International Journal of Advanced Computer Science, Vol. 2, No. 9, Pp. 348-351, Sep., 2012.
Mathematical Model of Antenna Look Angle of
Geostationary Communications Satellite Using Two
Models of Control Stations
Ogundele Daniel Ayansola & Adediran A. Yinusa
Manuscript Abstract Antenna look angles of
Received: geostationary communications satellite
10,Oct., 2011 provide the information required to
Revised:
ensure that control station antenna is
1,Apr., 2012
directed towards the satellite; more
Accepted:
21,May,2012 specifically to ensure that the main lobe of
the antenna is aligned with the main lobe
Published:
15,Oct., 2012 of the satellite’s antenna, and to ensure
that the largest amount of energy is
Keywords captured from the satellite. To optimize
Azimuth,
bore sight, the performance of a satellite
Geosynchronous communications system, the directions of
satellite vehicle maximum gain of a satellite ground
(GSV), control station antenna (referred to as
satellite ground boresight) must be pointed directly at the
control station, satellite. To ensure that the earth station
Satellite look antenna is aligned, two angles must be
angles,
determined: the azimuth and the elevation
Sub-satellite
point, angle. Azimuth angle and elevation angle
Elevation are jointly referred to as the antenna look
angles.
This paper describes in detail, the
mathematical modelling of antenna look
angles of two models of satellite ground
control station. The mathematical models
developed are abstract models that use
mathematical equations to describe the
antenna look angles. The mathematical
representations presented takes into
consideration the redundancy of the
control stations. Two models are used in
order to pave way for redundancy so that
if one fails the other takes over.
Mathematical model of antenna look
angles is a mathematical representations
of the equations governing them.
 The location of a satellite is generally in terms of
1. Introduction
The orbital slot of a geostationary communications
satellite determines the look angles at which a ground
antenna needs to be positioned to see the satellite. Higher
 of an electromagnetic wave radiated from an earth station
This work was supported by the National Space Research and
Development Agency (NASRDA) organization.
Ogundele Daniel Ayansola (National Space Research and Development
Agency, NASRDA, Abuja, Nigeria, ayansolaodaniel@gmail.com) and
Adediran Yinusa A. (Electrical Department, University of Ilorin,
yinusade@yahoo.com).
look angles provide greater reliability by improving the
quality of the communication link. On the other hand, low
or shallow look angles usually face obstructions from trees,
nearby buildings, or other objects and are more subject to
interference, particularly in heavy rain. The antenna of a
satellite ground control station needs to be properly
positioned in order to be able to track geostationary satellite.
With geosynchronous satellites, the look angles of
control earth station antennas only need to be adjusted once
as the satellite will remain in a given position permanently,
except for occasional minor variations [Wayne, 2001]. To
communicate with a satellite, ground-based reflector (dish)
antennas are used. Reflector parabolic antennas can focus
the transmitted power from/to a narrow region of the sky.
This allows for establishment of communication links over
long distances, thus minimizing transmitted electromagnetic
power requirements. However, because the signal is
concentrated in a narrow region of the sky, the antenna must
be precisely pointed at the emitting/receiving source. The
problems in pointing an antenna can range from simple to
complex, depending on the motion of the satellite in its orbit
[Tomas and David, 1994].
Look angles are most commonly expressed as azimuth
(Az) and elevation (El), although other pairs exist. For
example right ascension and declination are standard for
radio astronomy antennas. Azimuth is measured eastward
(clockwise) from geographic north to the projection of the
satellite path on a (locally) horizontal plane at the earth
station. Elevation is measured upward from the local
horizontal plane at the earth station to the satellite path. In
all look angle determinations, the precise location of the
satellite is critical. A key location in many instances is the
subsatellite point [Timothy et al, 2003].
latitude and longitude similar to the way the location of a
point on earth is described. However, because a satellite is
orbiting many miles above the earth’s surface, it has no
latitude or longitude. Therefore, it location is identified by a
point on the surface of earth directly below the satellite.
This point is called the sub satellite point (SSP).
Angle of elevation (sometimes called elevation angle)
is the vertical angle formed between the direction of travels
antenna pointing directly toward a satellite and the
horizontal angle. The smaller the angle of elevation, the
greater the distance a propagated wave must pass through
earth’s atmosphere. As with any wave propagated through
Ogundele Daniel Ayansola et al.: Mathematical Modeling of Antenna Look Angle of Geostationary Communications Satellite Using Two Models of Control Stations. 349

