阅读说明：本技术 一种相控阵天线模组的控制方法及系统 (Control method and system of phased array antenna module ) 是由 詹文龙 何翔 李烨 李俊良 于 2021-08-27 设计创作，主要内容包括：本申请提供了一种相控阵天线模组的控制方法及系统,涉及天线技术领域。该方法包括获取相控阵天线模组所接收到卫星信号的信号强度；如果当前时间段所述相控阵天线模组所接收到卫星信号的第一信号强度低于预设强度阈值,则根据在前的多个历史时间段相控阵天线模组的历史姿态角,估算出相控阵天线模组的当前预估姿态角；基于当前预估姿态角调整相控阵天线模组的姿态角；在调整相控阵天线模组的姿态角后,如果相控阵天线模组所接收到卫星信号的第二信号强度高于所述预设强度阈值,则将当前预估姿态角作为相控阵天线模组在当前时间段的姿态角。本申请提供的相控阵天线模组的控制方法及系统可在卫星跟踪过程中降低运算复杂性,减少运算量。(The application provides a control method and a control system for a phased array antenna module, and relates to the technical field of antennas. The method comprises the steps of obtaining the signal intensity of satellite signals received by a phased array antenna module; if the first signal strength of the satellite signals received by the phased array antenna module in the current time period is lower than a preset strength threshold value, estimating the current estimated attitude angle of the phased array antenna module according to the historical attitude angles of the phased array antenna module in a plurality of previous historical time periods; adjusting the attitude angle of the phased array antenna module based on the current estimated attitude angle; after the attitude angle of the phased array antenna module is adjusted, if the second signal strength of the satellite signals received by the phased array antenna module is higher than the preset strength threshold value, the current estimated attitude angle is used as the attitude angle of the phased array antenna module in the current time period. The control method and the control system of the phased array antenna module can reduce operation complexity and reduce operation amount in the satellite tracking process.)

1. A method for controlling a phased array antenna module, comprising:

acquiring the signal intensity of satellite signals received by a phased array antenna module;

if the first signal strength of satellite signals received by the phased array antenna module in the current time period is lower than a preset strength threshold value, estimating the current estimated attitude angle of the phased array antenna module according to the historical attitude angles of the phased array antenna module in a plurality of previous historical time periods;

adjusting the attitude angle of the phased array antenna module based on the current estimated attitude angle;

after the attitude angle of the phased array antenna module is adjusted, if the second signal strength of the satellite signals received by the phased array antenna module is higher than the preset strength threshold value, taking the current estimated attitude angle as the attitude angle of the phased array antenna module in the current time period;

the attitude angle of the phased array antenna module comprises a pitch angle and a yaw angle.

2. The method of claim 1, further comprising:

after the attitude angle of the phased array antenna module is adjusted, if the second signal intensity of the satellite signals received by the phased array antenna module is lower than the preset intensity threshold value, dividing a sky airspace into a plurality of grid areas;

adjusting the attitude angle of the phased array antenna module to obtain a third signal strength of the satellite signal received by the phased array antenna module when the phased array antenna module faces each grid area;

and taking the signal intensity with the maximum value and larger than the preset intensity threshold value in the third signal intensity as the target signal intensity, and adjusting the attitude angle of the phased array antenna module to the attitude angle corresponding to the target signal intensity.

3. The method of claim 2, wherein adjusting the attitude angle of the phased array antenna module to obtain a third signal strength of the received satellite signals when the phased array antenna module is oriented towards each grid area comprises:

adjusting the attitude angle of the phased array antenna module to obtain a fourth signal strength of the satellite signal received by the phased array antenna module when the phased array antenna module faces an adjacent grid area outside the current grid area;

if the signal strength larger than the preset strength threshold value does not exist in the fourth signal strength, adjusting the attitude angle of the phased array antenna module to obtain a fifth signal strength of the satellite signal received by the phased array antenna module when the phased array antenna module faces other grid areas except the adjacent grid area.

4. The method of claim 1, wherein estimating a current estimated attitude angle of the phased array antenna module based on historical attitude angles of the phased array antenna module over a plurality of previous historical time periods comprises:

determining a pitch angle change function and a yaw angle change function of the phased array antenna module according to a pitch angle and a yaw angle in the plurality of historical attitude angles;

and estimating the current estimated attitude angle of the phased array antenna module based on the pitch angle change function and the yaw angle change function.

