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This paper presents the design of an intermediate gain S-band antenna with electronic beam steering capabilities. The antenna allows simultaneous reception and transmission of S-band signals and can track the position of a geostationary satellite by electronically switching among a finite set of beams. The tracking system is based on combination of position and attitude sensors embedded in the antenna. The antenna has a low-profile design that allows an easy installation on vehicles without altering their aerodynamics. The main aspects of the antenna implementation are described together with the results obtained with the first prototypes of the antenna.