, at this time, if the signal level increases in one axis (e.g., azimuth axis), continue moving the antenna in the same direction, if the signal level decreases, change the direction of the antenna until the signal level reaches the maximum value; the process may also be on a second axis (e.g., the pitch axis), and the two processes may alternate in order to reduce the effect. The process is carried out continuously. The step of finding the maximum signal point by step tracking is long, when the carrier changes rapidly, it is very difficult to continuously and rapidly find the maximum signal point in a rapidly changing environment, and the step tracking is not high in tracking accuracy because the antenna beam cannot stay in the direction of aiming at the satellite but swings around the direction, so that the step tracking is not suitable for the application of the communication terminal station in motion.

The monopulse tracking system does not transmit a pulse, but means that the system can obtain complete information of the deviation of a target from an antenna axis, namely errors of azimuth and pitch angles on the pulse. The single pulse tracking mode is zero tracking mode, which works at the maximum point of the sum signal and the zero point of the difference signal, where the difference has the maximum inclination, so the tracking sensitivity is very high, the tracking receiver receives the azimuth and elevation error signals, and the error signals drive the antenna to move towards the direction of reducing the error until the error is zero, namely the antenna is guided to be aligned with the maximum point of the satellite signal beam. The single-pulse tracking is divided into a multi-horn mode and a multi-mode, the same point is that both have a sum directional diagram and a difference directional diagram, both are null tracking, and the direction of the off-axis rear antenna has polarity. The difference is that the differential pattern of the multi-horn is achieved by configuring the peripheral horns, while the multi-mode is achieved by using the waveguide mode direction. The motion channel in the single pulse tracking mode always tracks at the maximum point of the signal. The pointing deviation is identified through the 'sum' and 'difference' signals, the pointing deviation of the antenna is judged in a short time, the pointing direction of the satellite antenna is adjusted in real time, and the tracking of the communication satellite is kept.

Alternatively, fig. 7 exemplarily shows a schematic structure diagram of a monopulse tracking system, and as shown in fig. 7, the monopulse tracking system includes a duplexer 701, a receiver 702a, a receiver 702b, a rotating platform 703, a mechanical adjustment controller 704, a main controller 705, and an antenna beam 706. Although the single-pulse tracking system has high tracking speed and high tracking accuracy, the equipment is complex, the cost is extremely high, a plurality of sets of radio frequency receivers are required to be matched, and the network matching is complex.

Optionally, in the embodiment of the present invention, before receiving a signal transmitted by a satellite, an antenna needs to perform initial alignment satellite finding, where in the process of the initial alignment satellite finding, a GPS measures a current geographic position of a carrier, such as a longitude, a latitude, and a height of the carrier, an inertial navigation system accurately measures angular velocities, gravitational accelerations, and even magnetic fluxes of three coordinate axes of the carrier in real time, calculates a posture of the carrier and a motion parameter of the carrier, and provides the calculated posture of the antenna to be adjusted to a mechanical adjustment controller, where the mechanical adjustment controller sends an instruction to a polarization motor, a pitch motor, and an orientation motor according to the posture of the antenna to be adjusted, and the polarization motor, the pitch motor, and the orientation motor adjust a rotating platform carrying the antenna according to the received instruction, so that the antenna is aligned with the satellite, thereby implementing initial alignment of a transit terminal system; the attitude of the antenna comprises a pitch angle, an azimuth angle and a polarization angle of the antenna; this process can be implemented whether the carrier is in a stationary state or in a moving state and is not dependent on the signals transmitted by the satellites.

Optionally, after the satellite is completely tracked by the communication-in-motion end station system, automatic tracking is carried out. After the automatic tracking is carried out, the GPS and the inertial navigation system output attitude data and motion parameters of the antenna in real time, the communication system receives signals reflected by the antenna, the main controller determines the size relation between the received signal strength and the strength threshold value according to the received signals of the antenna, and the phased tracking system is used for tracking under the condition that the strength of the received signals transmitted by the satellite is greater than the strength threshold value.

