Patent Document

This application is a continuation in part of U.S. Utility patent application Ser. No. 11/115,960, entitled “Portable Antenna Positioner Apparatus and Method”, now U.S. Pat. No. 7,173,571, filed Apr. 26, 2005, the specification of which is hereby incorporated herein by reference, which takes benefit from U.S. Provisional Patent Application entitled “Portable Antenna Positioner Apparatus and Method”, Ser. No. 60/521,436 filed Apr. 26, 2004, which is hereby incorporated herein by reference. 
    
    
     This invention was made with Government support under F19628-03-C-0039 awarded by US Air Force, Department of Defense. The Government has certain rights in the invention. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     Embodiments of the invention described herein pertain to the field of antenna positioning systems. More particularly, but not by way of limitation, these embodiments enable the positioning of antennas by way of a compact, lightweight, portable, self-aligning antenna positioner that is easily moved by a single user and allows for rapid setup and alignment. 
     2. Description of the Related Art 
     An antenna positioner is an apparatus that allows for an antenna to be pointed in a desired direction, such as towards a satellite. Many satellites are placed in geosynchronous orbit at approximately 22,300 miles above the surface of the earth. Other satellites may be placed in low earth orbit and traverse the sky relatively quickly. Generally, pointing may be performed by adjusting the azimuth and elevation or alternatively by rotating the positioner about the X and Y axes. Once oriented in the proper direction, the antenna is then best able to receive a given satellite signal. 
     Existing antenna positioners are heavy structures that are bulky and require many workers to manually setup and initially orient. These systems fail to satisfactorily achieve the full spectrum of compact storage, ease of transport and rapid setup. For example, currently fielded antenna systems capable of receiving Global Broadcast System transmissions comprise an antenna, support, positioner, battery, cables, receiver, decoder and PC. These antenna systems require over a half dozen storage containers that each require 2 or more workers to lift. Other antenna systems are mounted on trucks and are generally heavy and not easily shipped. 
     BRIEF SUMMARY OF THE INVENTION 
     Embodiments of the invention provide a lightweight, collapsible and rugged antenna positioner for use in receiving low earth orbit and geosynchronous satellite transmissions. By collapsing the antenna positioner, it may be readily carried by hand or shipped in a compact container. For example, embodiments of the invention may be stored in a common carry-on bag for an airplane. The antenna positioner may be used in remote locations with manually assisted or automated setup and orientation. Embodiments of the invention may be produced at low cost for disposable applications. The apparatus can be scaled to any size by altering the size of the various components. The gain requirements for receiving any associated satellite transmission may be altered by utilizing more sophisticated and efficient antennas as the overall size of the system is reduced. 
     The movement of an antenna coupled with embodiments of the portable antenna positioner allows for low earth orbit, geostationary or geosynchronous location and tracking of a desired satellite. Since the slew rate requirements are small for geosynchronous satellites, the motors used in geosynchronous applications may be small. 
     One embodiment of the invention may be used, for example, after extending stabilizer legs and an adjustable leg to provide a stable base upon which to operate. In embodiments with a battery coupled with the apparatus, the antenna is extended and the system is aligned near a desired satellite at which time the system searches for and finds a desired satellite. The entire setup process can occur in rapid fashion. Another embodiment of the invention may utilize alternate mechanical positioning devices such as an arm that extends upward and allows for azimuth and elevation motors to adjust the antenna positioning. Another embodiment of the invention utilizes a smaller azimuth motor and limited range in order to lower the overall weight of the apparatus. 
     One or more embodiments utilize an adjustable leg or legs that may be motorized with for example a stepper motor. These embodiments are able to alter the effective elevation angle of a satellite relative to the apparatus so that the satellite is far enough away from the zenith to prevent “keyholing”. 
     In one embodiment of the invention, positioning of an associated antenna is performed by rotating positioner support frame in relation to a positioner base in order to set the azimuth. Setting the elevation is performed by altering the angle of the antenna mounting plate with respect to the positioner support frame. Since the elements are rotationally coupled to each other, rotation of the positioning arm alters the angle of the antenna mounting plate in relation to the positioner support frame. The motion of the antenna alters the angle of the antenna with relation to the positioner base. The resulting motion positions a vector orthogonal to the antenna mounting plate plane in a desired elevation and with the positioner base rotated to a desired azimuth, the desired pointing direction is achieved. Another embodiment of the invention makes use of an arm that comprises azimuth and elevation motors that are asserted in order to point an antenna to a desired pointing direction. 
     The pointing process is normally accomplished via powered means using the mechanisms described above. Various components are utilized by the apparatus to accomplish automated alignment with a desired satellite. A GPS receiver is used in order to obtain the time and the latitude and longitude of the apparatus. In addition, a tilt meter (inclinometer) or three axis accelerometer and magnetometer are be used to determine magnetic north and obtain the pointing angle of the antenna. By placing a group of sensors in both the electronics housing and antenna housing, differential measurements of tilt or magnetic orientation may be used for calibration purposes and this configuration also provides a measure of redundancy. For example, if the magnetometer in the positioner base fails, the magnetometer coupled with the antenna or in the antenna housing may be utilized. Such failure may be the result of an electronics failure or a magnetic anomaly near the positioner base. A low noise block down converter (LNB) along with a wave guide allows high frequency transmissions to be shifted down in frequency for transmission on a cable. One or more embodiments of the invention comprise a built-in receiver that enables the apparatus to download ephemeris data and program guides for channels. Motors and motor controllers to point the antenna mounting plate in a desired direction are coupled with at least one positioning arm in order to provide this functionality. Military Standard batteries such as BB-2590/M for example may be used to drive the motors. Any other battery of the correct voltage may also be utilized depending on the application. A keypad may be used in order to receive user commands such as Acquire, Stop, Stow and Self-Test. A microcontroller may be programmed to accept the keypad commands and send signals to the azimuth, elevation and optional adjustable leg motor in order to achieve the desired pointing direction based on a satellite orbit calculation based on the time, latitude, longitude, north/south orientation and tilt of the apparatus at a given time and the various orbital elements of a desired satellite. Optionally, a PC may host the satellite orbit program and user interface and may optionally transfer commands and receive data from the apparatus via wired or wireless communications. 
     By way of example an embodiment may weigh less than 20 pounds, comprise an associated antenna with 39 dBic gain, LHCP polarization, frequency range of 20.2 to 21.2 GHz and fit in an airplane roll-on bag of 14×22×9 inches. Embodiments of the invention may be set up in a few minutes or less and are autonomous after initial setup, including after loss and subsequent restoration of power. Although this example embodiment has a limited frequency range, any type of antenna may be coupled to the apparatus to receive any of a number of transmissions from at least the following satellite systems. 
     
