The present application includes systems and methods for determining pointing error of a satellite antenna. In one aspect a method for determining pointing error of a satellite antenna includes receiving, at a receiving station, a pointing error signal formed by the antenna and transmitted from a satellite, wherein the pointing error signal includes a first beacon (reference) signal and a modulated second beacon (error) signal. The receiving station may demodulate the received pointing error signal to recover the second beacon signal with respect to the first beacon signal, and based at least in part on the demodulated beacon signal, the receiving station may determine the pointing error of the satellite antenna.