Optionally, the adjusting the phase and amplitude of the antenna by the phased tracking system to align the antenna with the satellite includes: analyzing the signal to determine the beam pointing information to be adjusted of the antenna in the alignment state of the antenna and the satellite; determining a phase to be adjusted and an amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset phase and amplitude mapping table of the beam pointing information and the feed source array; and adjusting the phase of the antenna to be the phase to be adjusted and adjusting the amplitude of the antenna to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, so that the beam direction of the adjusted antenna is the beam direction to be adjusted.

Optionally, the beam pointing information to be adjusted of the antenna is determined according to a beacon level of the satellite received by the antenna, and when the antenna axis is aligned with the satellite, the beacon level received by the earth station is a constant value; when the antenna is off the satellite, the beacon level will be amplitude modulated by a very low frequency signal. The modulation depth is related to the distance of the beam from the axis of the satellite, and the modulation phase is related to the beam deviation direction, so that the pointing error of the antenna beam can be detected according to the amplitude and the phase of the modulation signal, namely the information of the beam pointing of the antenna to be adjusted can be determined according to the level of the received satellite beacon.

Optionally, in the phased tracking system, the beam pointing direction of the antenna is adjusted by the phase and amplitude of the feed sources, each feed source can provide independent phase and amplitude, and different feed source array directional diagrams are formed by different phases and amplitudes of the feed sources, so that different antenna beam pointing directions are formed. In order to adjust the phase of the antenna to be the phase to be adjusted and the amplitude of the antenna to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, so that the beam direction of the adjusted antenna is the beam direction to be adjusted;

optionally, the feed array comprises at least three feeds.

Optionally, in the implementation of the present invention, the number of the feeds is preferably greater than or equal to three and less than or equal to nine. In the embodiment of the invention, the phase-controlled tracking is adopted to track the satellite under the condition that the signal intensity is determined to be greater than the threshold value, so that the tracking speed and the tracking precision can be improved; meanwhile, the signals are quickly tracked and kept through the phased array feed source with a small number of units, a complex tracking scanning mechanism or a feed source network is avoided, even a single high-integrated inter-Circuit (ASIC for short) is adopted, the phase-shifting delay requirements of all the units can be met, and the cost of a tracking system can be reduced.

Optionally, the feed source array includes at least three feed sources, and the at least three feed sources in the feed source array are arranged in two dimensions to implement scanning in two dimensions.

Fig. 8 is a schematic structural diagram illustrating an arrangement manner of a feed source array to which an embodiment of the present invention is applied, and as shown in fig. 8, the arrangement manner of four feed sources arranged in two dimensions includes 2 feed sources in each dimension, and 4 symmetrical feed sources are formed.

Fig. 8a is a schematic structural diagram illustrating another arrangement of a feed source array to which an embodiment of the present invention is applied, and as shown in fig. 8a, the arrangement is another arrangement of four feed sources arranged in two dimensions, and each dimension also includes 2 feed sources.

Fig. 9 is a schematic structural diagram illustrating another arrangement of a feed source array to which an embodiment of the present invention is applied, where, as shown in fig. 9, the arrangement is three feed sources arranged in two dimensions.

Fig. 9a is a schematic structural diagram illustrating another arrangement of an array of feeds to which the embodiment of the present invention is applied, and as shown in fig. 9a, the array is another arrangement of three feeds arranged in two dimensions.

Alternatively, the array factor of the feed array may be decomposed into:

in the formula (1), M and N represent the feed source numbers with different dimensions,

direction function representing array factor, C _l The amplitude value of a feed source is represented, L represents the unit serial number of each dimension, the value range is an integer larger than or equal to 1, k represents beam transmission, and X _l Array spacing of feed arrays in the X direction, Y _l Is the array spacing of the feed array in the Y direction, theta represents the azimuth angle in the spherical coordinate system,

representing the pitch angle, theta and

is that

Argument of function, θ ₀ Representing the initial azimuth in a spherical coordinate system,

representing the initial pitch angle in a spherical coordinate system.

According to the array factors of the feed source arrays, more than three feed source arrays which are arranged in a two-dimensional mode can realize two-dimensional beam scanning. The three feed source arrays which are arranged in two dimensions have two-dimensional offset capacity, but the number of the feed sources is not too large, the irradiation angle of the feed source array is related to the number of the feed sources, and when the number of the feed sources is large, the irradiation angle of the feed source array is too narrow, so that the irradiation efficiency of the reflector antenna is influenced. Preferably, the number of feeds per dimension does not exceed three, i.e. the total number of two dimensions does not exceed nine (9 =3 × 3).