5. The method of claim 1, wherein obtaining the signal strength of the satellite signals received by the phased array antenna module comprises:

acquiring the signal intensity of satellite signals received by a phased array antenna module and the coordinate information of the phased array antenna module;

estimating a current estimated attitude angle of the phased array antenna module according to historical attitude angles of the phased array antenna module in a plurality of previous historical time periods, including:

according to the coordinate information of the phased array antenna module in the current time period and the coordinate information of the multiple historical time periods, calculating a displacement vector of the phased array antenna module from the last time period of the current time period to the current time period and a displacement vector of the phased array antenna module in the multiple historical time periods from the previous time period to the next time period;

estimating the current estimated attitude angle of the phased array antenna module based on the displacement vector of the phased array antenna module from the previous time period to the next time period in the plurality of historical time periods, the displacement vector of the phased array antenna module from the last time period to the current time period in the current time period, and the historical attitude angles of the phased array antenna module in the previous plurality of historical time periods.

6. The method of claim 5, wherein the coordinate information is latitude and longitude coordinates.

7. The method of claim 5, wherein estimating the current estimated attitude angle of the phased array antenna module based on the displacement vectors of the phased array antenna module from a previous time period to a subsequent time period in the plurality of historical time periods, the displacement vectors of the phased array antenna module from a previous time period to a current time period in the current time period, and the historical attitude angles of the phased array antenna module in a previous plurality of historical time periods comprises:

and calculating the displacement vector of the phased array antenna module from the previous time period to the next time period in the plurality of historical time periods, the displacement vector of the phased array antenna module from the last time period to the current time period of the current time period, and the historical attitude angles of the phased array antenna module in the previous plurality of historical time periods as the input of a pre-trained neural network model to obtain the current estimated attitude angle of the phased array antenna module.

8. A control system for a phased array antenna module, comprising:

the phased array antenna comprises a phased array antenna module and a control unit, wherein the control unit is electrically connected with the phased array antenna module;

the phased array antenna module is used for sending the signal strength of the received satellite signals to the control unit;

the control unit is used for estimating a current estimated attitude angle of the phased array antenna module according to historical attitude angles of the phased array antenna module in a plurality of previous historical time periods when the first signal strength of satellite signals received by the phased array antenna module in the current time period is lower than a preset strength threshold value;

adjusting the attitude angle of the phased array antenna module based on the current estimated attitude angle; and

after the attitude angle of the phased array antenna module is adjusted, if the second signal strength of the satellite signals received by the phased array antenna module is higher than the preset strength threshold value, taking the current estimated attitude angle as the attitude angle of the phased array antenna module in the current time period;

the attitude angle of the phased array antenna module comprises a pitch angle and a yaw angle.

9. The control system of the phased array antenna module set forth in claim 8, further comprising a tri-axial gyroscope, said tri-axial gyroscope being disposed on said phased array antenna module set, said tri-axial gyroscope being electrically connected to said control unit, said tri-axial gyroscope being configured to detect an attitude angle of said phased array antenna module set.

10. The control system of the phased array antenna module set of claim 8, further comprising a GPS positioning module, the GPS positioning module being electrically connected to the control unit, the GPS positioning module being configured to detect longitude and latitude coordinates of the phased array antenna module set.

Technical Field

The present application relates to the field of antenna technologies, and in particular, to a method and a system for controlling a phased array antenna module.

Background

Phased array antenna modules are antenna modules that change direction by controlling the feed phase of the radiating elements in the array antenna, and are commonly used for communicating with low orbit satellites.

Because low orbit satellites are non-stationary relative to the ground, phased array antenna modules in communication with the satellites are required to have the ability to track the satellites. Currently, for satellite tracking, a common method is to calculate a phased array antenna module in real time according to an acquired satellite signal and adjust an attitude angle of the phased array antenna module in real time. However, this approach consumes a large amount of computing resources, and increases the burden on the system.

Therefore, how to provide an effective solution to avoid consuming a large amount of computing resources in the satellite tracking process has become an urgent problem in the prior art.

