Abstract: The present invention provides an improved compact antenna system with three degrees of freedom positioned on a moving platform to maintain orientation of the antenna for continuous tracking of a satellite. The system includes a cross-elevation sub-frame having two pivotal joints at each end to support an antenna reflector. The system also includes an azimuth sub-frame connected to the cross-elevation sub-frame. The system further includes a dome enclosing the reflector, cross-elevation sub-frame and the azimuth sub-frame The cross-elevation sub-frame is oriented at an angle substantially about a midpoint between the elevation angle ranges of axis of rotation for the reflector such that the reflector rotates at a point substantially to a center of the dome.