An antenna system may include a base having an opening therein, and a swing arm having a concave elongate shape and opposing ends pivotally connected to the base to permit a swinging motion of the swing arm within the opening in the base. A swing arm positioner may be connected between the swing arm and the base. The antenna system may also include an antenna carriage movable along the swing arm. An antenna carriage positioner may be connected between the antenna carriage and the swing arm. A positioning controller may be connected to the swing arm positioner and the antenna carriage positioner, and an antenna may be connected to the antenna carriage.