earth’s atmosphere, it suffers absorption and may also be A. Model 1: For Satellite Ground Control Station X
severely contaminated by noise. Azimuth angle is the
From ∆ZXO: Using cosine formula, we have
horizontal angular distance from a reference direction,
either the solution or northern most point of the horizon. 𝑑1 2 = 𝑟𝑠 2 + 𝑟𝑒 2 − 2𝑟𝑒 𝑟𝑠 𝑐𝑜𝑠𝛾1 (Equ. 1)
1
2 2
Azimuth angle is defined as the horizontal pointing angle of 𝑑1 = [𝑟𝑠 + 𝑟𝑒 − 2𝑟𝑒 𝑟𝑠 𝑐𝑜𝑠𝛾1 ] 2 (Equ. 2)
1/2
an earth station antenna. For navigation proposes, azimuth 𝑟𝑒 2 𝑟𝑒
angle is usually measured in a clockwise direction in 𝑑1 = 𝑟𝑠 [1 + ( ) − 2 ( ) 𝑐𝑜𝑠𝛾1 ] (Equ. 3)
𝑟𝑠 𝑟𝑠
degrees from true north. Similarly, from ∆ZXO
In the geometry of the range and elevation angle 𝑟𝑒 2 = 𝑑1 2 + 𝑟𝑠 2 − 2𝑑1 𝑟𝑠 𝑐𝑜𝑠(90 − 𝛾1 − 𝐸𝑙1 ) (Equ. 4)
calculation shown in Figure 1, two models of satellite = 𝑑1 2 + 𝑟𝑠 2 − 2𝑑1 𝑟𝑠 sin(𝛾1 + 𝐸𝑙1 ) (Equ. 5)
ground control stations are presented for the determination 1
of antenna look angles. One satellite ground control station 𝑟𝑒 = [𝑑1 2 + 𝑟𝑠 2 − 2𝑑1 𝑟𝑠 sin(𝛾1 + 𝐸𝑙1 )]2 (Equ. 6)
1/2
can be used as main station while the other can be used as 𝑟𝑠 2 𝑟𝑠
= 𝑑1 [1 + ( ) − 2 ( ) sin(𝛾1 + 𝐸𝑙1 )] (Equ. 7)
the back-up or redundant system, or vice-versa. The 𝑑1 𝑑1
redundant system will take over the control of the satellite Also, from ∆ZXO
whenever the main control system failed or its link is being 2 1/2
𝑑 𝑑
obstructed by the rain attenuation. The models will aid 𝑟𝑠 = 𝑟𝑒 [1 + ( 1) + 2 ( 1) sin 𝐸𝑙1 ] (Equ. 8)
𝑟𝑒 𝑟𝑒
availability of the system at all time. The two ground Applying sine formula to ∆ZXO, we have
𝑟𝑒
control stations are linked by a geostationary satellite for (𝑟𝑠 −
𝑐𝑜𝑠𝛾1
)sin(90+𝛾1 )
continuous communications. Model 1 is for Satellite 𝑠𝑖𝑛𝐸𝑙1 = (Equ. 9)
𝑑1
Ground Control Station X while model 2 is for Satellite Therefore,
Ground Control Station Y. 𝑟𝑒
(𝑟𝑠 − ) sin(90 + 𝛾1 )
The antenna look angles of the satellite ground control 𝑐𝑜𝑠(𝛾1 )
𝐸𝑙1 = sin−1 [ ]
stations X and Y are modelled using Fig. 1. 𝑑1
(𝑟𝑠 𝑐𝑜𝑠(𝛾1 ) − 𝑟𝑒 )
= sin−1 [
] (Equ. 10)
Satellite
𝑑1
rs = distance from the center of the earth to the Figure 2 shows the position of a hypothetical
satellite

re = distancer from the center of the earth to the

Z geosynchronous satellite vehicle (GSV), subsatellite point
earth station
(SSP), and an earth station (ES) all relative to Earth’s
d = distance from the earth station to the satellite
geocenter. The SSP has 300E longitude and 00 latitude. The
β2 = 90 –
90 –