Disclosure of Invention

In a first aspect, an embodiment of the present application provides a method for controlling a phased array antenna module, including:

acquiring the signal intensity of satellite signals received by a phased array antenna module;

if the first signal strength of satellite signals received by the phased array antenna module in the current time period is lower than a preset strength threshold value, estimating the current estimated attitude angle of the phased array antenna module according to the historical attitude angles of the phased array antenna module in a plurality of previous historical time periods;

adjusting the attitude angle of the phased array antenna module based on the current estimated attitude angle;

after the attitude angle of the phased array antenna module is adjusted, if the second signal strength of the satellite signals received by the phased array antenna module is higher than the preset strength threshold value, taking the current estimated attitude angle as the attitude angle of the phased array antenna module in the current time period;

the attitude angle of the phased array antenna module comprises a pitch angle and a yaw angle.

In one possible design, the method further includes:

after the attitude angle of the phased array antenna module is adjusted, if the second signal intensity of the satellite signals received by the phased array antenna module is lower than the preset intensity threshold value, dividing a sky airspace into a plurality of grid areas;

adjusting the attitude angle of the phased array antenna module to obtain a third signal strength of the satellite signal received by the phased array antenna module when the phased array antenna module faces each grid area;

and taking the signal intensity with the maximum value and larger than the preset intensity threshold value in the third signal intensity as the target signal intensity, and adjusting the attitude angle of the phased array antenna module to the attitude angle corresponding to the target signal intensity.

In one possible design, the adjusting the attitude angle of the phased array antenna module to obtain a third signal strength of the satellite signals received by the phased array antenna module toward each grid area includes:

adjusting the attitude angle of the phased array antenna module to obtain a fourth signal strength of the satellite signal received by the phased array antenna module when the phased array antenna module faces an adjacent grid area outside the current grid area;

if the signal strength larger than the preset strength threshold value does not exist in the fourth signal strength, adjusting the attitude angle of the phased array antenna module to obtain a fifth signal strength of the satellite signal received by the phased array antenna module when the phased array antenna module faces other grid areas except the adjacent grid area.

In one possible design, the estimating a current estimated attitude angle of the phased array antenna module based on historical attitude angles of the phased array antenna module at a plurality of previous historical time periods includes:

determining a pitch angle change function and a yaw angle change function of the phased array antenna module according to a pitch angle and a yaw angle in the plurality of historical attitude angles;

and estimating the current estimated attitude angle of the phased array antenna module based on the pitch angle change function and the yaw angle change function.

In one possible design, the obtaining the signal strength of the satellite signal received by the phased array antenna module includes:

acquiring the signal intensity of satellite signals received by a phased array antenna module and the coordinate information of the phased array antenna module;

estimating a current estimated attitude angle of the phased array antenna module according to historical attitude angles of the phased array antenna module in a plurality of previous historical time periods, including:

according to the coordinate information of the phased array antenna module in the current time period and the coordinate information of the multiple historical time periods, calculating a displacement vector of the phased array antenna module from the last time period of the current time period to the current time period and a displacement vector of the phased array antenna module in the multiple historical time periods from the previous time period to the next time period;

estimating the current estimated attitude angle of the phased array antenna module based on the displacement vector of the phased array antenna module from the previous time period to the next time period in the plurality of historical time periods, the displacement vector of the phased array antenna module from the last time period to the current time period in the current time period, and the historical attitude angles of the phased array antenna module in the previous plurality of historical time periods.

In one possible design, the coordinate information is latitude and longitude coordinates.

In one possible design, the estimating a current estimated attitude angle of the phased array antenna module based on a displacement vector of the phased array antenna module from a previous time period to a next time period in the plurality of historical time periods, a displacement vector of the phased array antenna module from a previous time period to a current time period in the current time period, and historical attitude angles of the phased array antenna module in a plurality of previous historical time periods includes:

and calculating the displacement vector of the phased array antenna module from the previous time period to the next time period in the plurality of historical time periods, the displacement vector of the phased array antenna module from the last time period to the current time period of the current time period, and the historical attitude angles of the phased array antenna module in the previous plurality of historical time periods as the input of a pre-trained neural network model to obtain the current estimated attitude angle of the phased array antenna module.

In a second aspect, an embodiment of the present application provides a control system for a phased array antenna module, including:

the phased array antenna comprises a phased array antenna module and a control unit, wherein the control unit is electrically connected with the phased array antenna module;

the phased array antenna module is used for sending the signal strength of the received satellite signals to the control unit;

the control unit is used for estimating a current estimated attitude angle of the phased array antenna module according to historical attitude angles of the phased array antenna module in a plurality of previous historical time periods when the first signal strength of satellite signals received by the phased array antenna module in the current time period is lower than a preset strength threshold value;

adjusting the attitude angle of the phased array antenna module based on the current estimated attitude angle; and

after the attitude angle of the phased array antenna module is adjusted, if the second signal strength of the satellite signals received by the phased array antenna module is higher than the preset strength threshold value, taking the current estimated attitude angle as the attitude angle of the phased array antenna module in the current time period;

the attitude angle of the phased array antenna module comprises a pitch angle and a yaw angle.

