阅读说明：本技术 一种动中通终端设备和对星方法 (Communication-in-motion terminal equipment and satellite alignment method ) 是由 常凯 王昕宇 于 2021-08-04 设计创作，主要内容包括：本发明提供了一种动中通终端设备和对星方法,其方法包括步骤：获取动中通终端在地心坐标系下的位置坐标；获取卫星在地心坐标系下的星历信息；计算动中通终端在终端本体坐标系下的第一姿态,并计算第一姿态的第一俯仰角和第一方位角；计算终端本体坐标系相对于地心固体坐标系的第二姿态；根据位置坐标与星历信息,计算在地心固体坐标系下动中通终端到卫星的第一指向矢量；根据第一指向矢量与第二姿态,计算第二指向矢量在终端本体坐标系下的第二俯仰角和第二方位角；根据第一俯仰角、第一方位角、第二俯仰角和第二方位角计算动中通终端的调整角度。本发明完成动中通终端对星通信的同时提高对星通信效果。(The invention provides a communication-in-motion terminal device and a satellite alignment method, wherein the method comprises the following steps: acquiring the position coordinates of the communication-in-motion terminal under a geocentric coordinate system; acquiring ephemeris information of a satellite in a geocentric coordinate system; calculating a first attitude of the communication-in-motion terminal under a terminal body coordinate system, and calculating a first pitch angle and a first azimuth angle of the first attitude; calculating a second attitude of the terminal body coordinate system relative to the geocentric solid coordinate system; calculating a first pointing vector from the mobile communication terminal to the satellite under the geocentric solid coordinate system according to the position coordinate and the ephemeris information; calculating a second pitch angle and a second azimuth angle of a second directional vector under the terminal body coordinate system according to the first directional vector and the second attitude; and calculating the adjustment angle of the communication-in-motion terminal according to the first pitch angle, the first azimuth angle, the second pitch angle and the second azimuth angle. The invention improves the satellite-to-satellite communication effect while finishing satellite-to-satellite communication of the communication-in-motion terminal.)

1. A mobile communication terminal device, comprising:

the GPS/BD antenna is used for receiving a GPS/BD signal and acquiring the position coordinate of the communication-in-motion terminal under the geocentric coordinate system according to the GPS/BD signal;

the signaling antenna is used for receiving satellite pilot signals and acquiring ephemeris information of the satellite in a geocentric coordinate system according to the satellite pilot signals;

the gyroscope is used for acquiring first attitude information of the communication-in-motion terminal equipment under a terminal coordinate system;

the signal control device is connected with the GPS/BD antenna, the signaling antenna and the gyroscope, and is used for calculating a first attitude of the mobile communication terminal under a terminal body coordinate system according to a position coordinate of the mobile communication terminal under a geocentric coordinate system and ephemeris information of a satellite under the geocentric coordinate system, calculating a second attitude of the terminal body coordinate system relative to the geocentric solid coordinate system after calculating a first pitch angle and a first azimuth angle of the first attitude, calculating a first pointing vector from the mobile communication terminal to the satellite under the geocentric solid coordinate system according to the position coordinate and the ephemeris information, calculating a second pitch angle and a second azimuth angle of the second pointing vector under the terminal body coordinate system according to the first pointing vector and the second attitude, and calculating a second pitch angle and a second azimuth angle of the second pointing vector under the terminal body coordinate system according to the first pitch angle, And calculating the first azimuth angle, the second pitch angle and the second azimuth angle to obtain an adjustment angle of the communication-in-motion terminal.

2. The mobile communication terminal device according to claim 1, wherein the signal control device comprises:

a main controller;

the GPS/BD receiver is connected with the GPS/BD antenna and the main controller and is used for acquiring first position information of the portable communication-in-motion terminal equipment under a geocentric coordinate system;

the modem is connected with the signaling antenna and the main controller and is used for modulating or demodulating a communication signal between the signaling antenna and the satellite and acquiring second position information of the satellite in a geocentric coordinate system;

the main controller can determine rotation angle information based on the first position information, the second position information and the first attitude information, and can adjust the attitude of the service antenna under the terminal coordinate system according to the rotation angle information so that the service antenna points to the satellite.

3. The mobile communication terminal device according to claim 1, further comprising:

a GPS/BD antenna for receiving GPS/BD signals;

and the signaling antenna is used for receiving satellite pilot signals, and the signaling antenna is used for receiving the broadcast information of the low earth orbit satellite or the synchronous satellite by the portable communication-in-motion terminal.

