A low-divergence beam is an essential prerequisite for a high-efficiency long-distance optical link, particularly for satellite-based quantum communication. A point-ahead angle, caused by satellite motion, is always several times larger than the divergence angle of the signal beam. We design a novel transmitting antenna with a point-ahead function, and provide an easy-to-perform calibration method with an accuracy better than 0.2 µrad. Subsequently, our antenna establishes an uplink to the quantum satellite, Micius, with a link loss of 41-52 dB over a distance of 500-1,400 km. The results clearly confirm the validity of our model, and provide the ability to conduct quantum communications. Our approach can be adopted in various free space optical communication systems between moving platforms.