In a possible design, the control system of the phased array antenna module further comprises a triaxial gyroscope, the triaxial gyroscope is arranged on the phased array antenna module, the triaxial gyroscope is electrically connected with the control unit, and the triaxial gyroscope is used for detecting the attitude angle of the phased array antenna module.

In one possible design, the control system of the phased array antenna module further comprises a GPS positioning module, the GPS positioning module is electrically connected with the control unit, and the GPS positioning module is used for detecting the longitude and latitude coordinates of the phased array antenna module.

The above-mentioned at least one technical scheme that this application one or more embodiments adopted can reach following beneficial effect:

when the first signal strength of the satellite signals received by the phased array antenna module in the current time period is lower than a preset strength threshold value, the current estimated attitude angle of the phased array antenna module is estimated according to the historical attitude angles of the phased array antenna modules in a plurality of previous historical time periods, the attitude angle of the phased array antenna module is adjusted based on the current estimated attitude angle, and after the attitude angle of the phased array antenna module is adjusted, if the second signal strength of the satellite signals received by the phased array antenna module is higher than the preset strength threshold value, the current estimated attitude angle is used as the attitude angle of the phased array antenna module in the current time period so as to be used for estimating the subsequent attitude angle of the phased array antenna module. Therefore, the adjustment angle of the phased array antenna module does not need to be calculated in real time, the operation amount is reduced, under the condition that normal communication between the phased array antenna module and a satellite is not influenced, a large amount of calculation resources are prevented from being consumed in the satellite tracking process, the estimation can be carried out according to the historical attitude angles of the phased array antenna module in a plurality of previous historical time periods when the current estimated attitude angle of the phased array antenna module is estimated, and the operation complexity is further reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure in any way. In the drawings:

fig. 1 is a flowchart of a control method of a phased array antenna module according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a control system of a phased array antenna module according to an embodiment of the present application.

Detailed Description

In order to avoid consuming a large amount of computing resources in the satellite tracking process, the embodiment of the application provides a control method and a control system for a phased array antenna module, and the control method and the control system for the phased array antenna module do not need to calculate the adjustment angle of the phased array antenna module in real time, so that the computation amount is reduced, and under the condition that the normal communication between the phased array antenna module and a satellite is not influenced, a large amount of computing resources are prevented from being consumed in the satellite tracking process.

The following describes a control method of a phased array antenna module provided in an embodiment of the present application in detail.

As shown in fig. 1, a method for controlling a phased array antenna module provided in an embodiment of the present application may include the following steps:

and step S101, acquiring the signal intensity of the satellite signal received by the phased array antenna module.

In the embodiment of the application, the phased array antenna module can acquire the signal intensity of the satellite signal received by the phased array antenna module in real time in the communication process with the low-orbit satellite.

Step S102, if the first signal strength of the satellite signals received by the phased array antenna module in the current time period is lower than a preset strength threshold value, estimating the current estimated attitude angle of the phased array antenna module according to the historical attitude angles of the phased array antenna module in a plurality of previous historical time periods.

In the embodiment of the application, time can be divided into a plurality of time periods which are continuous and have the same duration, and a preset intensity threshold value for evaluating the signal intensity of the satellite signal received by the phased array antenna module is preset, if the signal intensity of the satellite signal received by the phased array antenna module is greater than the preset intensity threshold value, the signal intensity of the satellite signal received by the phased array antenna module is better, and if the signal intensity of the satellite signal received by the phased array antenna module is less than the preset intensity threshold value, the signal intensity of the satellite signal received by the phased array antenna module is general.

After the signal strength of the satellite signal received by the phased array antenna module is obtained, whether the first signal strength of the satellite signal received by the phased array antenna module in the current time period is lower than the preset strength threshold value or not can be judged, and if so, the attitude angle of the phased array antenna module needs to be adjusted to ensure that the signal strength of the satellite signal received by the phased array antenna module keeps a good condition. At this time, the current estimated attitude angle of the phased array antenna module can be estimated according to the historical attitude angles of the phased array antenna module in a plurality of previous historical time periods. The attitude angle of the phased array antenna module comprises a pitch angle and a yaw angle. In this embodiment, the attitude angle of the phased array antenna module may refer to an angle of a beam of a phased array antenna in the phased array antenna module.