4. The communication-in-motion terminal equipment according to any one of claims 1 to 3, further comprising:

a base;

the antenna assembly comprises a service antenna, a service antenna feed source and a reflecting disc, wherein the service antenna is installed on the reflecting disc, and the service antenna feed source is installed at the top end of the service antenna;

the pointing mechanism comprises a pitching direction adjusting component and an azimuth direction adjusting component, the reflecting disc is installed on the pitching direction adjusting component, the pitching direction adjusting component is installed on the azimuth direction adjusting component, and the azimuth direction adjusting component is installed on the base; the pitching direction adjusting component is used for adjusting a pitching angle between the service antenna and the base, and the azimuth direction adjusting component is used for adjusting an azimuth direction angle between the service antenna and the base;

the pitching direction adjusting component is a lifting mechanism and is also used for adjusting the distance between the reflecting disc and the base.

5. The mobile communication terminal device according to claim 4, wherein the pitch direction adjustment component comprises:

a first pitching direction supporting arm which comprises a first upper end hinge arm and a first lower end hinge arm, wherein the first upper end hinge arm is provided with a first end and a second end, the first lower end hinge arm is provided with a third end and a fourth end, the first end is hinged to the bottom of the reflecting disc, and the second end is hinged to the third end;

the fourth end is hinged to the first pitching bearing;

a first pitch direction gear to which the first pitch direction bearing is fixed;

the first pitching direction driving motor is in driving connection with the first pitching direction gear and is used for driving the pitching direction gear to rotate;

changing an included angle between the first upper hinge arm and the first lower hinge arm to change a distance between the reflective disk and the base.

6. The mobile communication terminal device according to claim 4, wherein the pitch direction adjustment component further comprises:

the first positioning pin comprises a first plug, a second plug and a connecting rod, and the first plug and the second plug are fixed at two ends of the connecting rod;

the first upper end hinge arm of the first pitch direction support arm has a first insertion hole, the first lower end hinge arm has a second insertion hole, a first plug of the positioning pin is insertable into the first insertion hole, and a second plug of the positioning pin is insertable into the second insertion hole, so as to fix an included angle between the first upper end hinge arm and the first lower end hinge arm.

7. The mobile communication terminal device according to claim 5, wherein the pitch direction adjustment component further comprises:

and the second pitching direction supporting arm and the first pitching direction supporting arm are the same in structure and are arranged oppositely.

8. The mobile communication terminal device of claim 1, wherein the orientation direction adjusting component comprises:

the azimuth driving bearing is fixed on the base;

the azimuth direction driving gear is connected with the azimuth direction bearing, and the pitching direction adjusting assembly is mounted on the azimuth direction driving gear;

the azimuth direction driving motor is fixed on the base and can be connected to the azimuth direction gear in a driving mode and used for driving the azimuth direction gear to rotate.

9. The mobile communication terminal device according to claim 4, wherein:

the bottom end of the service antenna is detachably mounted on the reflecting disc;

the service antenna feed source is detachably arranged at the top end of the service antenna.

10. A satellite alignment method for a communication-in-motion terminal is characterized by comprising the following steps:

acquiring the position coordinates of the communication-in-motion terminal under a geocentric coordinate system;

acquiring ephemeris information of a satellite in a geocentric coordinate system;

calculating a first attitude of the communication-in-motion terminal under the terminal body coordinate system, and calculating a first pitch angle and a first azimuth angle of the first attitude;

calculating a second attitude of the terminal body coordinate system relative to the earth center solid coordinate system;

calculating a first pointing vector from the communication-in-motion terminal to the satellite under the geocentric solid coordinate system according to the position coordinate and the ephemeris information;

calculating a second pitch angle and a second azimuth angle of the second directional vector under the terminal body coordinate system according to the first directional vector and the second attitude;

and calculating the adjustment angle of the communication-in-motion terminal according to the first pitch angle, the first azimuth angle, the second pitch angle and the second azimuth angle.

Technical Field

The invention relates to the technical field of satellite communication, in particular to communication-in-motion terminal equipment and a satellite alignment method.

Background

Satellite communication has been widely used in the past 20 years due to its advantages such as wide coverage area and wide communication bandwidth. Satellite mobile communication provides all-around satellite communication service for satellite telephones, faxes and the internet. Satellite mobile communication is an extension and extension of a land cellular mobile communication system, and has unique advantages in communication in remote areas, mountainous areas, islands, disaster areas, ocean vessels, distant planes and the like.

The satellite mobile communication system is composed of a satellite of a space segment, a ground station of a ground segment and a user terminal. The user terminal is divided into a fixed station and a communication-in-motion station according to the mobile property.

The communication in motion is short for a mobile satellite ground station communication system. The moving carriers of vehicles, ships, airplanes and the like can track the satellite in real time in the moving process through the communication-in-motion system, so that multimedia information such as voice, data, images and the like can be uninterruptedly transmitted. The communication-in-motion system well solves the problem of communication of various moving carriers such as vehicles, ships and the like in motion, provides accurate satellite pointing for the satellite communication antenna when the carrier moves, and is an important technology in the field of satellite communication. At present, a general satellite-to-satellite mode of a communication-in-motion device is to communicate with a geostationary satellite, but the requirement for signal strength for communicating with the geostationary satellite is high, and if the signal strength is low in a part of scenes, the communication effect of the communication-in-motion to the satellite is reduced.