El2 – Ɣ2
Ɣ1

earth station has a location of 300W and 200N latitude. Ls

El1 -
β1 =

Ɣ1 and Ɣ2 are angles between re and rs

Ψ1 and Ψ2 are angles between re and d1 and re and

d2 rs -
re
rs and ls and are respectively the latitude and longitude of the
cos γ
Ɣ1

90 +

d1 D d2
subsatellite point, while Le and le are the latitude and
90 +

Ɣ2

longitude of the Earth station respectively.

θ1 =
θ2 =
90 – Ɣ1 90 – Ɣ2
El1 El2

V re
Subsatellite point
cos Ɣ1 N

re
Satellite Ground Control Satellite Ground Control
Station Ψ2 90
X Ψ1 Station
Y
80
Ɣ1 Ɣ2
re re
70

O 60
Center of earth

50
Equator

40

ES 30
W (le, Le)
geocenter E
A l -l
B
s e

20
Fig. 1 Geometry of the range and elevation angle calculation 50 SSP 50
40 10 40
30 30 (ls, Ls)
20 10 0 10 20
0

2. Mathematical Modeling of the -10

C
-20
Antenna Look Angle -30
GSV

-40
The mathematical representations of the antenna look
angles of geostationary communications satellite are
Greenwich
developed for two models of satellite ground control station “prime” meridian
(00 longitude)
designed. The look angles are separately developed for
each of the models.
Fig. 2. Position of a hypothetical geosynchronous satellite vehicle (GSV),
©
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350 International Journal of Advanced Computer Science, Vol. 2, No. 9, Pp. 348-351, Sep., 2012.