       
         
               
               
               
               
             
           
               
                   
               
               
                 User 
                 Frequency 
                 Polarization 
                 Tracking 
               
               
                   
               
             
             
               
                 1. GBS User 
                   11 GHz Rx 
                 LP 
                 GeoSynch NSK 
               
               
                   
                 20.2 GHz Rx 
                 LHCP 
                 Self Aligning 
               
               
                 2. GBS + Milstar 
                 (1) Plus 
                 RHCP 
                 GeoSynch NSK 
               
               
                   
                 20.2 GHz Rx 
                 RHCP 
                 Self Aligning 
               
               
                   
                   44 GHz Tx 
               
               
                 3. Weather Only 
                  1.7 MHz 
                 LP 
                 LEO Tracking 
               
               
                   
                  2.2-2.3 MHz 
                 RHCP 
                 91° Retrograde 
               
               
                   
                   
                   
                 Up to 15°/Sec 
               
               
                 4. GBS + Weather 
                 (1) Plus (3) 
               
               
                 5. Weather or DSP 
                  1.7 MHz 
                 LP 
                 GeoSynch 
               
               
                    Low 
               
               
                    Rate Downlink 
                  2.2-2.3 MHz 
                 RHCP 
                 Point and Forget 
               
               
                    (LRD) 
               
               
                    Weather NPOESS 
                 (5) Plus 
                   
                 Polar LEO 
               
               
                    High 
               
               
                    Rate Downlink 
                   8 Ghz 
                 RHCP 
                 Tracking for 
               
               
                    (HRD) 
                   
                   
                 8 GHz 
               
               
                 6. Wideband Gap 
                  7.9-8.4 GHz 
                 RHCP 
                 GeoSynch NSK 
               
               
                    Filler 
               
               
                    (WGS) SHF Low 
                 Tx 
                 LHCP 
                 Self-Aligning 
               
               
                   
                 7.25-7.75 GHz 
               
               
                   
                 Rx 
               
               
                 7. WGS EHF High 
                   30 GHz Tx 
                 RHCP 
                 GeoSynch NSK 
               
               
                   
                   20 GHz Rx 
                 RHCP 
                 Self-Aligning 
               
               
                   
               
             
          
         
       
     