At present, a satellite alignment method is needed to solve the problems of difficulty and poor satellite alignment of communication in motion in the prior art, complete communication in motion to the satellite communication and improve the satellite alignment communication effect.

Disclosure of Invention

In order to solve the technical problem, the invention provides a communication-in-motion terminal device and a satellite alignment method, wherein the communication-in-motion terminal device comprises: GPS/BD antenna, signaling antenna, gyroscope and signal control equipment. The GPS/BD antenna is used for receiving a GPS/BD signal and acquiring the position coordinate of the communication-in-motion terminal under the geocentric coordinate system according to the GPS/BD signal; the signaling antenna is used for receiving satellite pilot signals and acquiring ephemeris information of the satellite in a geocentric coordinate system according to the satellite pilot signals; the gyroscope is used for acquiring first attitude information of the communication-in-motion terminal equipment under a terminal coordinate system; the signal control device is connected with the GPS/BD antenna, the signaling antenna and the gyroscope, and is used for calculating a first attitude of the mobile communication terminal in the terminal body coordinate system according to a position coordinate of the mobile communication terminal in the earth-centered coordinate system and ephemeris information of a satellite in the earth-centered coordinate system, calculating a second attitude of the terminal body coordinate system relative to the earth-centered solid coordinate system after calculating a first pitch angle and a first azimuth angle of the first attitude, calculating a first pointing vector from the mobile communication terminal to the satellite in the earth-centered solid coordinate system according to the position coordinate and the ephemeris information, calculating a second pitch angle and a second azimuth angle of the second pointing vector in the terminal body coordinate system according to the first pointing vector and the second attitude, and calculating a second pitch angle and a second azimuth angle of the second pointing vector in the terminal body coordinate system according to the first pitch angle, And calculating the first azimuth angle, the second pitch angle and the second azimuth angle to obtain an adjustment angle of the communication-in-motion terminal.

Further, the present invention provides a mobile communication terminal device, wherein the signal control device comprises: a main controller, a GPS/BD receiver and a modem. The GPS/BD receiver is connected with the GPS/BD antenna and the main controller and is used for acquiring first position information of the portable communication-in-motion terminal equipment under a geocentric coordinate system; the modem is connected with the signaling antenna and the main controller and is used for modulating or demodulating a communication signal between the modem and the satellite and acquiring second position information of the satellite in a geocentric coordinate system; the main controller can determine rotation angle information based on the first position information, the second position information and the first attitude information, and can adjust the attitude of the service antenna under the terminal coordinate system according to the rotation angle information so that the service antenna points to the satellite.

Further, the present invention also provides a mobile communication terminal device, further comprising: a GPS/BD antenna and a signaling antenna. The GPS/BD antenna is used for receiving GPS/BD signals; the signaling antenna is used for receiving satellite pilot signals, and the signaling antenna is used for the portable communication-in-motion terminal to receive broadcast information of a low earth orbit satellite or a synchronous satellite.

Furthermore, the invention also provides communication-in-motion terminal equipment, which further comprises a base, an antenna assembly and a pointing mechanism. The antenna assembly comprises a service antenna, a service antenna feed source and a reflecting disc, wherein the service antenna is installed on the reflecting disc, and the service antenna feed source is installed at the top end of the service antenna; the pointing mechanism comprises a pitching direction adjusting component and an azimuth direction adjusting component, the reflecting disc is installed on the pitching direction adjusting component, the pitching direction adjusting component is installed on the azimuth direction adjusting component, and the azimuth direction adjusting component is installed on the base; the pitching direction adjusting component is used for adjusting a pitching angle between the service antenna and the base, and the azimuth direction adjusting component is used for adjusting an azimuth direction angle between the service antenna and the base; the pitching direction adjusting component is a lifting mechanism and is also used for adjusting the distance between the reflecting disc and the base.

Furthermore, the invention also provides a communication-in-motion terminal device, wherein the pitching direction adjusting assembly comprises a first pitching direction supporting arm, a first pitching direction bearing, a first pitching direction gear and a first pitching direction driving motor. The first pitching direction supporting arm comprises a first upper end hinged arm and a first lower end hinged arm, the first upper end hinged arm is provided with a first end and a second end, the first lower end hinged arm is provided with a third end and a fourth end, the first end is hinged to the bottom of the reflecting disc, and the second end is hinged to the third end; the fourth end is hinged to the first pitching bearing; the first pitch direction bearing is fixed to the first pitch direction gear; the first pitching direction driving motor is connected with the first pitching direction gear in a driving way and is used for driving the pitching direction gear to rotate; changing an included angle between the first upper hinge arm and the first lower hinge arm to change a distance between the reflective disk and the base.