its respective subsatellite point (SSP), and an arbitrary selected earth

station (ES)
a) For 0 ≤ 𝛾1 ≤ 81.30 , we have (8.700 ≤ 𝜃1 ≤
900 ) i.e. (0.1591 ≤ 𝜃1 ≤ 1.571 𝑟𝑎𝑑).
From ΔABC in Fig. 2, using Napier’s rule for a b) For 278.700 ≤ 𝛾2 ≤ 3600 , we have (−2700 ≤
spherical right-angled triangle which states that the sine of 𝜃2 ≤ −188.70 ) i.e. (−4.7130 ≤ 𝜃2 ≤
an angle is equal to the product of tangents of the two −3.2939 𝑟𝑎𝑑).
adjacent angles; then
sin(𝐿𝑒 ) = tan 𝐴𝑡𝑎𝑛|𝐵| = tan 𝐴 tan|𝑙𝑠 − 𝑙𝑒 | (Equ. 11) Considering the values obtained in (a) and (b),
Therefore, additional assumptions to the ones in (1) and (2) of Timothy
tan|𝑙𝑠 −𝑙𝑒 | tan|𝑙𝑠 −𝑙𝑒 | et al (2003) for a satellite to be visible from a Satellite
tanA = )
, then 𝐴 = 𝑡𝑎𝑛−1 [ )
] (Equ. 12) Ground Control Station are that 𝜃1 and 𝜃2 must satisfy the
sin(Le sin(Le
Once angle A is determined, the azimuth angle 𝐴𝑧 can inequalities:
be found. Four situations must be considered, the results for 1) (8.700 ≤ 𝜃1 ≤ 900 ) i. e. (0.1591 ≤ 𝜃1 ≤
which can be summarized as follows: 1.571 𝑟𝑎𝑑) and
1. 𝐿𝑒 < 0; 𝐵 < 0: 𝐴𝑧 = 𝐴 2) (−2700 ≤ 𝜃2 ≤ −188.70 ) i.e. (−4.7130 ≤
2. 𝐿𝑒 < 0; 𝐵 > 0: 𝐴𝑧 = 3600 − 𝐴 𝜃2 ≤ −3.2939 𝑟𝑎𝑑).
3. 𝐿𝑒 > 0; 𝐵 < 0: 𝐴𝑧 = 1800 + 𝐴
4. 𝐿𝑒 > 0; 𝐵 > 0: 𝐴𝑧 = 1800 − 𝐴 Angles 𝛾1 and 𝛾2 are related to the earth station north
latitude Le and west longitude le and the subsatellite point at
B. Model 2: Satellite Ground Control Station Y north latitude Ls and west longitude ls by [Timothy et al,
From ∆ : Using cosine formula, we have 2003]
𝑑2 2 = 𝑟𝑠 2 + 𝑟𝑒 2 − 2𝑟𝑒 𝑟𝑠 𝑐𝑜𝑠𝛾2 (Equ. 13) cos(𝛾1 ) = cos(𝐿𝑒 ) cos(𝐿𝑠 ) cos(𝑙𝑠 − 𝑙𝑒 ) + sin(𝐿𝑒 ) sin(𝐿𝑠 )
2 2
1
(Equ. 22)
𝑑2 = [𝑟𝑠 + 𝑟𝑒 − 2𝑟𝑒 𝑟𝑠 𝑐𝑜𝑠𝛾2 ] 2 (Equ. 14)
1/2 cos(𝛾2 ) = cos(𝐿𝑒 ) cos(𝐿𝑠 ) cos(𝑙𝑠 − 𝑙𝑒 ) + sin(𝐿𝑒 ) sin(𝐿𝑠 )
𝑟𝑒 2 𝑟𝑒
= 𝑟𝑠 [1 + ( ) − 2 ( ) 𝑐𝑜𝑠𝛾2 ] (Equ. 15) (Equ. 23)
𝑟𝑠 𝑟𝑠
For most geostationary satellites, the subsatellite point
Similarly, from ∆ZYO is on the equator at longitude ls, while latitude Ls is 0.
1
𝑟𝑒 = [𝑑2 2 + 𝑟𝑠 2 − 2𝑑2 𝑟𝑠 sin(𝛾2 + 𝐸𝑙2 )]2 (Equ. 16) Equ. (22) and (23) therefore simplify to
1/2 cos(𝛾1 ) = cos(𝐿𝑒 ) cos(𝑙𝑠 − 𝑙𝑒 ) (Equ. 24)
𝑟𝑠 2 𝑟𝑠
= 𝑑2 [1 + ( ) − 2 ( ) sin(𝛾2 + 𝐸𝑙2 )] (Equ. 17) cos(𝛾2 ) = cos(𝐿𝑒 ) cos(𝑙𝑠 − 𝑙𝑒 ) (Equ. 25)