     Any other geosynchronous or low earth orbiting satellite may be received by coupling an appropriate antenna to the apparatus. For example, a dish or patch array antenna may be coupled to the antenna mounting plate. An example calculation of the size of dish or patch array to achieve desired gains follows. An ideal one-meter dish, at 20 GHz, has a gain of 46.4 dBi. With 68% efficiency, it would have a gain of 44.7 dBi. A one-half meter diameter dish, therefore, would be 6 dB less, for a gain of 38.7 dBi. Certain patch arrays have efficiencies on the order of 30%, or about 3.6 dB below a dish of similar area. A patch array with a gain of 39 dBi would have an area of 0.474 square meters. A dish with a gain of 39 dBi would have an area of 0.209 square meters, or a diameter of 0.516 meters. For a patch array consisting of four panels, this implies each panel should have an area of 0.119 square meters, or 184 square inches. This is a square with sides of 13.6 inches. A panel that measures 20 in. by 12 in. has an area of 240 square inches (0.155 square meters). For the 4-panel system, the area is 960 square inches or 0.619 square meters; with a calculated gain of 40.2 dBi. Embodiments of the invention are readily combined with these example antennas and any other type of antennas. Optionally a box horn antenna may be coupled with the apparatus that is smaller and more efficient than a patch array antenna, but that is generally heavier and thicker. Additionally a wave guide fed slot array may be utilized. 
     Position Sensors used in embodiments of the invention allow for mobile applications. One or more accelerometer and/or gyroscope may be used to measure perturbations to the pointing direction and automatically adjust for associated vehicle movements in order to keep the antenna pointed in a given direction. 
     Some example components that may be used in embodiments of the invention include the Garmin GPS 15H-W, 010-00240-01, the Microstrain 3DM-G, the Norsat LNB 9000C the EADmotors L1SZA-H11XA080 and AMS motor driver controllers DCB-241. These components are exemplary and non-limiting in that substitute components with acceptable parameters may be substituted in embodiments of the invention. 
     In addition, one or more embodiments of the invention may comprise mass storage devices including hard drives or flash drives in order to record programs or channels at particular times. The apparatus may also comprise the ability to transmit data, and transmit at preset times. Use of solar chargers or multiple input cables allows for multiple batteries or the switching of batteries to take place. The apparatus may search for satellites in any band and create a map of satellites found in order to determine or improve the calculated pointing direction to a desired satellite. The apparatus may also comprise stackable modules that allow for cryptographic, routing, power supplies or additional batteries to be added to the system. Such modules may comprise a common interface on the top or bottom of them so that one or more module may be stacked one on top of another to provide additional functionality. For lightweight deployments all external stackable modules including the legs may be removed depending on the mission requirements. 
     Low power embodiments of the invention employ a limited range of motion in azimuth for the antenna positioner which allows the operator to be presented with an “X” in a box of the user interface. The operator sets the system to point within 60 degrees of a satellite, not 360 degrees. The system then prompts the user with the “X” which is on the left of the box if the operator should rotate the positioner base to the left and the “X” appears on the right side of the box if the operator is to rotate the positioner base to the right. Once the positioner base is within 30 degrees, the operator asserts a button and the system begins to acquire a satellite. 
     The system may employ tilt compensation so that even if the positioner base is not level, the scan includes adjustment to the elevation motor so that the scan lines are parallel to the horizon not to the incline on which the positioner base is situated. The three-axis accelerometer is used to provide tilt measurements in one or more embodiments of the invention. 
     The search algorithm utilized by the system may be optimized to search in azimuth and sparsely search in elevation. This is due to the fact that magnetic anomalies are more prevalent than gravitational anomalies. The system looks first in azimuth before elevation (preferential azimuth searching) since that is where the errors are likely found. For example in one embodiment, the search proceeds to do two horizontal scan lines first above the initial point before performing two horizontal scan lines below the initial point. In other words, after the signal peaks, it goes to peak then leaves the raster scan algorithm then uses a box peaking algorithm right and up to a corner, go to a left corner, down to corner and right bottom corner, e.g., 5 measurements. Then the system points to the strongest and does the four corner measurements again. When the four corners of the box have equal strength the antenna is positioned correctly and the search algorithm terminates. 
     The system also is capable of manually-assisted linear polarization setting. When aligning the third axis, that is aligning the antenna about an axis orthogonal to the antenna plane for linear polarization, the operator may be prompted for rotating the antenna manually. This allows for the elimination of a third motor although this motor is optional and may be employed in embodiments that are not power sensitive. The linear polarization axis is the least critical of all of the axial settings, so a little error is acceptable. In addition, the system without a linear polarization axis motor is lower weight. 
     The system may also be configured for bump detection and reacquisition. In this configuration, the system detects when the base or the antenna is bumped and reacquires the satellite. If the satellite signal is still high, then the system returns to a four corner boxing algorithm for example, otherwise the system goes back into scan mode. With two three-axis accelerometers, one on positioner base and one on antenna, both may be used for bump detection. 
     In order to further save power and time in acquiring satellites, the age of the two line element (TLEs) is taken into account in one or more embodiments of the invention. This is known as Clarke Belt Fallback. For ephemeris data or two line elements, fresh TLE data allows the system to point to the satellite accurately. However, in a couple of weeks, the TLE information is out of date, in a couple of months is actually quite inaccurate. For perfectly stationary satellites on the Clarke belt, i.e., equator, all the system has to know is the longitude to find one of these satellites. The satellites that move have a problem in that a fresh TLE is more accurate than a Clarke Belt longitude, but after 30 days the system falls back to the Clarke Belt longitude since it is more accurate after about this time span. Without fresh TLEs, acquisition takes more time and power, but by using the Clarke Belt Fallback, the system can still function. 
     In another power saving embodiment, the tracking of the satellites may switch between transponder signal and the beacon tracking signal output by a satellite. Beacons have a different frequency and are lower power than the data signal of the satellite. The beacons are also omni-directional so the system can find the satellite even if it is not pointed at the system at the time of acquisition. For small low power antennas, the beacon may be too small to detect, so if the data signal via the satellite transponder is on, it can be used to find and lock onto the satellite even if the beacon is too weak to detect. 