Furthermore, the invention also provides communication-in-motion terminal equipment, and the pitching direction adjusting assembly further comprises a first positioning pin. The first positioning pin specifically comprises a first plug, a second plug and a connecting rod, and the first plug and the second plug are fixed at two ends of the connecting rod; the first upper end hinge arm of the first pitch direction support arm has a first insertion hole, the first lower end hinge arm has a second insertion hole, a first plug of the positioning pin is insertable into the first insertion hole, and a second plug of the positioning pin is insertable into the second insertion hole, so as to fix an included angle between the first upper end hinge arm and the first lower end hinge arm.

Furthermore, the invention also provides a communication-in-motion terminal device, wherein the pitching direction adjusting assembly further comprises a second pitching direction supporting arm, and the second pitching direction supporting arm and the first pitching direction supporting arm are identical in structure and are arranged oppositely.

Furthermore, the invention also provides communication-in-motion terminal equipment, wherein the azimuth direction adjusting assembly comprises an azimuth driving bearing, an azimuth direction driving gear and an azimuth direction driving motor. Wherein the azimuth drive bearing is fixed on the base; the azimuth direction driving gear is connected with the azimuth direction bearing, and the pitching direction adjusting assembly is installed on the azimuth direction driving gear; the azimuth direction driving motor is fixed on the base and can be connected to the azimuth direction gear in a driving mode and used for driving the azimuth direction gear to rotate.

Furthermore, the invention also provides communication-in-motion terminal equipment, wherein the bottom end of the service antenna is detachably mounted on the reflecting disc; the service antenna feed source is detachably arranged at the top end of the service antenna.

Additionally, the invention also provides a satellite alignment method of the communication-in-motion terminal, which comprises the following steps:

acquiring the position coordinates of the communication-in-motion terminal under a geocentric coordinate system;

acquiring ephemeris information of a satellite in a geocentric coordinate system;

calculating a first attitude of the communication-in-motion terminal under the terminal body coordinate system, and calculating a first pitch angle and a first azimuth angle of the first attitude;

calculating a second attitude of the terminal body coordinate system relative to the earth center solid coordinate system;

calculating a first pointing vector from the communication-in-motion terminal to the satellite under the geocentric solid coordinate system according to the position coordinate and the ephemeris information;

calculating a second pitch angle and a second azimuth angle of the second directional vector under the terminal body coordinate system according to the first directional vector and the second attitude;

and calculating the adjustment angle of the communication-in-motion terminal according to the first pitch angle, the first azimuth angle, the second pitch angle and the second azimuth angle.

The communication-in-motion terminal equipment and the satellite alignment method provided by the invention at least have the following beneficial effects:

1) the signaling antenna is convenient for the communication-in-motion terminal to capture the broadcast information of the low-orbit satellite, and the rotation angle is determined through the received communication information, so that the service antenna of the communication-in-motion terminal points to the satellite in real time, the communication-in-motion terminal can better adapt to the low-orbit satellite, and the satellite communication effect is improved;

2) according to the invention, the foldable and liftable pitching direction supporting arm is adopted, so that the height distance between the reflecting disc and the base in the communication-in-motion terminal can be controlled, the communication-in-motion terminal can be folded into a whole with smaller occupied volume when in an idle state, and the portability of the communication-in-motion terminal is improved;

3) aiming at the problems that the conventional communication-in-motion terminal is not easy to carry and occupies a large space in a non-working state, the detachable antenna structure is adopted, so that the occupied volume of the communication-in-motion terminal in an idle state is reduced, and the portability of the communication-in-motion terminal is improved.

Drawings

The above features, technical features, advantages and implementation manners of the communication-in-motion terminal device and the satellite pointing method will be further described in the following description of preferred embodiments in a clearly understandable manner in conjunction with the accompanying drawings.

FIG. 1 is a schematic diagram of a communication-in-motion terminal device according to the present invention;

FIG. 2 is a schematic overall view of a terminal including a packing box of the communication-in-motion terminal device of the present invention;

FIG. 3 is a schematic structural diagram of a signal control device of a satellite communication terminal in motion according to the present invention;

FIG. 4 is a flowchart illustrating specific steps of determining the rotation angle by the main controller in the signal control device of the satellite communication terminal device in motion according to the present invention;

fig. 5 is a preferred communication flow diagram of an apparatus of a mobile communication terminal according to the present invention;

the antenna assembly 100, the pointing mechanism 200, the base 300, the gyroscope 400, the signal control device 500, the device whole 600 of the mobile communication terminal, the packaging box 700, the GPS/BD antenna 800, the signaling antenna 900, the service antenna feed 110, the service antenna 120, the reflective plate 130, the first elevation direction supporting arm 210A, the first articulated arm 211, the second articulated arm 212, the first elevation direction bearing 213, the elevation direction driving motor 214, the elevation direction gear 215, the positioning pin 216, the azimuth direction bearing 221, the azimuth direction gear 222, the azimuth direction motor 223, and the second elevation direction supporting arm 210B.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

Example 1

An embodiment of the present invention, as shown in fig. 1 and 2, provides a support structure of a mobile satellite communication terminal, which employs a foldable and liftable supporting arm in a pitching direction to control a height distance between a reflecting disc and a base in the mobile satellite communication terminal, so that the mobile satellite communication terminal can be folded into an integral body with a smaller occupied volume when in an idle state, thereby improving portability of the mobile satellite communication terminal.