Optionally, more than three feed source arrays arranged in two dimensions have displacement scanning ranges of each dimension, namely, feed source offset angles of about ± 10 ° to ± 30 ° according to different array pitches and arrangement modes, and the focal ratio of the main transmitting surface of the phased reflector antenna thus formed is preferably 0.25 to 0.35, so that the beam offset angle range of each dimension can reach ± 7.5 ° to ± 22.5 °, and the beam offset factor thereof is greater than 0.75, wherein the beam offset factor is the ratio of the beam offset angle to the feed source offset angle, and therefore, the beam offset angle scanning range of each dimension can reach ± 7.5 ° to ± 22.5 °. Preferably, the limit range of the scan angle is controlled to be ± 8 ° to ± 15 °.

Optionally, the main reflecting surface is a conductive curved surface or plane for intensively emitting electromagnetic waves emitted by the feed source to a certain direction according to a certain requirement so as to enhance an emission effect; when used for receiving, the strength of a received signal can be enhanced, and the receiving effect can be improved; the main reflecting surface can be a shaped paraboloid reflecting surface, a cutting paraboloid reflecting surface and a plane reflecting array surface; the feed source is a continuous caliber antenna or a primary radiator of an antenna array, optionally, the feed source can be a horn feed source or a plane patch feed source, the corrugated horn is an ideal horn feed source, and the feed source has good polarization performance, matching performance and side lobe characteristics in a working frequency band. The radiation of the horn feed source is spherical wave, namely, the phase directivity diagram is a spherical surface, the center of the sphere is called as the phase center of the horn, and the width of the amplitude directivity diagram is matched with the caliber of the main (auxiliary) reflecting surface, so that the energy of electromagnetic wave is irradiated on the corresponding reflecting surface as much as possible, thereby improving the irradiation efficiency and reducing the overflow loss.

Optionally, the feed sources which are arranged in two dimensions and have more than three units form a group of phased feed source arrays to serve as primary feed sources, and the primary feed sources and the main reflecting surface form a phased reflecting surface antenna. Optionally, for the phased reflector antenna, when the phase of the primary feed source is shifted from the focal position, the beam of the reflector antenna is obliquely emitted toward the unique direction, that is, the beam of the antenna is scanned by using a defocusing method; thus, having the phased array of feeds as the primary feed, the entire reflector antenna becomes a phased reflector antenna with a phased adjusted antenna final beam. Optionally, as a feed source array of the primary feed source, an antenna beam corresponding to the primary irradiation has a certain irradiation angle requirement, and meanwhile, the beam is also required to have a two-dimensional offset capability.

Optionally, each feed source corresponds to a corresponding phase shift/delay component, that is, each feed source can provide independent phase and amplitude, and a directional diagram of the feed source array is controlled through the phase shift/delay component, so that the beam direction of the feed source array is controlled, and two-dimensional scanning in the pitching and azimuth directions is realized; thus, by adjusting the phased feed array, a desired beam pointing can be achieved without the need to manipulate or move the mechanical state of the entire feed array.

Optionally, the feed source offset controller controls the working state of each phase shift/delay component, thereby realizing that the beam direction changes according to a preset direction without the antenna rotating. The feed bias controller acts as a servo motor in the mechanical scan.

Optionally, the phase shifter in the phase shift/delay component may be a continuous phase shifter or a digital phase shifter, and the phase shifter should ensure that a required phase shift value is obtained within a certain frequency range, and simultaneously, certain requirements such as power resistance and temperature stability need to be met, so as to ensure that the phased array antenna can normally operate at different frequencies and under varying environmental conditions.

The way of adjusting the antenna beam can be implemented in the digital domain, in addition to the method in the radio frequency domain. Optionally, after analyzing the signal, the method further includes: converting said signal in the radio frequency domain into a digital domain signal; determining a phase to be adjusted and an amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset mapping table of weighted values of the beam pointing information and the phase and the amplitude of the feed source array in the digital domain; adjusting the phase of the antenna to be the phase to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, and adjusting the amplitude of the antenna to be the amplitude to be adjusted so that the beam direction of the adjusted antenna is the beam direction to be adjusted; that is, the weighted value of the phase and the weighted value of the amplitude of the digital domain, which are synthesized by the digital signal controller, are synthesized by the beam forming network, so that the beam direction of the adjusted antenna is the beam direction to be adjusted.