     Embodiments of the positioner base may make use of a hole in the base such that water and other environmental elements do not collect in the positioner base where the antenna positioning elements are stored. In this embodiment, a thermal well may be employed wherein all of the heat-making components situated in the positioner base, i.e., the electronics utilized by the system, dissipate heat. With regards to saving power and minimizing heat dissipation, algorithms that conserve power may be utilized in one or more embodiments of the invention. For example, when tracking a geosynchronous satellite, e.g., one that move in a figure eight pattern but remains relatively in one general area of the sky, the system can stop tracking the satellite at the top and bottom of the figure eight since motion is relatively slow there. The system can switch to more rapid tracking when the satellite is scheduled to move from the upper to the lower portion of the figure eight since the satellite motion is fast during this period. Conserving power as determined by two-line element (TLE) determined re-peak schedule allows for lower power dissipation and longer battery life. The system may utilize distributed I2C thermal sensors. The sensors may be placed on the electronics boards utilized by the system for example, so the computer can self-monitor the components. 
     The system allows for updating TLEs over the data link acquired. This allows for fresh TLEs to be used in locating and tracking satellites. The broadcasters may be configured to send down TLEs that the system uses to automatically update the local TLEs. After one month, the TLEs are considered old and if the system is powered up, then it may automatically update the TLEs if the acquired satellite is configured to broadcast them. 
     Some embodiments of the invention allow for a quick disconnect for the antenna panel. This allows for different satellites having entirely different frequency bands to be acquired with the system. This quick disconnect capability may be implemented by using double pins to hook the antenna to positioning arm. By releasing one antenna and attaching another antenna to the positioning arm, a different set of satellites in general may be acquired since satellites use various frequencies. Linearly polarized satellites, generally commercial satellites, may be acquired using a third rotational motor that allows for the antenna to rotate about the axis pointing at a satellite. For low power configurations, this allows for the user to be prompted to rotate the antenna until the strength of the signal is maximized. Low power embodiments therefore do not require a third axis motor. 
     One ore more embodiments of the invention provide an Integrated Receiver Decoder (IRD) slot. An IRD allows for set-top box functionality and may provide channel guide type functionality. The user interface to the IRD may include an IRD lock function that allows for feedback to the user for tracking qualification. If the IRD is integrated into the positioner base, the IRD can provide input to the positioner&#39;s computer or a visual display to the user to qualify the satellite as being identified as the desired satellite. In one small area of the sky, there may be five 5 commercial satellites in the field of view, so the system may prompt the user to select Next Satellite to continue looking for the correct satellite or the computer may automatically look to the next satellite. 
     Embodiments may utilize a “one button” or “no button” setup procedure. After opening the system and deploying the antenna and turning the power on, the system determines where it is and if pointed within a general direction of a satellite, requires no button pushes for the system to lock. The system can also perform the no button option so that after power loss and restore, the system re-acquires a satellite. This may occur with no intervention. One button operation may be utilized when the system is not rotated close enough to a satellite for example, where the system may prompt the user to rotate the base in one direction or the other and assert the acquire button. The prompt may include an “X” to the left or right in the LED screen to let the user know to turn the base clockwise or counterclockwise for example. The user interface may also present auto satellite options. For example, the first choice and second choice satellites may be presented to the user based on the band the system is configured for. Based on the location of the antenna on the planet, the user interface shows the operator the most likely satellite that is normally picked. 
     The system may also employ a failure contingency tree. For example if any portion of the system fails, the system may prompt the user via the display and allow the user to utilize the keyboard to respond to system requests for positioning the system, etc. For example, if the GPS or tilt fails, the system allows the operator to compensate for the error, prompts for entry on keyboard, of the GPS position or to acknowledge that the base is level. In short, the system is configured to ask the user for help if components break. 
     One or more embodiments of the invention allow for a sensor built into changeable antenna. For example, a 3 positioner accelerometer may be built into the changeable antenna panel. In addition, the antenna panel may be configured with memory in the changeable antenna that is used to notify the system what band the antenna is, so the system does not have to perform third axis rotation when not acquiring a satellite that uses linear polarization. For example, if acquiring a Ka band military satellite, the antenna panel is read and based on the fact that the Ka band antenna is being utilized, a whole set of the correct satellites in the correct band may be presented to the user via the user interface wherein some of all of the previous satellites receivable with the previous antenna are no longer presented. An additional tilt sensor may be utilized in the positioner base for crosschecking with antenna. Any redundant positioners may be placed throughout the system in order to provide redundancy and crosschecking capabilities. 
     The system has no loose parts and requires no tools. Since there are no parts to loose, the system is more robust. The system may include a camouflage bag that encapsulates the system and may be changed from desert to jungle to urban camouflage or black. Many different types of legs may be employed on the system depending on the terrain that the system is to be used in, including but not limited to legs with rubber bottoms, spikes or any other type of bottom, and the legs themselves may be of any type including telescoping or rigid or any other type. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  shows a top perspective view of an embodiment of the invention in the deployed position. 
         FIG. 2  shows a bottom perspective view of an embodiment of the invention in the deployed position. 
         FIG. 3  shows a perspective view of an embodiment of the positioner base with cover removed to expose internal elements. 
         FIG. 4  shows a perspective view of an embodiment of the collapsible antenna positioner. 
         FIG. 5  shows a perspective view of an embodiment of the invention in the collapsed position. 
         FIG. 6  shows an isometric view of an embodiment of the invention in the stowed position. 
         FIG. 7  shows an isometric view of the bottom of an embodiment of the invention in the stowed position. 
         FIG. 8  shows an isometric view of an embodiment of the invention in the deployed position. 
         FIG. 9  shows an isometric view of an embodiment of the invention with the antenna housing at a first azimuth and elevation setting. 
         FIG. 10  shows an isometric view of an embodiment of the invention with the antenna housing at a second azimuth and elevation setting. 
         FIG. 11  shows a flowchart depicting the manufacture of one or more embodiments of the invention. 
         FIG. 12  shows an embodiment of the position base configured with a hole to allow for environmental elements to escape and to also manage heat dissipation of the system. 
         FIG. 13  shows a close-up of  FIG. 12 . 
         FIG. 14  shows a cross sectional view of  FIG. 12 . 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Embodiments of the invention provide a self contained lightweight, collapsible and rugged antenna positioner for use in receiving and transmitting to low earth orbit, geosynchronous and geostationary satellites. In the following exemplary description numerous specific details are set forth in order to provide a more thorough understanding of embodiments of the invention. It will be apparent, however, to an artisan of ordinary skill that the present invention may be practiced without incorporating all aspects of the specific details described herein. Any mathematical references made herein are approximations that can in some instances be varied to any degree that enables the invention to accomplish the function for which it is designed. In other instances, specific features, quantities, or measurements well-known to those of ordinary skill in the art have not been described in detail so as not to obscure the invention. Readers should note that although examples of the invention are set forth herein, the claims, and the full scope of any equivalents, are what define the metes and bounds of the invention. 