Specifically, the support structure of the satellite communication terminal in motion comprises: base 300, antenna assembly 100, pointing mechanism 200. The antenna assembly comprises a service antenna 120, a service antenna feed source 110 and a reflector 130, wherein the service antenna 120 is arranged on the reflector 130, and the service antenna feed source 110 is arranged at the top end of the service antenna 120; the pointing mechanism 200 includes a pitch adjustment assembly 210 and an azimuth adjustment assembly 220, the reflective plate 130 is mounted on the pitch adjustment assembly 210, the pitch adjustment assembly 210 is mounted on the azimuth adjustment assembly 220, and the azimuth adjustment assembly 220 is mounted on the base 300; the tilt direction adjustment component 210 is used for adjusting the tilt angle between the service antenna 120 and the base 300, and the azimuth direction adjustment component 220 is used for adjusting the azimuth direction angle between the service antenna 120 and the base 300.

The pitch direction adjustment assembly 210 is a lifting mechanism, and the pitch direction adjustment assembly 210 can also adjust the distance between the reflective plate 130 and the base 300.

In embodiment 1, the service antenna 120 and the service antenna feed 110 are detachable from the reflective plate 130, and the two tilt-direction supporting arms 210A and 210B can be lowered and folded simultaneously by the tilt-direction driving motor 214, so as to lower the height of the all-in-one terminal device 600, so that the all-in-one terminal device 600 can be placed in the packaging box 700.

The reason that the communication-in-motion terminal equipment is not easy to carry in the traditional method is mainly attributed to that the service antenna is not easy to fold, so that the communication-in-motion terminal equipment has large idle placement space requirement although the volume is not large. In embodiment 1 of the present invention, a way of partially shortening the length of the service antenna is enumerated, for example, the service antenna is detached from the reflective plate, or the service antenna is connected to the reflective plate in a retractable manner, or other methods are used to reduce the volume required for placing the whole communication-in-motion terminal device when the service antenna is in an idle state.

The invention provides a communication-in-motion terminal device, wherein an antenna component 100 receives communication information and then controls a pitching direction control component 210 and a direction control component 220 in a pointing mechanism 200 to adjust the antenna component 100 to point to a communication satellite in real time, and a foldable and liftable pitching direction supporting arm 210 is adopted to control the height distance between a reflecting disc 130 and a base 300 in the communication-in-motion terminal, so that the communication-in-motion terminal can be folded into a whole with a smaller occupied volume when in an idle state, the occupied space of the communication-in-motion terminal is reduced when in a non-working state, and the portability of the communication-in-motion terminal is improved.

Example 2

Based on the embodiment in embodiment 1, as shown in fig. 1, the present invention provides a support structure of a satellite communication terminal in motion, wherein the specific structure of the pitch direction adjustment assembly includes a first pitch direction support arm 210A, a first pitch direction bearing 213, a first pitch direction gear 215, and a first pitch direction driving motor 214.

The first tilt arm 210A includes a first upper hinge arm 211 and a first lower hinge arm 212, the first upper hinge arm 211 has a first end and a second end, the first lower hinge arm 212 has a third end and a fourth end, the first end is hinged to the bottom of the reflective plate 130, and the second end is hinged to the third end. The fourth end of the first pitch direction support arm 210A is hinged to the first pitch direction bearing 213. The first pitch direction bearing 213 is fixed to a first pitch direction gear 215. The first pitch direction driving motor 214 is drivingly connected to a first pitch direction gear 215 for driving the rotation of the pitch direction gear 215.

Changing the angle between the first upper hinge arm 211 and the first lower hinge arm 212 can change the distance between the reflective disk 130 and the base 300.

Preferably, a first end of the first upper hinge arm 211 is hinged with the bottom of the reflective plate 130 through a bearing, and a second end of the first upper hinge arm 211 is hinged with a third end of the first lower hinge arm 212 through a bearing.

For example, when the two pitch direction supporting arms 211 and 212 are hinged to the reflective plate 130, the two pitch direction supporting arms may be symmetrically hinged to both ends of the symmetric axis of the reflective plate 130 or asymmetrically hinged to both ends of the symmetric axis of the reflective plate 130, as long as the pitch direction angles of the reflective plate 130 and the service antenna 120 can be controlled.