Optionally, after the satellite is completely tracked by the communication-in-motion end station system, automatic tracking is carried out. After the automatic tracking is carried out, the GPS and the inertial navigation system output the attitude data of the antenna in real time, the communication system receives signals reflected by the antenna, and the main controller enters the mechanical tracking system for tracking under the condition that the received signal strength is determined to be not greater than the strength threshold value or under the condition that the antenna signals are interrupted due to shielding or other reasons according to the received signals of the antenna.

Optionally, the direction of the beam to be adjusted may also be obtained in a digital domain by an adaptive signal processing manner, fig. 10 exemplarily shows a schematic structural diagram of a principle that a satellite communication end station system performs phase control adjustment in the digital domain to which an embodiment of the present invention is applied, structures of a phase shift/delay component, a receiver, a transmitter, and the like of each feed source array are replaced by a digital-to-analog conversion or an analog-to-digital conversion unit, each feed source corresponds to one ADC/DAC channel, a beam forming network of a receiving channel, a beam forming network of a transmitting channel, and a digital signal control unit, and digital channels of different structures are adaptively weighted by an adaptive signal processing manner to form the direction of the beam to be adjusted, wherein each analog-to-digital conversion unit or each digital-to-analog conversion unit has therein corresponding devices such as an amplifier, a frequency converter, and the like, i.e., the direction of the beam is converted from the radio frequency domain to the digital domain in a beam forming manner; as shown in fig. 10, the structure includes the feed sources 1001a,1001b,1001c,1001d, adc/DAC channels 1000a,1000b,1000c,1000d, a beam forming network 1002, a beam forming network 1003, a digital signal controller 1004, and a digital-to-analog/analog conversion module 1005. The digital-to-analog/analog-to-digital conversion module converts the received radio frequency domain signal into a digital domain signal; the digital signal controller is used for determining a mapping table of weighted values of the beam pointing information and the phase and the amplitude of the feed source array in a digital domain; and the beam forming network determines the phase to be adjusted and the amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to the mapping table of the weighted value of the beam pointing information and the weighted value of the phase and the amplitude of the feed source array in the digital domain.

Optionally, in the tracking method of the phase control system in the embodiment of the present invention, the beam pointing is implemented by phased beam scanning, without rotating an antenna, by adjusting the phase and amplitude of each feed source in real time, similar conical scanning is performed under the program control of the feed source array bias controller or the digital signal controller, so that the reliability is high, the accuracy is high, the tracking speed is faster, no mechanical loss occurs, and an additional reference timing switch is not needed; further, because the gain of the antenna quantitatively describes the degree of concentrated radiation of input power by the antenna, it is obviously closely related to the antenna pattern; because the embodiment of the invention has no feed source or does not need the rotation and the inclination of the subreflector, the gain and the cross polarization isolation of the antenna can not be deteriorated.

Optionally, the mechanical tracking system further comprises: the inertial navigation system is connected with the mechanical adjustment controller; for determining the motion parameters of the antenna and sending the motion parameters to the mechanical adjustment controller; the GPS is connected with the mechanical adjusting controller; for determining the current position parameter of the antenna and sending the current position parameter to the mechanical adjustment controller.

Optionally, the adjusting, by a mechanical tracking system, a rotating platform carrying the antenna to align the antenna with the satellite in the case that the strength of the signal is determined not to be greater than the strength threshold includes: acquiring the motion parameters of the antenna and the current position parameters of the antenna; determining the attitude to be adjusted of the antenna according to the motion parameters of the antenna and the current position parameters of the antenna; determining position parameter variation information of the rotating platform according to the acquired current attitude of the antenna and the attitude to be adjusted; and adjusting the rotating platform bearing the antenna according to the position parameter variation information so as to adjust the posture of the antenna to the posture to be adjusted.