       FIG. 1  shows a top perspective view of an embodiment of the invention in the deployed position. Positioner base  100  may be coupled to the ground or any structure that can adequately support the apparatus. An embodiment with stabilizer leg  117  extended as well as adjustable leg  115  extended is shown in  FIG. 1 . The legs are optional and if an embodiment comprises legs, they are not required for use but may be used individually as required to provide stability based on the exact geography at the deployment site. 
     Positioner base  100  and positioner support frame  101  may be any geometrical shape although they are roughly shown as rectangular in  FIG. 1 . Positioner support frame  101  is rotationally mounted on positioner base  100 . This rotational mounting allows for altering the azimuth setting of the apparatus. Keypad port  114  and GPS sensor port  116  allow for access to the respective elements housed internal to the positioner base during shipping. Optional or combined use of and control of the apparatus may be accomplished via a PC (not shown). 
     Collapsible antenna positioner  103  is further described below and in  FIG. 4 . The collapsible antenna positioner allows for altering the elevation of antenna  102  mounted on antenna mounting plate  222  (as shown in  FIG. 2 ). Beneath antenna mounting plate  222  lies waveguide  104  and LNB  105 . Tilt sensor and magnetometer  106  is also coupled with the bottom of antenna mounting plate  222 . Tilt sensor and magnetometer  106  is used in order to measure the angle that antenna mounting plate  222  is pointing and determine the direction of North. Pinch paddles  107  and  108 , release knobs  112  and  113  are used in order to disengage the positioning arms from antenna mounting plate  222  and elevation motor as will be explained in relation to  FIG. 4 . Any method of disengagement may be substituted with regards to pinch paddles  107  and  108  and release knobs  112  and  113 . 
       FIG. 2  shows a bottom perspective view of an embodiment of the invention in the deployed position. Stabilizer leg  200  is visible in this figure. The deployment of stabilizer leg  200  is optional as well as is the deployment of stabilizer leg  117  and adjustable leg  115  as shown in  FIG. 1 . Optional battery compartment  201  allows for battery removal and replacement without disturbing the internal components of positioner base  100 . Pinch paddle port  206  allows for operation of the pinch paddles when the apparatus is in the collapsed position. Collapse grooves  203 ,  204  and  205  allow for the collapsing of collapsible antenna positioner  103  as shown in  FIG. 1  by allowing for the disengaging of the respective axles in the associated positioning arms as will be further described in relation for  FIG. 4 . 
       FIG. 3  shows a perspective view of an embodiment of the positioner base with cover removed to expose internal elements. Normally, positioner base  100  is closed to the external elements so that dust and water are not able to readily enter the apparatus. Microcontroller  300  hosts the control program which reads inputs from keypad  320  and commands azimuth motor  330  to rotate via motor controller  303  to a desired azimuth based on various inputs. Optional motor controller  302  may run the elevation motor in the positioner support frame, or motor controller  303  may comprise a two port motor controller capable of running both motors independently. GPS receiver  324  provides time and position information to microcontroller  300 . Drive hub  331  rotates positioner support frame  101  in order to point antenna  102  mounted to antenna mounting plate  222  in the desired azimuth. Optional location for battery  301  may be as shown in  FIG. 3 , or as was shown in  FIG. 2  may lie between motor controller  303  and GPS receiver  324 . Optionally, if motor controller  303  comprises two independent ports, then motor controller  302  may be replaced by an optional wireless transceiver to eliminate the need to physically connect to a PC. Any other unused space within positioner base  100  may also be used for external communications such as wireless transceivers. 
       FIG. 4  shows a close up of collapsible antenna positioner  103  as is partially shown in  FIGS. 1 and 2 . Plate mounts  402 ,  403  and  404  act to couple antenna mounting plate  222  as shown in  FIGS. 1 and 2  to positioner arms  110 ,  111  and  109  respectively. Positioner arms  109  and  110  are not directly coupled to one another. Pinch paddles  107  and  108  act to disengage positioner arms  110  and  111  from associated antenna mounting plate  222  in order to collapse the apparatus. When pinch paddles  107  and  108  are forced together, the common axle is disengaged and slides freely along collapse grooves  204  and  205 . Similarly, when release knob  112  is activated, positioner arm  109  is disengaged from the axle associated with release know  112  allowing the axle to freely slide along collapse groove  203  as shown in  FIG. 2 . When motor release knob  113  is activated, elevation motor  401  and hence worm drive  441  are disengaged from positioner arm  111  allowing the apparatus to fully collapse. 
     Stiffness in collapsible antenna positioner  103  as shown in  FIG. 1  is added via positioner arm plate  118 . LNB cutout  400  provides space for LNB  105  when antenna mounting plate  222  collapses in to positioner support frame  101 . Frame mounts  405  and  406  provide rotational mounts for positioner arms  110  and  111 . Positioner arm  109  couples to another frame mount that is not shown for ease of illustration. 
       FIG. 5  shows a perspective view of an embodiment of the invention in the collapsed position. Adjustable leg  115  is folded underneath positioner base  100 . Stabilizer leg  117  is folded against the side of positioner base  100 . Antenna mounting plate  222  is shown collapsed into positioner support frame  101 . The apparatus as shown in  FIG. 5  is ready for shipment. 
     Operation of embodiments of the invention comprise initial physical setup and powered acquisition of a desired satellite. Initial physical setup may comprise extending one or both of stabilizer legs  117  and  200  and in addition, optionally unfolding adjustable leg  115 . As adjustable leg  115  may optionally comprise a powered stepper motor for altering the elevation of the apparatus when a satellite is near the zenith to eliminate keyholing. Alternatively, adjustable leg  115  may be manually adjusted. After any desired legs are deployed, pinch paddles  107  and  108  may be asserted in order to extend the associated axle up into the locked position on positioner arms  110  and  111 . The opposing side of antenna  102  may then be lifted in order to lock the axle associated with release knob  112  in the extended position in positioner arm  109 . When the axle associated with release knob  112  travels the full length of collapse groove  203 , release knob  112  is in the locked position and must be asserted in order to release the associated axle and collapse the apparatus. With opposing sides of antenna  102  locked into position, motor release knob  113  is asserted in order to engage worm drive  441  and hence elevation motor  401 . For connection based configurations not employing wireless communications, connecting desired communications links to a PC or other communications processor is performed. For configurations dependent upon an external computer, microcontroller  300  is optional so long as motor controller  303  comprises a communications port. As long as the external PC comprises the requisite drivers and satellite orbit calculation programs it may be substituted for microcontroller  300 . 
     After physically deploying the apparatus, keypad port  116  may be accessed in order to operate keypad  320 . Operations accessible from keypad  320  comprise acquire, stop, stow and test. 