Example 3

Based on any one of embodiments 1 to 3, as shown in fig. 1, the present invention provides a support structure of a satellite communication terminal in motion, wherein the pitching direction adjusting assembly 210 further includes: a second pitch direction support arm 210B, a second pitch direction bearing, and a second pitch direction drive motor. The second pitching direction supporting arm comprises a second upper end hinged arm and a second lower end hinged arm, the second upper end hinged arm is provided with a fifth end and a sixth end, the second lower end hinged arm is provided with a seventh end and an eighth end, the fifth end is hinged to the bottom of the reflecting disc, and the sixth end is hinged to the seventh end; the sixth end is hinged to the second pitching bearing, the seventh end is hinged to the second pitching bearing, and the second pitching bearing is connected with the sixth end and the seventh end; the eighth end of the second pitching direction supporting arm is hinged to the second pitching direction bearing; the second pitching direction driving motor is connected with the second pitching direction gear in a driving mode and used for driving the pitching direction gear to rotate.

The elevation adjustment assembly 210 may be controlled by a single arm, or may be controlled by two arms or multiple arms, and a specific embodiment of two-arm control is described in fig. 1 because the control conditions of the two elevation support arms are stable and convenient to control when the control antenna assembly points to the satellite, and other control methods of the multiple elevation support arms are not mentioned in this embodiment, but should be considered as the protection scope of the present invention.

Example 4

Based on any one of embodiments 1 to 3, as shown in fig. 1, the present invention provides a support structure for a satellite communication terminal in motion, wherein the pitch direction adjustment assembly 210 further includes a positioning pin 216.

The positioning pin 216 includes a first plug, a second plug and a connecting rod, the first plug and the second plug are fixed at two ends of the connecting rod; the first upper hinge arm 211 of the first pitch direction support arm 210A has a first insertion hole, the first lower hinge arm 212 has a second insertion hole, a first plug of the positioning pin 216 is inserted into the first insertion hole, and a second plug of the positioning pin 216 is inserted into the second insertion hole to fix an angle between the first upper hinge arm 211 and the first lower hinge arm 212.

The positioning pins 216 can fix the angle of the first pitch-direction support arm 211A when the first pitch-direction support arm 211A is adjusted to an appropriate angle, while restricting the degree of freedom of movement of the first pitch-direction support arm 211A in the direction other than the pitch direction, so that it can perform telescopic movement only in the pitch direction.

Example 5

Based on any one of embodiments 1 to 4, as shown in fig. 1, the present invention provides a support structure of a satellite communication terminal in motion, wherein the azimuth direction adjusting assembly 220 includes: azimuth drive bearing 211, azimuth direction drive gear 222, and azimuth direction drive motor 223.

Wherein the azimuth drive bearing 211 is fixed on the base 300; an azimuth direction driving gear 222 is connected with the azimuth direction bearing 211, and a pitch direction adjusting component is mounted on the azimuth direction driving gear 222; an azimuth direction driving motor 223 is fixed on the base 300, and the azimuth direction driving motor 223 is drivingly connected to the azimuth direction gear 222 for driving the rotation of the azimuth direction gear 222.

Example 6

Based on any one of embodiments 1 to 5, as shown in fig. 1, the present invention provides a support structure for a satellite communication terminal in motion, further including: a GPS/BD antenna 800, a signaling antenna 900, a gyroscope 400, and a signal control device 500.

Wherein the GPS/BD antenna 800 is used for receiving GPS/BD signals; a signaling antenna 900 for receiving satellite pilot signals.

Preferably, the signaling antenna 900 is designed with a wide coverage angle, so that the mobile communication terminal can blindly acquire the broadcast information of the satellite. The signaling antenna can be used for receiving broadcast information of low earth orbit satellites or synchronous satellites by the portable communication-in-motion terminal.

Further, the support structure of the satellite communication terminal in motion further includes a gyroscope 400, and the gyroscope 400 is installed at a middle position of the bottom of the reflective plate 130 and is used for acquiring first attitude information of the service antenna 120 of the support structure of the portable satellite communication terminal in motion in a terminal coordinate system.

The signal control device is connected with the GPS/BD antenna 800, the signaling antenna 900 and the gyroscope 400, the system is used for calculating a first attitude of the communication-in-motion terminal under a terminal body coordinate system according to the position coordinate of the communication-in-motion terminal under the geocentric coordinate system and the ephemeris information of the satellite under the geocentric coordinate system, and after calculating a first pitch angle and a first azimuth angle of the first attitude, calculating a second attitude of the terminal body coordinate system relative to the earth-centered solid coordinate system, and then calculating a first pointing vector from the mobile terminal to the satellite under the earth-centered solid coordinate system according to the position coordinate and the ephemeris information, and calculating a second pitch angle and a second azimuth angle of the second directional vector under the terminal body coordinate system according to the first directional vector and the second attitude, and finally calculating an adjustment angle of the communication-in-motion terminal according to the first pitch angle, the first azimuth angle, the second pitch angle and the second azimuth angle.

