PURPOSE: To attain the miniaturization and simplicity of the structure of an axis driving section by providing a zenith tracking means forecasting orbit to a satellite tracking antenna controller of three-axis mount structure.

CONSTITUTION: A tracking receiver 2 receives a radio wave output of an antenna 1 and gives an automatic tracking error signal to an elevating angle control circuit 3, an azimuth angle control circuit 5 and an orthogonal elevating angle control circuit. Each control circuit controls the attitude of the antenna 1 by using respectively mechanical systems 15∼17. In the automatic tracking mode, the elevating angle and the azimuth angle of the antenna are controlled via the mechanical systems 15, 17, the elevating angle and azimuth angle data at that time are detected by detectors 12, 14 and fed to a zenith tracking device 18. The zenith tracking device 18 forecasts an orbit of a satellite based on the data and when it is discriminated that the satellite approaches the vicinity of the zenith and the driving speed of the vertical axis exceeds a prescribed value, the mode is changed over into the zenith mode and the preceding drive by using the three axes where the vertical axis is driven in a constant speed is conducted.