     Asserting the acquire button and selecting a satellite initiates an orbital calculation that determines the location of a satellite for the time acquired via the GPS receiver. With the latitude and longitude acquired via GPS receiver  324  and the direction North and tilt of the apparatus measured via tilt sensor and magnetometer  106  all of the parameters required to point antenna  102  towards a desired satellite may be achieved. Positioner support frame  101  is rotated to the desired azimuth via drive hub  331 , azimuth motor  330  and motor controller  303 . Antenna  102  is elevated to the desired elevation via antenna mounting plate  222 , plate mounts  402 ,  403  and  404 , positioner arms  110 ,  111  and  109 , worm drive  441  and elevation motor  401 . Communications and control lines, not shown for ease of illustration, extend through a center hole in drive hub  331  to and from positioner base  100  and positioner support frame  101 . These communications and control lines allow for the control of elevation motor  401  and receipt of down converted satellite signal via LNB  105  and measurement data from tilt sensor and magnetometer  106 . For satellite locations near the zenith in the reference frame of the apparatus, an optional stepper motor at the end of adjustable leg  115  may be activated in order to shift the observed zenith of the apparatus away from the desired satellite near the observed zenith in order to prevent keyholing. 
     Asserting the stop button on keypad  320  stop whatever task the apparatus is currently performing. This button can be activated prior to activating the stow button. The stow button realigns positioner support frame  101  with positioner base  100  and performs a system shutdown. The test button performs internal system tests and may be activated with or without collapsible antenna positioner  103  deployed. These operations may be modified in certain embodiments or performed remotely by an attached PC or over a wireless network in other embodiments. 
       FIG. 6  shows an isometric view of an embodiment of the invention in the stowed position. Positioner base  600  houses electronic components and mates with antenna housing  601  for compact storage. Positioner base  600  provides access to power switch  602 , remote computer Ethernet connector  604 , power plug A  606 , power plug B  607 , LNB RF out  608 , data Ethernet connector  605  and day/night/test switch  603 . Power plug A  606  and power plug B  607  are utilized for coupling with power sources, batteries and solar panels for embodiments without built in receivers. Data Ethernet connector  605  provides internal receiver data for embodiments comprising at least one built in receiver which allows for coupling with external network devices capable of consuming a satellite data stream. In addition, one or more embodiments of the invention may use data Ethernet connector  605  for providing the apparatus with transmission data for transmission to a desired satellite. Day/night/test switch  603  is utilized in order to set the display (shown in  FIGS. 8-10 ) to provide for day and night time visual needs while the third position is utilized in order to test the system without deploying antenna housing  601 . 
       FIG. 7  shows an isometric view of the bottom of an embodiment of the invention in the stowed position. Carrying handle  703  may be used to physically move the apparatus. Legs  700 ,  701  and  702  may form a removable leg system as shown or may independently be mounted to the bottom of positioner base  600 . In addition, a stackable module may be coupled to positioner base  600  in order to provide cryptographic, power/battery, router or any other functionality to augment the capabilities of the apparatus. 
       FIG. 8  shows an isometric view of an embodiment of the invention in the deployed position. Legs  700  and  701  are shown in the deployed position. Bubble level  806  is used to level positioner base  600  in combination with the legs or by placing objects underneath an embodiment of the invention not comprising legs until positioner base  600  is roughly level. The system has no loose parts and requires no tools. Since there are no parts to loose, the system is more robust. The system may include a camouflage bag that encapsulates the system and may be changed from desert to jungle to urban camouflage or black. Many different types of legs may be employed on the system depending on the terrain that the system is to be used in, including but not limited to legs with rubber bottoms, spikes or any other type of bottom, and the legs themselves may be of any type including telescoping or rigid or any other type. Keypad  804  and display  805  are utilized in order to control the apparatus. Also shown is azimuth motor  800  that rotates positioning arm  801  and elevation motor  802  which rotates antenna housing  601  in elevation. In one or more embodiments, antenna housing  601  may be rotated on an axis orthogonal to the plane of antenna housing  601  and may optionally include a third motor, however low power embodiments of the invention allow for the operator of the system to manually rotate antenna housing  601  for linear polarized satellite signals. LNB  803  couples with the reverse side of the antenna that is located within antenna housing  601 . When opening one embodiment of the invention, positioning arm  801  locks into a vertical position as shown and after selecting a satellite to acquire an internal or external microcontroller rotates azimuth motor  800  and elevation motor  802  based on the GPS position, time and compass orientation of the apparatus. One embodiment of the invention may provide a limited turning range for azimuth motor  800  for example 60 degrees, in order to limit the overall weight of the device by allowing for simpler cable routing and minimizing complexity of the mechanism. Positioner base  600  comprises an indentation shown in the middle of positioner base  600  for housing positioning arm  801 , elevation motor  802  and LNB  803  when in the stowed position. The indentation may make use of a hole that allows for environmental elements such as water, dirt, mud, snow or any other objects to drain or fall through the indentation. In addition, the hole may be coupled to the electronic components in order to provide a thermal well for heat management purposes. (See  FIG. 12 ). In one or more embodiments, thermal bonding of the electronic components to the upper and lower portions of the positioner base does not comprise a hole. Electronic components internal to positioner base  600  may comprise a microcontroller or computer which hosts a control program which reads inputs from keypad  804  and commands azimuth motor  800  to rotate to a desired azimuth. Positioner base  600  may also comprise a GPS receiver that provides time and position information to the microcontroller. Positioner base  600  and antenna housing  601  may comprise a three axis accelerometer or inclinometer, magnetometer, data receiver and relative signal strength indicator (RSSI) receiver and reports to the microcomputer the signal strength of the signal received and that information is used for the accurate pointing of the antenna. 
     Using keypad  804 , embodiments of the invention may utilize a “one button” or “no button setup” procedure. After opening the system and deploying the antenna in antenna housing  601  and turning the power on, the system determines where it is and if pointed within a general direction of a satellite, requires no button pushes for the system to lock. The system can also perform the no button option so that after power loss and restore, the system re-acquires a satellite. This may occur with no intervention. One button operation may be utilized when the system is not rotated close enough to a satellite for example, where the system may prompt the user to rotate positioner base  600  in one direction or the other and assert the acquire button. The prompt may include an “X” to the left or right in display  805  (for example an LED screen) to let the user know to turn positioner base  600  clockwise or counterclockwise for example. Display  600  may also present auto satellite options. For example, the first choice and second choice satellites may be presented to the user based on the band the system is configured for. Based on the location of the antenna on the planet, the user interface shows the operator the most likely satellite that is normally picked. 
     With regards to saving power and minimizing heat dissipation, algorithms may be employed by the computer housed in positioner base  600 , that conserve power may be utilized in one or more embodiments of the invention. 