The satellite ephemeris information can accurately calculate, predict, describe and track the running states of the satellite, the flight object, such as time, position, speed and the like; can express the accurate parameters of flying objects such as celestial bodies, satellites, spacecrafts, missiles, space garbage and the like.

Example 7

Based on any one of embodiments 1 to 6, as shown in fig. 3, the invention provides a mobile communication terminal device, which completes real-time satellite-to-satellite control of the mobile communication terminal device by combining a supporting structure and a signal control device. The specific structure of the signal control device 500 includes: a main controller 510, a GPS/BD receiver 520, and a modem 530.

The GPS/BD receiver 520 is connected to the GPS/BD antenna 800 and the main controller 510, and is configured to acquire first position information of the mobile communication terminal device 600 in the geocentric coordinate system; the modem 530 is connected with the signaling antenna 120 and the main controller, and is used for acquiring second position information of the satellite in the geocentric coordinate system; the main controller 510 can determine rotation angle information based on the first position information, the second position information, and the first attitude information, and can adjust the attitude of the service antenna 120 in the terminal coordinate system according to the rotation angle information so that the service antenna 120 points to the satellite.

Example 8

Based on the embodiments in embodiments 1 to 7, the present invention further provides an embodiment, the structure of the antenna assembly 100 further includes that the bottom end of the service antenna 120 of the antenna assembly is detachably mounted on the reflective plate 130.

Illustratively, the connection between the service antenna 120 and the reflective disk 130 may adopt a spiral structure; can also adopt telescopic business antenna structural design, the business antenna comprises N section hollow antenna poles, every section antenna pole length equals, the antenna pole 1 section antenna pole internal diameter of being connected with the reflecting disc is the biggest in N section antenna pole, and 2 nd section antenna pole external diameter of being connected with it is less than with the above-mentioned external diameter with the reflecting disc antenna pole, second section antenna pole can be followed first antenna pole inner tube slip tensile, first section antenna pole and second section antenna pole junction are equipped with the buckle, when the buckle makes second section antenna extend to the maximum length along first section antenna pole inner tube, can be fixed first section antenna and second section antenna for a longer communication antenna wholly, N section antenna pole constitutes a whole as above-mentioned 1 st section antenna pole and 2 nd section antenna pole connected mode. Both methods can reduce the length of the idle state of the service antenna 120, and are used for improving the portability of the mobile communication terminal equipment.

The service antenna 120 and the service antenna feed 110 are detached from the reflective plate 130 for the purpose of reducing the structural height of the portable communication-in-motion terminal device 600 and achieving portability, so the installation methods of the service antenna 120, the service antenna feed 110 and the reflective plate 130 include, but are not limited to, the method in embodiment 1 above, and the method for reducing the antenna length by changing the antenna structure described in the present invention shall all belong to the protection scope of the present invention.

Example 9

An embodiment of the present invention, as shown in fig. 4, provides a method for terminating a satellite in a mobile communication terminal, including the steps of:

s100, position coordinates of the communication-in-motion terminal in the geocentric coordinate system are obtained.

Specifically, the main controller in the signal control device receives the position coordinate Pt (x) of the terminal calculated by the GPS/BD receiver in the signal processing device in the geocentric solid coordinate system_t，y_t，z_t) Longitude and latitude (L, B, H).

S200, ephemeris information of the satellite in the geocentric coordinate system is obtained.

Specifically, the modem in the signal control device receives ephemeris information Ps (x) of a satellite in a satellite broadcast signal in a geocentric solid coordinate system through a signaling antenna_s，y_s，z_s)。

S300, calculating a first attitude of the communication-in-motion terminal under a terminal body coordinate system, and calculating a first pitch angle and a first azimuth angle of the first attitude.

S400, calculating a second attitude of the terminal body coordinate system relative to the geocentric solid coordinate system.

Specifically, the attitude a of the terminal body coordinate system relative to the geocentric solid coordinate system is calculated, and the formula is as follows:

s500, according to the position coordinates and the ephemeris information, a first pointing vector from the mobile communication terminal to the satellite in the geocentric solid coordinate system is calculated.

Specifically, a first pointing vector r from the satellite communication terminal to the satellite in the earth-centered solid coordinate system is calculated, and the formula is as follows:

r＝(x_r，y_r，z_r)＝P_s-P_t。

s600, according to the first directional vector and the second attitude, calculating a second pitch angle and a second azimuth angle of the second directional vector under the terminal body coordinate system.

Specifically, a second direction vector r' from the satellite communication terminal to the satellite in the terminal body coordinate system is calculated, and the formula is as follows:

r′＝A×r。

calculating a pitch angle theta and an azimuth angle alpha of the second directional vector under the terminal body coordinate system, wherein the formula is as follows:

θ＝atan(r′_y/r′_z)。

s700, calculating the adjustment angle of the communication-in-motion terminal according to the first pitch angle, the first azimuth angle, the second pitch angle and the second azimuth angle.