Optionally, the GPS and inertial navigation systems measure antenna motion parameters, such as angular velocities of three coordinate axes of the antenna; current location parameters such as longitude, latitude, and altitude at which the antenna is located at the time. And calculating the attitude to be adjusted of the antenna according to the position parameters and the motion parameters of the antenna. And providing the calculated attitude to be adjusted of the antenna to a mechanical adjustment controller, sending instructions to a polarization motor, a pitching motor and a direction motor by the mechanical adjustment controller according to the attitude to be adjusted of the antenna, and adjusting a rotating platform bearing the antenna by the polarization motor, the pitching motor and the direction motor according to the received instructions so as to adjust the attitude of the antenna to the attitude to be adjusted.

Optionally, the servo motor comprises: the polarization motor is connected with the mechanical adjustment controller and the rotating platform; the polarization angle of the rotating platform for bearing the antenna is adjusted according to the position parameter variation information; the pitching motor is connected with the mechanical adjustment controller and the rotating platform; the system is used for adjusting the pitch angle of the rotating platform bearing the antenna according to the position parameter variation information; the azimuth motor is connected with the mechanical adjustment controller and the rotating platform; and the azimuth angle of the rotating platform bearing the antenna is adjusted according to the position parameter variation information.

Optionally, in the process that the mechanical adjustment controller controls the polarization motor, the pitch motor and the azimuth motor to adjust the rotating platform carrying the antenna, the antenna may be aligned to the satellite by searching for a maximum field strength signal, and during tracking, if the signal strength on one axis (e.g., the azimuth axis) increases, the antenna continues to be moved in the same direction, and if the signal strength decreases, the moving direction of the antenna is changed until the signal strength reaches a maximum value; the process is also on the second axis (e.g., pitch axis), the third axis (polarization axis), and the three processes may be alternated to reduce the effects. Alternatively, the adjustment process of the three axes may be performed simultaneously. The mechanical tracking mode is adopted to realize scanning at a larger angle, and when the direction of the antenna needs to be adjusted in a large range, the mechanical tracking mode is used to achieve the purpose of scanning in a larger range.

Optionally, the mobile communication end station system is integrated outdoors.

Optionally, the structure of the satellite communication terminal station system in motion is as shown in fig. 4, and includes a receiver 103, a transmitter 104, a duplexer 105, a main controller 106, a service processing unit 107, and a tracking system including a feed 108a, a feed 108b, a feed 108c, a feed 108d, a main reflecting surface 109, a phase shift/delay component 110a, a phase shift/delay component 110b, a phase shift/delay component 110c, a phase shift/delay component 110d, a feed array offset controller 111, an inertial navigation system 112, a gps113, a mechanical adjustment controller 114, a rotating platform 115, a polarization motor 116a, a pitch motor 116b, and an azimuth motor 116c; these structures are integrated into the outdoor platform. Fig. 11 is a schematic structural diagram illustrating that a mobile communication terminal station system applying an embodiment of the present invention is integrated in an outdoor platform; as shown in fig. 11, each structure in the communication-in-motion terminal system is integrated outdoors. The structures of the communication-in-motion end station system are integrated outdoors, so that radio frequency cables can be effectively reduced, energy loss caused by long cables can be reduced, and the performance of the communication-in-motion end station system is influenced.

Alternatively, the communication-in-motion end station system can be integrated in a split mode, namely a part of structure is integrated indoors and a part of structure is integrated outdoors. Fig. 12 is a schematic structural diagram illustrating a part of a structure of a satellite communication terminal in motion system integrated indoors to which an embodiment of the invention is applied; as shown in fig. 12, the receiver 103, the transmitter 104, the main controller 106, and the service processing unit 107 in the communication-in-motion end station system are integrated indoors, and the other structures in the structure shown in fig. 4 are integrated outdoors.

Alternatively, fig. 13 is a schematic structural diagram illustrating a part of a structure of an indoor communication terminal station system to which an embodiment of the present invention is applied, the structure being integrated indoors; as shown in fig. 13, the main controller 106 and the service processing unit 107 in the communication-in-motion end station system are integrated indoors, and the other structures in the structure shown in fig. 4 are integrated outdoors.

Fig. 5 illustrates an example of a tracking method of a mobile communication terminal system, which determines whether to use a mechanical tracking system or a phase-controlled tracking system to align an antenna with a satellite based on the magnitude relation between the strength of a received satellite signal and a strength threshold determined by a main controller. To further describe the tracking process, embodiments of the present invention will be described in detail with respect to a tracking process using a phased tracking system and a mechanical tracking system. For more clearly describing the above method flow, fig. 14 exemplarily shows a schematic flow chart of a tracking method of another communication-in-motion end station system provided by the embodiment of the present invention. The detailed tracking process is described below.