     Low power embodiments of the invention employ a limited range of motion in azimuth (e.g., azimuth motor  800  rotates only a portion of 360 degrees) for the antenna positioner which allows the operator to be presented with an “X” in a box of the user interface is display  805 . The operator sets the system to point within 60 degrees of a satellite, not 360 degrees. The system then prompts the user with the “X” which is on the left of the box if the operator should rotate the positioner base to the left and the “X” appears on the right side of the box if the operator is to rotate the positioner base to the right. Once the positioner base is within 30 degrees, the operator asserts a button and the system begins to acquire a satellite. Wiring of the system is simplified by sub-360 degree rotation and weight is lowered as well. 
     The search algorithm utilized by the system may be optimized to search in azimuth and sparsely search in elevation. This is due to the fact that magnetic anomalies are more prevalent than gravitational anomalies. The system looks first in azimuth before elevation (preferential azimuth searching) since that is where the errors are likely found. For example in one embodiment, the search proceeds to do two horizontal scan lines first above the initial point before performing two horizontal scan lines below the initial point. In other words, after the signal peaks, it goes to peak then leaves the raster scan algorithm then uses a box peaking algorithm right and up to a corner, go to a left corner, down to corner and right bottom corner, e.g., 5 measurements. Then the system points to the strongest and does the four corner measurements again. When the four corners of the box have equal strength the antenna is positioned correctly and the search algorithm terminates. 
     In order to further save power, one or more embodiment may allow for the computer to perform tracking at uneven time intervals. For example, when tracking a geosynchronous satellite, e.g., one that move in a figure eight pattern but remains relatively in one general area of the sky, the system can stop tracking the satellite at the top and bottom of the figure eight since motion is relatively slow there. The system can switch to more rapid tracking when the satellite is scheduled to move from the upper to the lower portion of the figure eight since the satellite motion is fast during this period. Conserving power as determined by two-line element (TLE) determined re-peak schedule allows for lower power dissipation and longer battery life. The system may utilize distributed I2C thermal sensors. The sensors may be placed on the electronics boards utilized by the system for example, so the computer can self-monitor the components. 
     In another power saving embodiment, the computer housed in positioner base  600  performs tracking of the satellites in a manner that may switch between transponder signal and the beacon tracking signal output by a satellite. For example, beacons have a different frequency and are lower power than the data signal of the satellite. The beacons are also omni-directional so the system can find the satellite even if it is not pointed at the system at the time of acquisition. For small low power antennas, the beacon may be to small to detect, so if the data signal via the satellite transponder is on, it can be used to find and lock onto the satellite even if the beacon is too weak to detect. 
     In order to further save power and time in acquiring satellites, the age of the two line (TLEs) is taken into account in one or more embodiments of the invention by the computer housed in positioner base  600 . This is known as Clarke Belt Fallback. For ephemeris data or two line elements (TLEs as used by Nasa), fresh TLE data allows the system to point to the satellite accurately. However, in a couple of weeks, the TLE information is out of date, in a couple of months is actually quite inaccurate. For perfectly stationary satellites on the Clarke belt, i.e., equator, all the system has to know is the longitude to find one of these satellites. The satellites that move have a problem in that a fresh TLE is more accurate than a Clarke Belt longitude, but after 30 days the system falls back to the Clarke Belt longitude since it is more accurate after about this time span. Without fresh TLEs, acquisition takes more time and power, but by using the Clarke Belt Fallback, the system can still function. 
       FIG. 9  shows an isometric view of an embodiment of the invention with the antenna housing at a first azimuth and elevation setting. Antenna housing  601  in this figure is pointed at a satellite midway between the zenith and horizon.  FIG. 10  shows an isometric view of an embodiment of the invention with the antenna housing at a second azimuth and elevation setting wherein the satellite is directly above the apparatus at the zenith. One or more embodiments of the control program may search for a desired satellite by scanning along the azimuth as the elevation of the apparatus is generally fairly accurate and wherein the local magnetometer may give readings that are subject to magnetic sources that influence the magnetic field local to the apparatus. 
     Some embodiments of the invention allow for a quick disconnect for the antenna panel or antenna itself in antenna housing  601 . This allows for different satellites having entirely different frequency bands to be acquired with the system. This quick disconnect capability may be implemented by using double pins to hook the antenna or antenna housing  601  to positioning arm  801 . By releasing one antenna and attaching another antenna to the positioning arm, a different set of satellites in general may be acquired since some satellites use various frequencies. Linearly polarized satellites, generally commercial satellites may be acquired using a third rotational motor that allows for the antenna to rotate about the axis pointing at a satellite. For low power configurations, this allows for the user to be prompted to rotate the antenna until the strength of the signal is maximized. Low power embodiments therefore do not require a third axis motor. 
     The system may also employ a failure contingency tree that is utilized by the computer housed in positioner base  600 . For example if any portion of the system fails, the system may prompt the user via the display and allow the user to utilize the keypad  804  an attached keyboard to respond to system requests for positioning the system, etc. For example, if the GPS or tilt fails, the system allows the operator to compensate for the error, prompts for entry on keyboard, of the GPS position or to acknowledge that the base is level. In short, the system is configured to ask the user for help is components break. 
     The system may employ tilt compensation via the computer housed in positioner base  600  so that even if positioner base  600  is not level, the scan includes adjustment to elevation motor  802  so that the scan lines are parallel to the horizon as azimuth motor  800  turns so that the scan lines are not parallel to the incline on which the positioner base is situated. The three-axis accelerometer is used to provide tilt measurements in one or more embodiments of the invention. 
     The system also is capable of manually-assisted linear polarization setting. When aligning the third axis, that is aligning the antenna in antenna housing  601  about an axis orthogonal to the antenna plane for linear polarization, the operator may be prompted for rotating the antenna manually via display  805 . This allows for the elimination of a third motor although this motor is optional and may be employed in embodiments that are not power sensitive. The linear polarization axis is the least critical of all of the axial settings, so a little error is acceptable. In addition, the system without a linear polarization axis motor is lower weight. An embodiment using a third axis motor for linear polarization may be manually moved if the motor controller for the linear polarization axis is detected as not working. 
     The system may also be configured for bump detection and reacquisition via the computer housed in positioner base  600 . In this configuration, the system detects when the base or the antenna is bumped and reacquires the satellite. If the satellite signal is still high, then the system returns to a four corner boxing algorithm for example, otherwise the system goes back into half-scan mode where only half the elevation scan lines are checked while checking range of azimuth. With two three-axis accelerometers, one on positioner base  600  and one in antenna housing  601  or coupled with the antenna in antenna housing  601 , both may be used for bump detection. 