Specifically, the gyroscope is calibrated under a terminal body coordinate system to serve as an initial attitude, a vector value s of a calibrated standard vector (taking a + z-axis vector as an example) at the current moment is calculated according to output data of the gyroscope, and corresponding pitch angle theta 'and azimuth angle alpha' are calculated, and the formula is as follows:

α′＝atan(s′_y/s′_z)。

calculating a control difference value of a servo motor of a service antenna, wherein the formula is as follows:

Δθ＝θ-θ′，

Δα＝α-α′。

in embodiment 9, a specific calculation flow of a real-time pointing analysis algorithm is shown, the algorithm can complete synchronous tracking of a satellite according to real-time information received by a wide coverage signaling antenna, so that a service antenna feed source can point to the satellite in real time, and dependence of a communication-in-motion system on synchronous satellite communication in the conventional technology is eliminated.

Example 10

In an embodiment of the present invention, as shown in fig. 5, the present invention provides a preferred communication flow in a satellite communication terminal device in motion, which includes the steps of:

s100, leveling and starting the terminal, lifting the service antenna to a working state by the aid of the pitching direction supporting arm under the driving of the driving motor, installing a positioning pin and a service antenna feed source, arranging a GPS/BD antenna, a signaling antenna and interconnection cables among the GPS/BD antenna and the signaling antenna.

S210, the GPS/BD receiver works to acquire the longitude and latitude (L: 121, B: 29, H: 0) of the position of the satellite communication terminal equipment in motion communication and the position (-2875.374km, 4785.426km, 3073.901km) under a WGS84 coordinate system.

S220, the communication satellite communication terminal equipment in motion receives satellite broadcast signals and analyzes the position (-3638.485km, 4619.980km and 3164.604km) of the current satellite in a WGS84 coordinate system.

S300, calculating the attitude A of the terminal body coordinate system relative to the geocentric solid coordinate system as follows:

-0.8572 -0.5150 0

0.2497 -0.4156 0.8746

-0.4505 0.7497 0.4848。

s400, calculating a pointing vector r' from the communication satellite communication terminal equipment to the satellite in motion under the terminal body coordinate system to be (739320, -042460, 263690).

S500, calculating a pitch angle and an azimuth angle from the terminal to a satellite pointing vector:

θ＝70.4002°，

α＝-3.2870°。

s600, calibrating the gyroscope in a terminal body coordinate system to serve as an initial attitude, calculating a vector value S of a calibrated standard vector (taking a + z-axis vector as an example) at the current moment according to data output by the gyroscope, and calculating a corresponding pitch angle theta 'and an azimuth angle alpha' of the service antenna at the moment in the terminal body coordinate system, wherein the pitch angle and the azimuth angle of the service antenna in the terminal body coordinate system are as follows:

θ′＝5°，

α′＝1°。

s700, calculating the control quantity of a pitch angle and an azimuth angle:

Δθ＝65.4002°，

Δα＝-2.2870°。

s800, controlling the pitching supporting arm with the negative X-axis to stretch 65.4002 degrees according to the difference value of the pitching directions, and calculating the difference value of the pitching postures in real time until the difference value is smaller than a threshold value; and controlling an azimuth direction driving motor to rotate in the reverse direction 2.2870 degrees according to the azimuth direction attitude difference, calculating the azimuth direction attitude difference in real time until the difference is smaller than a threshold value, starting service communication after the attitude is stable, and continuously and periodically adjusting the attitude.

S900 when communication is not needed, the power supply of the satellite communication terminal device in motion is closed, the positioning pin, the service antenna feed source are removed, the GPS/BD antenna, the signaling antenna and the mutual interconnection cable are collected, the antenna main body is collected into the packaging box through descending of the height of the supporting arm in the pitching direction, and the cover is covered to finish the transfer.

In the embodiment, a preferred communication flow of the satellite communication terminal equipment in motion is described, and the advantages of small size and portability of the structural design are shown; because the pitching direction supporting arm of the terminal equipment adopts a foldable design and the service antenna feed source is detachable, the whole equipment of the satellite communication terminal can be folded and collected into a packaging box when not working, and the terminal equipment is convenient to carry;

in the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative control methods and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The invention relates to an improvement of the problem of overlarge volume of communication-in-motion terminal equipment and a satellite alignment method in the prior art, and solves the problems of reduction of idle volume of a service antenna, foldable pitching direction supporting arms and a real-time pointing algorithm matched with a corresponding structure, wherein the technical scheme comprises but is not limited to a detachable structure, a telescopic structure and other common mechanical structures which can shorten the volume and the length of the service antenna. The mechanical structures in the present invention need to be controlled by matching with corresponding algorithms, and those skilled in the art can realize that the structures and algorithm steps of each example described in connection with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.