𝑑2 𝑑2
Also, from ∆ZYO
1/2
𝑑 2
𝑟𝑠 = 𝑟𝑒 [1 + ( 2) + 2 ( 2) sin 𝐸𝑙2 ]
𝑑
(Equ. 18)
3. Comparison of Results
𝑟𝑒 𝑟𝑒
Applying sine formula to ∆ZYO, we have The comparison is done using the real parameters of
𝑟𝑒 Abuja Satellite Ground Control Station and Nigerian
(𝑟𝑠 −𝑐𝑜𝑠𝛾 )sin(90+𝛾2 )
2
𝑠𝑖𝑛𝐸𝑙2 = (Equ. 19) Communications Satellite (Nigcomsat-1) and the results
𝑑2
Therefore, obtained using the mathematical models developed. The
𝑟𝑒 parameters of Abuja Satellite Ground Control Station and
(𝑟𝑠 − ) sin(90 + 𝛾2 ) Nigcomsat-1, given by Chai (2005) are as follows: satellite
−1 𝑐𝑜𝑠𝛾2
𝐸𝑙2 = sin [ ]
𝑑2 longitude (sub-satellite point), 𝑙𝑠 = 42.50 𝐸; satellite
0
(𝑟𝑠 𝑐𝑜𝑠(𝛾2 )−𝑟𝑒 )
latitude, 𝐿𝑠 = 0 ; satellite ground control station longitude,
= sin−1 [ ] (Equ. 20) 𝑙𝑒 = 7.38910 and satellite ground control station latitude
𝑑2
Similarly, from ΔABC in Figure 2, using Napier’s rule for a 𝐿𝑒 = 8.99160 𝑁; Azimuth angle, Az = 101.5810 ; Elevation
spherical right triangle angle, El = 48.6210 and Range, R = 37, 168 km.
tan|𝑙𝑠 −𝑙𝑒 | tan|𝑙𝑠 −𝑙𝑒 | Substituting the values above into
tanA = , and 𝐴 = 𝑡𝑎𝑛−1 [ ] (Equ. 21)
)
sin(Le ) sin(Le Eqns. (33), (3), (28), (30) and using radius of the Earth
Once angle A is determined, the azimuth angle 𝐴𝑧 can be 𝑟𝑒 = 6,378.14 km, and orbital radius 𝑟𝑠 = 42,164.17 km
found in the same manner as in Model 1. then,
For a satellite to be visible from a satellite ground A. tℎ𝑒 𝑐𝑒𝑛𝑡𝑟𝑎𝑙 𝑎𝑛𝑔𝑙𝑒 is
control station, 𝛾1 and 𝛾2 must satisfy the inequalites 𝛾1 = 𝑐𝑜𝑠 −1 (cos(𝐿𝑒 ) cos(𝑙𝑠 − 𝑙𝑒 )) = 36.10020
[Timothy et al, 2003]: = 0.6301𝑟𝑎𝑑
1) 0 ≤ 𝛾1 ≤ 81.30 𝑖. 𝑒. (0 ≤ 𝛾1 ≤ 1.4191 𝑟𝑎𝑑)
2) 278.700 ≤ 𝛾2 ≤ 3600 𝑖. 𝑒. (4.8649 ≤ 𝛾2 ≤ B. range is
1
6.2840 𝑟𝑎𝑑)
𝑟𝑒 2 𝑟𝑒 2
𝑑1 = 𝑟𝑠 [1 + ( ) − 2 ( ) 𝑐𝑜𝑠𝛾1 ] = 37,201.0110 𝑘𝑚
From Figure 1, using < 𝑋𝐷 = 𝜃1 = 900 − 𝛾1 and < 𝑟𝑠 𝑟𝑠
𝐷 = 𝜃2 = 900 − 𝛾2 , the following are obtained:
C. elevation angle is
(𝑟 𝑐𝑜𝑠𝛾1 −𝑟𝑒 )
𝐸𝑙1 = 𝑠𝑖𝑛−1 [ 𝑠 ] = 48.10200 = 0.8396 𝑟𝑎𝑑
𝑑1
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Ogundele Daniel Ayansola et al.: Mathematical Modeling of Antenna Look Angle of Geostationary Communications Satellite Using Two Models of Control Stations. 351