     One or more embodiments of the invention allow for a sensor built into changeable antenna or changeable antenna housing  601 . For example, a three-axis accelerometer may be built into the changeable antenna or changeable antenna housing  601 . In addition, the antenna/housing may be configured with memory in the changeable antenna that is used to notify the system what band the antenna is, so the system does not have to perform third axis rotation when not acquiring a satellite that uses linear polarization. For example, if acquiring a Ka band military satellite, the antenna panel is read and based on the fact that the Ka band antenna is being utilized, a whole set of the correct satellites in the correct band may be presented to the user via display  805  wherein some of all of the previous satellites receivable with the previous antenna are no longer presented. An additional tilt sensor may be utilized in the positioner base for crosschecking with antenna. Any redundant positioners may be placed throughout the system in order to provide redundancy and crosschecking capabilities. 
     The system allows for updating TLEs over the data link acquired. This allows for fresh TLEs to be used in locating and tracking satellites. The broadcasters may be configured to send down TLEs that the system uses to automatically update the local TLEs. After one month, the TLEs are considered old and if the system is powered up, then it may automatically update the TLEs if the acquired satellite is configured to broadcast them. The download of ephemeris data or TLEs may occur before or after two months, or at any time that is convenient as determined by computer house in positioner base  600  or by the operator of the system for example. 
     One ore more embodiments of the invention provide an Integrated Receiver Decoder (IRD) slot in positioner base  600 . An IRD allows for set-top box functionality and may provide channel guide type functionality. The user interface to the IRD may include an IRD lock function that allows for feedback to the user for tracking qualification. If the IRD is integrated into the positioner base, the IRD can provide input to the positioner&#39;s computer or a visual display to the user to qualify the satellite as being identified as the desired satellite. In one small area of the sky, there may be five 5 commercial satellites in the field of view, so the system may prompt the user to select Next Satellite to continue looking for the correct satellite via display  805  or the computer may automatically look to the next satellite. 
     After physically deploying the apparatus, keypad  804  as shown in  FIG. 8  may be utilized in order to operate the apparatus. Operations accessible from keypad  804  comprise acquire, stop, stow and test and may also include functions for receiving meta data regarding a channel for example a program information such as an electronic program guide for a channel or multiple channels. Data received by the apparatus may comprise weather data, data files, real-time video feeds or any other type of data. Data may also include TLEs so that the position information of the satellites is updated. Data may be received on command or programmed for receipt at a later time based on the program information metadata. Keypad  804  may also comprise buttons or functions that are accessed via buttons or other elements for recording a particular channel, for controlling a transmission, for updating ephemeris or TLE data or for password entry, for searching utilizing an azimuth scan or for searching for any satellite within an area to better locate a desired satellite. Any other control function that may be activated via keypad  804  may be executed by an onboard or external computer in order to control or receive or send data via the apparatus. 
     Asserting the acquire button and selecting a satellite initiates an orbital calculation that determines the location of a satellite for the time acquired via the GPS receiver. With the latitude and longitude acquired via GPS receiver and the direction North and tilt of the apparatus measured via tilt sensor and magnetometer all of the parameters required to point the antenna towards a desired satellite are achieved. Antenna housing  601  is rotated to the desired azimuth via azimuth motor  800 . The antenna in antenna housing  601  is elevated to the desired elevation via elevation motor  802 . The internal RSSI receiver may also be used in order to optimize the direction that the antenna is pointing to maximize the signal strength. 
     Asserting the stop button on keypad  804  stops whatever task the apparatus is currently performing. This button can be activated prior to activating the stow button. The stow button realigns positioner arm  801  with positioner base  600  and performs a system shutdown. The test button performs internal system tests and may be activated with or without antenna housing  601  deployed. These operations may be modified in certain embodiments or performed remotely by an attached PC or over a wireless network in other embodiments. 
       FIG. 11  shows a flowchart depicting the manufacture of one or more embodiments of the invention which starts at  1100  and comprises coupling an antenna with an elevation motor at  1101 . Optionally a cover or antenna housing may be coupled with the antenna (not shown in  FIG. 11  for ease of illustration). At least one positioning arm is then coupled with the elevation motor at  1102 . The positioning arm is further coupled with an azimuth motor at  1103 . The azimuth motor is then coupled with a positioner base at  1104 . The computer is coupled with the positioner base at  1104   a . The computer is configured for for searching, tracking, bump detection and other functionality when coupled to positioner base, or before or after coupling with positioner base. The positioner base may comprise a hole for allowing environmental elements to fall or leak through the potential well created by the indentation in the base that houses the positioner arm when the antenna housing is closed against the positioner base. The positioner base may optionally comprise a configuration that limits the amount of azimuth travel in order to allow for a smaller or more compact azimuth motor and to cut total weight from the system. The apparatus is delivered to an individual in a configuration that allows for a single person to carry the apparatus at  1105  wherein the manufacture is complete at  1106 . 
       FIG. 12  shows an embodiment of the position base configured with a hole to allow for environmental elements to escape and to also manage heat dissipation of the system. The thermally conductive elements do not require use of a hole and the hole is optional in one or more embodiments of the invention. Embodiments of the positioner base may make use of a hole in the base such that water and other environmental elements do not collect in the potential well in the positioner base where the antenna positioning elements are stored. In this embodiment, a thermal well may be employed wherein all of the heat-making components situated in the positioner base, i.e., the electronics utilized by the system, dissipate heat. Thermal well  2001  is shown in the middle of the positioner base. (In this embodiment thermal well  2001  also includes a hole in the middle of it to allow environmental elements to pass through it.  FIG. 13  shows a close-up of thermal well  2001  (the optional hole can be seen in the middle of thermal well  2001 ).  FIG. 14  shows a cross section of thermal well  2001 . When seen from the cross section it becomes clear that thermal well  2001  is actually male thermal conductor  2001  which couples with upper positioner base portion  2010  and prevents environmental contamination via O-rings  2003   a  and  2003   b . Female thermal conductor  2002  couples to positioner base bottom  2011 . Ring  2013  couples to ground plane  2014  of electronic circuit board  2012 . Ground plane  2013  is generally highly conductive both thermally and electrically. The hole in male thermal conductor  2001  is optional. Heat dissipates through the composite positioner base upper and bottom portions and allows for the internal components to remain as cool as possible. 
     Thus embodiments of the invention directed to a Portable Antenna Positioner Apparatus and Method have been exemplified to one of ordinary skill in the art. The claims, however, and the full scope of any equivalents are what define the metes and bounds of the invention.

Technology Category: 5