As shown in fig. 14, the method includes:

step 1401, initial star finding;

optionally, after the antenna completes the initial satellite alignment, the antenna enters an automatic satellite tracking state, and due to movement of a carrier of the antenna, the antenna needs to be adjusted in real time to align with the satellite, so that normal communication of a communication link is ensured.

Step 1402, acquiring the attitude of the real-time output antenna of the GPS and the inertial navigation system;

step 1403, receiving signals transmitted by satellites;

step 1404, determining a relationship between the strength of the received satellite signal and a strength threshold; if yes, go to step 1405, if no, go to step 1409;

step 1405, sending a first control command to the phase-controlled tracking system;

optionally, the first control command is for causing the phased tracking system to adjust the antenna;

step 1406, analyzing the received satellite signal, and determining the beam pointing information to be adjusted of the antenna in the alignment state of the antenna and the satellite;

step 1407, determining a phase to be adjusted and a magnitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset phase and magnitude mapping table of the beam pointing information and the feed source array;

step 1408, according to the phase to be adjusted and the amplitude to be adjusted, adjusting the phase of the feed source included in the feed source array to the phase to be adjusted, and adjusting the amplitude of the feed source included in the feed source array to the amplitude to be adjusted, so that the beam direction of the adjusted antenna is the beam direction to be adjusted;

step 1409, sending a second control command to the mechanical tracking system;

optionally, the second control command is for causing the mechanical tracking system to adjust the antenna;

step 1410, determining the attitude to be adjusted of the antenna according to the motion parameters of the antenna and the current position parameters of the antenna;

step 1411, determining position parameter variation information of the rotating platform according to the obtained current posture of the antenna and the posture to be adjusted;

and 1412, adjusting the rotating platform bearing the antenna according to the position parameter variation information, so as to adjust the posture of the antenna to the posture to be adjusted.

The main controller acquires the attitude of the GPS and the real-time output antenna of the inertial navigation system and receives signals transmitted by a satellite; and determining the magnitude relation between the strength of the received satellite signal and the strength threshold value in real time, and adjusting the radiation beam of the antenna in real time to align the radiation beam of the antenna with the satellite, thereby ensuring the stability of a communication link.

From the above, it can be seen that: in the embodiment of the invention, the tracking system and the tracking method are flexibly selected according to the strength of the received satellite signal and the strength threshold value to realize the alignment of the antenna and the satellite, the phase and the amplitude of the antenna are adjusted by the phase control tracking system under the condition that the signal strength is greater than the strength threshold value to align the antenna and the satellite, and the phase control tracking is used under the condition that the strength of the received signal is greater, so that the tracking precision is high and the tracking speed is high; in the case where the received signal strength is not greater than the strength threshold, a larger range of scanning can be achieved using mechanical tracking. Therefore, the tracking system and the tracking method can be flexibly selected, the tracking precision and speed are improved, and large-scale scanning can be realized.

The points to be explained are: the above description of the system and the tracking process of the system for a mobile communication terminal is exemplary and explanatory only and is not intended to limit the present invention.

Based on the same conception, an embodiment of the present invention provides a communication-in-motion end station system, configured to execute the above method flow, where a possible structural schematic diagram of the communication-in-motion end station system provided in the embodiment of the present invention is as shown in any one or more of fig. 1 to 4, and as shown in the above diagrams, the communication-in-motion end station system includes:

a communication system for receiving signals transmitted by satellites;

Optionally, the phased tracking system comprises: a feed source array offset controller connected with the main controller and the phase shift/time delay component module and used for executing the following steps according to the first control command: analyzing the signal to determine the beam pointing information to be adjusted of the antenna in the alignment state of the antenna and the satellite; determining a phase to be adjusted and an amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset phase and amplitude mapping table of the beam pointing information and the feed source array; sending the phase to be adjusted and the amplitude to be adjusted to the phase shifting/time delay component module; the phase shift/time delay component module is connected with an antenna; and the phase adjusting unit is used for adjusting the phase of the antenna to be the phase to be adjusted and adjusting the amplitude of the antenna to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, so that the beam direction of the antenna after adjustment is the beam direction to be adjusted.

