The airborne relay system is an important support for improving the stability of communication systems in complex electromagnetic environments. As a key component of the airborne relay system, the antenna needs to have characteristics such as high gain, dual circular polarization, wide beam coverage, and miniaturization. Based on the septum circular polarizer, this paper proposes a high-performance circularly polarized antenna structure suitable for airborne relay systems, named AcpAS. The structure consists of a coaxial feed port, a coaxial-to-waveguide transition, a septum circular polarizer, and a parabolic metal housing. Based on this structure, two antennas operating at 19.6 GHz to 21.6 GHz and 29.2 GHz to 31.2 GHz are designed in this paper. Simulated and measured results show that the two antennas have dual circular polarization characteristics, with beam coverage range of more than ±55° for gains higher than 0 dBi, and the radiation patterns exhibit good symmetry and wide-beam coverage characteristics.