D. Azimuth angle is Beijing Institute of Telemetry, Tracking and Telecommand

tan|𝑙𝑠 −𝑙𝑒 | (BITTT), Beijing: 2005, pp. 1-48.
Az = 𝐴 = 𝑡𝑎𝑛−1 [ ] = 77.46760 = 1.3522 𝑟𝑎𝑑 [3] Evans B. G., Satellite Communication Systems, The
sin(Le )
𝐵 = |𝑙𝑠 − 𝑙𝑒 = | |42.50
− 7.38910 | = 35.11090 𝑖. 𝑒. 𝐵 > 0, Institution of Electrical Engineers, London: 1999, pp. 68-
260.
Since 𝐿𝑒 > 0 𝑎𝑛𝑑 𝐵 > 0 , then
[4] Evans B. G., Satellite Communication Systems, The
𝐴𝑧 = 1800 − 77.46760 = 102.53240 = 1.7898𝑟𝑎𝑑 Institution of Electrical Engineers, London: 1999, pp. 68-
The real values of Abuja Satellite Ground Control 260.
Station and Nigcomsat-1 given by Chai (2005) are [5] Timothy P., Charles B., & Jeremy A., Satellite
compared with the using Table 1. Communications, John Wiley & Sons, Inc., New York, 2003,
pp. 1-43.
TABLE 1
COMPARISON OF THE REAL VALUES AND VALUES OBTAINED [6] Wayne T., Electronic Communications Systems:
THROUGH MODELLING FONT Fundamentals Through Advanced, Fourth Edition: Pearson
Education, Inc., 2001; pp. 790-800.
S/N Parameters Real Values from Percentage [7] Ippolito L. J., Satellite Communications Systems
Values the model Difference Engineering, ITT Advanced Engineering & Sciences, USA,
1 Range (km) 37,168.00 37,201.011 -0.089 and The George Washington University, Washington, DC,
2 Elevation 48.6210 48.6210 1.067 USA, John Wiley and Sons, Ltd, pp. 30-36.
angle (0.8396 rad)
(degree)
3 Azimuth 101.5810 102.5320 -0.936 Ogundele Daniel Ayansola
angle (1.7898 rad) received B.TECH in Electronics
(degree) and Electrical Engineerig from
Ladoke Akintola University of
Technology, Nigeria in 2000.
As seen in the table, the values of range, elevation
Presently, he is undertaking his
angle and azimuth angle obtained through modelling are Masters Degree of
very close to the real values given by Chai (2005) indicating Communication Engineering at
that the results obtained using the mathematical models Federal University of
developed for the antenna look angles of geostationary Technology, Minna, Nigeria and it is near completion. He is one
communications satellite are in comformity with the real of the Nigerian Engineers sent to China Academy of Space
values provided by Chai (2005). Technology, China and Beijing Institute of Tracking and
The mathematical modelling presented in this paper is Telecommunication Technology (BITTT), Beijing, China for the
a good tool that can be used to determine look angles for Know How Technology Transfer on the design, control and
operation of Nigeria Communication Satellite (Nigcomsat-1), and
pointing satellite ground control station antenna to true
design, control and installation of Abuja and Kashi Satellite
geostationary satellites. The real values of Abuja Satellite Ground Control Station. His research interests include spacecraft
Ground Control Station and Nigeria Communication dynamics and control, Telemetry, Tracking and Command (TT &
Satellite (Nigcomsat-1) provided by Chai (2005) were C), design of Satellite Ground Control Station and orbital
compared with the values obtained through modelling. The mechanics and astrodynamics.
real values and those obtained through modelling are very
close, indicating that, the modelling can be used to
determine look angles of satellites moving in orbits. Yinusa A. Adediran attended
Budapest Technical University,
Hungary where he obtained an
Acknowledgment M.Sc degree in
Telecommunications in 1980. He
The authors acknowledge financial support from the also obtained an M.Sc degree in
National Space Research and Development Agency Industrial Engineering from the
University of Ibadan in 1987 and
(NASRDA), Nigeria and the assistance rendered by the
Ph.D in Industrial and Production
Federal University of Technology Minna, Nigeria in the Engineering in 1999 from Federal
course of writing this paper. University of Technology, Minna.
He has contributed to knowledge
through various articles in journals and proceedings. He is
References currently an Associate Professor of Electrical and Computer
Engineering at Federal University of Technology, Minna.
[1] S. Tomas, & W. David, “Determination of Look Angles to
Geostationary Communication Satellites” (1994), National
Geodetic Survey, Silver Spring, MD 20910, pp. 115-126.
[2] Chai J., Ground Control Station (GCS) System Design,

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