Optionally, the antenna comprises the feed array and a main reflector; the phase shift/time delay component module is connected with a feed source array in the antenna, and is specifically used for: and adjusting the phase of the feed source in the feed source array to be the phase to be adjusted and adjusting the amplitude of the feed source in the feed source array to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted so as to enable the beam direction of the adjusted antenna to be the beam direction to be adjusted.

Optionally, a phased tracking system, comprising: an analog-to-digital/digital-to-analog conversion module connected to the beam forming network module, configured to: converting the signal in the radio frequency domain into a signal in the digital domain; a digital signal controller connected to the beamforming network module and configured to: determining a mapping table of weighted values of the beam pointing information and phases and amplitudes of the feed source array in a digital domain; a beam forming network module connected to the feed array and configured to: and determining the phase to be adjusted and the amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a mapping table of the weighted values of the phase and the amplitude of the feed source array in the digital domain and the beam pointing information.

Optionally, the feed array comprises at least three feeds.

Optionally, the mechanical tracking system further comprises: the inertial navigation system is connected with the mechanical adjustment controller and is used for determining the motion parameters of the antenna and sending the motion parameters to the mechanical adjustment controller; and the GPS module is connected with the mechanical adjustment controller and used for determining the current position parameters of the antenna and sending the current position parameters to the mechanical adjustment controller.

Optionally, the servo motor comprises: the polarization motor is connected with the mechanical adjustment controller and the rotating platform and is used for adjusting the polarization angle of the rotating platform bearing the antenna according to the position parameter variation information; the pitching motor is connected with the mechanical adjustment controller and the rotating platform and used for adjusting the pitching angle of the rotating platform bearing the antenna according to the position parameter variation information; and the azimuth motor is connected with the mechanical adjustment controller and the rotating platform and used for adjusting the azimuth angle of the rotating platform bearing the antenna according to the position parameter variable quantity information.

Optionally, the mobile communication end station system is integrated outdoors.

It should be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the invention.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A method for tracking a communication-in-motion end station system is characterized by comprising the following steps:

receiving signals transmitted by satellites;

under the condition that the strength of the signal is larger than the strength threshold value, analyzing the signal, and determining the beam pointing information to be adjusted of the antenna under the alignment state of the antenna and the satellite; determining a phase to be adjusted and an amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset phase and amplitude mapping table of the beam pointing information and the feed source array; adjusting the phase of the antenna to be the phase to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, and adjusting the amplitude of the antenna to be the amplitude to be adjusted so that the beam direction of the adjusted antenna is the beam direction to be adjusted;

under the condition that the strength of the signal is not larger than the strength threshold value, acquiring a motion parameter of the antenna and a current position parameter of the antenna; determining the attitude to be adjusted of the antenna according to the motion parameters of the antenna and the current position parameters of the antenna; determining position parameter variation information of the rotating platform according to the acquired current attitude of the antenna and the attitude to be adjusted; and adjusting the rotating platform bearing the antenna according to the position parameter variation information so as to adjust the posture of the antenna to the posture to be adjusted.

2. The method of claim 1, wherein the antenna comprises the array of feeds and a primary reflector;

the adjusting the phase of the antenna to the phase to be adjusted and the amplitude of the antenna to the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted so that the beam direction of the adjusted antenna is the beam direction to be adjusted includes:

and adjusting the phase of the feed source in the feed source array to be the phase to be adjusted and adjusting the amplitude of the feed source in the feed source array to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted so as to enable the beam direction of the adjusted antenna to be the beam direction to be adjusted.

3. The method of claim 1, wherein after parsing the signal, further comprising:

converting said signal in the radio frequency domain into a digital domain signal;

determining a phase to be adjusted and an amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset mapping table of weighted values of the beam pointing information and the phase and amplitude of the feed source array in a digital domain; and adjusting the phase of the antenna to be the phase to be adjusted and adjusting the amplitude of the antenna to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, so that the beam direction of the adjusted antenna is the beam direction to be adjusted.