When estimating the current estimated attitude angle of the phased array antenna module, the attitude angle change function of the phased array antenna module can be established according to the historical attitude angles of the phased array antenna module in a plurality of previous historical time periods, and the current estimated attitude angle of the phased array antenna module can be estimated according to the change function. Specifically, because the attitude angle of the phased array antenna module comprises a pitch angle and a yaw angle, when the current estimated attitude angle of the phased array antenna module is estimated, a pitch angle change function and a yaw angle change function of the phased array antenna module can be determined according to the pitch angle and the yaw angle in a plurality of historical attitude angles, and then the current estimated attitude angle of the phased array antenna module is estimated based on the pitch angle change function and the yaw angle change function.

And S103, adjusting the attitude angle of the phased array antenna module based on the current estimated attitude angle.

And step S104, after the attitude angle of the phased array antenna module is adjusted, if the second signal strength of the satellite signals received by the phased array antenna module is higher than a preset strength threshold value, taking the current estimated attitude angle as the attitude angle of the phased array antenna module in the current time period.

In the next time period after the attitude angle of the phased array antenna module is adjusted, the second signal strength of the satellite signal received by the phased array antenna module which is obtained most recently can be compared with the preset strength threshold, if the second signal strength of the satellite signal received by the phased array antenna module is higher than the preset strength threshold, the signal strength of the satellite signal received by the phased array antenna module which is adjusted is better, and at the moment, the currently estimated attitude angle can be used as the attitude angle of the phased array antenna module in the current time period (namely, the previous time period of the second signal strength of the satellite signal which is obtained most recently), so that the attitude angle of the phased array antenna module can be used as a basis for subsequently estimating the attitude angle of the phased array antenna module.

To sum up, the control method of the phased array antenna module according to the embodiment estimates the current estimated attitude angle of the phased array antenna module according to the historical attitude angles of the phased array antenna modules in previous multiple historical time periods when the first signal strength of the satellite signal received by the phased array antenna module in the current time period is lower than the preset strength threshold, adjusts the attitude angle of the phased array antenna module based on the current estimated attitude angle, and after the attitude angle of the phased array antenna module is adjusted, if the second signal strength of the satellite signal received by the phased array antenna module is higher than the preset strength threshold, the current estimated attitude angle is used as the attitude angle of the phased array antenna module in the current time period so as to be used for estimating the subsequent attitude angle of the phased array antenna module in the current time period. Therefore, the adjustment angle of the phased array antenna module does not need to be calculated in real time, the operation amount is reduced, under the condition that normal communication between the phased array antenna module and a satellite is not influenced, a large amount of calculation resources are prevented from being consumed in the satellite tracking process, the estimation can be carried out according to the historical attitude angles of the phased array antenna module in a plurality of previous historical time periods when the current estimated attitude angle of the phased array antenna module is estimated, and the operation complexity is further reduced.

Further, the first possible design for adjusting the attitude angle of the phased array antenna module after adjusting the attitude angle of the phased array antenna module and under the condition that the second signal strength of the satellite signal received by the phased array antenna module is lower than the preset strength threshold value is provided in the embodiments of the present application, which includes, but is not limited to, the following steps S201 to S203.

Step S201, after the attitude angle of the phased array antenna module is adjusted, if the second signal strength of the satellite signal received by the phased array antenna module is lower than a preset strength threshold, the sky airspace is divided into a plurality of grid areas.

Step S202, the attitude angle of the phased array antenna module is adjusted to obtain a third signal strength of the satellite signal received when the phased array antenna module faces each grid area.

Specifically, the method for adjusting the attitude angle of the phased array antenna module to obtain the third signal strength of the satellite signal received by the phased array antenna module when the phased array antenna module faces each grid area includes the following steps.

Firstly, the attitude angle of the phased array antenna module is adjusted to obtain a fourth signal strength of the satellite signal received when the phased array antenna module faces an adjacent grid area outside the current grid area. And if the signal strength greater than the preset strength threshold value exists in the fourth signal strength, taking the fourth signal strength as the third signal strength.

If the signal strength larger than the preset strength threshold value does not exist in the fourth signal strength, the attitude angle of the phased array antenna module is adjusted to obtain a fifth signal strength of the satellite signal received when the phased array antenna module faces other grid areas except the adjacent grid area, and the fifth signal strength is used as the third signal strength.

