A device for controlling a satellite tracking antenna comprising an azimuth drive means (M Az) configured to impart an azimuthal rotational motion to the antenna about an azimuth axis, an elevation axis drive means (M El) configured to impart a rotational motion to the antenna about an elevation axis orthogonal to the azimuth axis, a tilt axis drive means (M T; M T1, M T2) configured to impart a rotational motion to the antenna about a tilt axis, a polarization axis drive means configured to impart a rotational motion to a transceiver head of the antenna about a polarization axis orthogonal to the tilt axis, wherein the polarisation axis is connected to the tilt axis, said tilt axis being connected to the elevation axis in such a way that the rotational freedom of motion of the antenna about the tilt axis is dependent on the elevation angle, such that: - at an elevation angle of 0° the rotational freedom of motion of the antenna about the tilt axis corresponds to the azimuthal rotational motion; - at an increasing elevation angle the rotational freedom of motion about the antenna successively transcends into a roll rotation; and - at an elevation angle of 90° the rotational freedom of motion of the antenna about the tilt axis corresponds to a roll rotation about a roll axis orthogonal to said azimuth axis and to said elevation axis, control means being provided for controlling the operation of the azimuth axis drive means, the elevation axis drive means, the polarisation axis drive means, and the tilt axis drive means, said control means comprising means, including a true north seeking gyro, for tracking position, orientation, direction and speed of movement of the device, wherein said control means further comprises absolute angular sensors (S AZ, S EI, S T, S P) arranged to sense the angle rotation of the azimuth axis, elevation axis, tilt axis and polarisation axis respectively, characterised in that said control means further comprises an additional gyro comprising an elevation gyro axis (G El) arranged to sense the elevation movement and a tilt gyro axis (G T) arranged to sense the tilt movement, said device further comprising means for compensating for drift of the additional gyro by calculating the pointing error of the antenna pointing vector based upon data of the desired antenna pointing vector, bearing, pitch and roll of the navigation system and the angle of rotation of the azimuth axis, elevation axis, tilt axis and polarisation axis, wherein said pointing error of the respective axis is arranged to be fed in a respective outer loop (P7, P8, P9) of a respective position controller, such that the calculated error of the elevation axis (el_err) is fed in an outer loop to the elevation position controller, the calculated error of the tilt axis (tilt err) is fed in an outer loop to the tilt position controller, and the calculated error of the polarisation axis (pol_err) is fed in an outer loop to the elevation position controller (el_err), wherein said additional gyro further is arranged to feed information about movement of the respective axis to a respective velocity controller (Fe, Ft, Fp), in a respective inner loop (P6, P5, P4), such that an elevation gyro axis (G El) is arranged to feed back information about movement of the elevation axis via an elevation velocity controller (Fe), in an inner loop so as to control the velocity of the elevation drive means of the elevation axis, a tilt gyro axis (G T) is arranged to feed back information about movement of the tilt axis via a tilt velocity controller (Ft), in an inner loop so as to control the velocity of the tilt drive means of the tilt axis, and a polarisation gyro axis (G P) is arranged to feed forward information about movement of the polarisation axis to a polarisation velocity controller (Fp), in an inner loop so as to control the velocity of the polarisation drive means of the elevation axis. - at an elevation angle of 0° the rotational freedom of motion of the antenna about the tilt axis corresponds to the azimuthal rotational motion; - at an increasing elevation angle the rotational freedom of motion about the antenna successively transcends into a roll rotation; and - at an elevation angle of 90° the rotational freedom of motion of the antenna about the tilt axis corresponds to a roll rotation about a roll axis orthogonal to said azimuth axis and to said elevation axis,