4. The method of claim 2, wherein the array of feeds comprises at least three feeds.

5. A communication-in-motion end station system, comprising:

a communication system for receiving signals transmitted by satellites;

a main controller connected to the communication system; the system comprises a receiver for receiving a signal from a communication system, and in the case that the strength of the signal is determined to be greater than a strength threshold value, sending a first control command to a phase-controlled tracking system; in the case that the strength of the signal is determined not to be greater than the strength threshold, sending a second control command to the mechanical tracking system; wherein the first control command is to cause the phased tracking system to adjust an antenna; wherein the second control command is to cause the mechanical tracking system to adjust the antenna;

the phase control tracking system is connected with the main controller; the antenna is used for analyzing the signal according to the first control command and determining the beam pointing information to be adjusted of the antenna in the alignment state of the antenna and the satellite; determining a phase to be adjusted and an amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset phase and amplitude mapping table of the beam pointing information and the feed source array; adjusting the phase of the antenna to be the phase to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, and adjusting the amplitude of the antenna to be the amplitude to be adjusted so that the beam direction of the adjusted antenna is the beam direction to be adjusted;

the mechanical tracking system is connected with the main controller; the antenna motion parameter and the antenna current position parameter are acquired according to the second control command; determining the attitude to be adjusted of the antenna according to the motion parameters of the antenna and the current position parameters of the antenna; determining position parameter variation information of the rotating platform according to the acquired current attitude of the antenna and the attitude to be adjusted; and adjusting the rotating platform bearing the antenna according to the position parameter variation information so as to adjust the posture of the antenna to the posture to be adjusted.

6. The end station system of claim 5, wherein the phase controlled tracking system comprises:

the feed source array offset controller is connected with the main controller and the phase-shifting/time-delay component module; for executing, according to the first control command: analyzing the signal to determine the beam pointing information to be adjusted of the antenna in the alignment state of the antenna and the satellite; determining a phase to be adjusted and an amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to a preset phase and amplitude mapping table of the beam pointing information and the feed source array; sending the phase to be adjusted and the amplitude to be adjusted to the phase shifting/time delay component module;

the phase shift/time delay component module is connected with an antenna; and the phase adjusting unit is used for adjusting the phase of the antenna to be the phase to be adjusted and adjusting the amplitude of the antenna to be the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, so that the beam direction of the adjusted antenna is the beam direction to be adjusted.

7. The end station system of claim 6, wherein the antenna comprises the array of feeds and a primary reflector;

the phase shift/time delay component module is connected with a feed source array in the antenna; the method is specifically used for:

and adjusting the phase of the feed source in the feed source array into the phase to be adjusted and adjusting the amplitude of the feed source in the feed source array into the amplitude to be adjusted according to the phase to be adjusted and the amplitude to be adjusted, so that the beam direction of the adjusted antenna is the beam direction to be adjusted.

8. The end station system of claim 5, wherein the phase-controlled tracking system comprises:

the analog-to-digital/digital-to-analog conversion module is connected with the beam forming network module and is used for:

converting the signal of the radio frequency domain into a signal of a digital domain;

a digital signal controller connected to the beamforming network module and configured to:

determining a mapping table of weighted values of the beam pointing information and the phase and the amplitude of the feed source array in the digital domain;

a beam forming network module connected to the feed array for:

and determining the phase to be adjusted and the amplitude to be adjusted of the feed source array corresponding to the beam pointing information to be adjusted according to the mapping table of the weighted value of the beam pointing information and the weighted value of the phase and the amplitude of the feed source array in the digital domain.

9. The mobile communication end station system of claim 7, wherein the array of feeds comprises at least three feeds.

10. The mobile terminal system of any one of claims 5 to 9, wherein the mechanical tracking system comprises:

and the mechanical adjustment controller is connected with the main controller and the servo motor and is used for executing the following steps according to the second control command:

determining the attitude to be adjusted of the antenna according to the acquired motion parameters of the antenna and the current position parameters of the antenna; determining position parameter variation information of the rotating platform according to the acquired current attitude of the antenna and the attitude to be adjusted; sending the position parameter variation information of the rotating platform to the servo motor;

the servo motor is connected with the rotating platform; and the rotating platform is used for adjusting the rotating platform bearing the antenna according to the position parameter variation information so as to adjust the posture of the antenna to the posture to be adjusted.