Step S203, the signal strength with the maximum value and greater than the preset strength threshold value in the third signal strength is taken as the target signal strength, and the attitude angle of the phased array antenna module is adjusted to the attitude angle corresponding to the target signal strength.

Therefore, through the first possible design, when the current estimated attitude angle of the phased array antenna module estimated according to the historical attitude angles of the phased array antenna modules in a plurality of previous historical time periods is inaccurate, the current estimated attitude angle of the phased array antenna module can be estimated by acquiring the signal intensity of the satellite signal received when the phased array antenna module faces to the adjacent grid area outside the current grid area and then acquiring the signal intensity of the satellite signal received when the phased array antenna module faces to other grid areas outside the adjacent grid area, and the calculation amount of the phased array antenna module in the current estimated attitude angle can be reduced.

The embodiment of the application also provides a second possible design which is applied to estimating the current estimated attitude angle of the phased array antenna module when the phased array antenna module is installed on the mobile carrier and moves along with the mobile carrier. Including but not limited to the following steps S301-S303.

Step S301, obtaining the signal intensity of the satellite signal received by the phased array antenna module and the coordinate information of the phased array antenna module.

And the coordinate information is longitude and latitude coordinates.

Step S302, according to the coordinate information of the phased array antenna module in the current time period and the coordinate information of a plurality of historical time periods, calculating the displacement vector of the phased array antenna module from the previous time period to the current time period of the current time period and the displacement vector of the phased array antenna module from the previous time period to the next time period in the plurality of historical time periods.

Step S303, estimating the current estimated attitude angle of the phased array antenna module based on the displacement vectors of the phased array antenna module from the previous time period to the next time period in the plurality of historical time periods, the displacement vectors of the phased array antenna module from the previous time period to the current time period in the current time period, and the historical attitude angles of the phased array antenna module in the previous plurality of historical time periods.

In the embodiment of the application, the training has the neural network model that is used for calculating the present attitude angle of presupposing of phased array antenna module in advance, when calculating the present attitude angle of presupposing of phased array antenna module, can with among a plurality of historical time sections the displacement vector of phased array antenna module from the preceding time section to a later time section, phased array antenna module is from the last time section of current time section to the displacement vector of current time section to and a plurality of historical time sections in the past the historical attitude angle of phased array antenna module is calculated as the input of the neural network model that the training is good in advance, obtains the present attitude angle of presupposing of phased array antenna module.

Therefore, through the second possible design, the current estimated attitude angle of the phased array antenna module can be estimated when the phased array antenna module is in a moving state, so that the phased array antenna module is ensured to keep good communication with a satellite.

Fig. 2 is a schematic structural diagram of a control system of a phased array antenna module according to an embodiment of the present application. Referring to fig. 2, a control system of a phased array antenna module includes a phased array antenna module and a control unit electrically connected to the phased array antenna module;

the phased array antenna module is used for sending the signal strength of the received satellite signals to the control unit;

the control unit is used for estimating a current estimated attitude angle of the phased array antenna module according to historical attitude angles of the phased array antenna module in a plurality of previous historical time periods when the first signal strength of satellite signals received by the phased array antenna module in the current time period is lower than a preset strength threshold value;

adjusting the attitude angle of the phased array antenna module based on the current estimated attitude angle; and

after the attitude angle of the phased array antenna module is adjusted, if the second signal strength of the satellite signals received by the phased array antenna module is higher than the preset strength threshold value, taking the current estimated attitude angle as the attitude angle of the phased array antenna module in the current time period;

the attitude angle of the phased array antenna module comprises a pitch angle and a yaw angle.

In a possible design, the control system of the phased array antenna module further comprises a triaxial gyroscope, the triaxial gyroscope is arranged on the phased array antenna module, the triaxial gyroscope is electrically connected with the control unit, and the triaxial gyroscope is used for detecting the attitude angle of the phased array antenna module.

In one possible design, the control system of the phased array antenna module further comprises a GPS positioning module, the GPS positioning module is electrically connected with the control unit, and the GPS positioning module is used for detecting the longitude and latitude coordinates of the phased array antenna module.

In short, the above description is only a preferred embodiment of this document, and is not intended to limit the scope of protection of this document. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this document shall be included in the protection scope of this document.

All the embodiments in this document are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.