Satellite search method and device, electronic equipment, storage medium and program product

Abstract

The invention provides a satellite search method and device, electronic equipment, a storage medium and a program product, and relates to the technical field of communication. According to the method, under the condition that the terminal has no satellite ephemeris information or the ephemeris fails, the target search airspace of the satellite is accurately determined by acquiring the terminal position information and the satellite constellation configuration information, and efficient search is performed in the airspace by using the directional antenna, so that the satellite search time and computing resource consumption are remarkably reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a satellite search method and device, electronic equipment, storage medium and program product. BACKGROUND

[0002] Satellite communication system occupies an important position in global communication network due to low communication delay, large communication capacity and other advantages. However, its unique orbit characteristics bring challenges to satellite search of ground terminal. Traditionally, terminal relies on ephemeris information to determine satellite position and establish communication link, but in the case that terminal has no ephemeris, terminal usually adopts full airspace scanning for satellite search, which is time-consuming and inefficient. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a satellite search method, device, electronic equipment, storage medium and program product to improve the problem that the terminal in the prior art adopts full airspace search mode in the case of no ephemeris, which is time-consuming and inefficient.

[0004] In a first aspect, the embodiments of the present application provide a satellite search method, which comprises: In the case that the terminal detects that there is no ephemeris information of satellite or ephemeris information is invalid, acquiring position information of the terminal and constellation configuration information of satellite; According to the position information and the constellation configuration information, determining a target search airspace of satellite; Using a directional antenna to perform satellite search in the target search airspace.

[0005] In the above implementation process, in the case that the terminal has no ephemeris information of satellite or ephemeris is invalid, the target search airspace of satellite is accurately determined by acquiring position information of the terminal and constellation configuration information of satellite, and efficient search is performed in the airspace by using a directional antenna, which significantly reduces search time and consumption of computing resources.

[0006] Optionally, the position information comprises latitude, and the constellation configuration information comprises orbit inclination, and the determining of the target search airspace of satellite according to the position information and the constellation configuration information comprises: According to the latitude and the orbit inclination, calculating an included angle between a flight direction of satellite and a longitude line or latitude line where the terminal is located; According to the included angle, determining an azimuth angle of the target search airspace of satellite.

[0007] In the above implementation process, by using latitude of the terminal and orbit inclination of satellite, an included angle between a flight direction of satellite and a longitude line or latitude line where the terminal is located is calculated, and then an azimuth angle of the target search airspace of satellite is accurately determined.

[0008] Optionally, determining a target search airspace for a satellite based on the position information and the constellation configuration information includes: Obtaining a corresponding satellite elevation angle range according to the latitude and the orbital inclination; The elevation angle range of the satellite's target search airspace is determined according to the satellite elevation angle range.

[0009] In the above implementation process, by combining the terminal's latitude and the satellite orbit inclination, the satellite's elevation angle range can be accurately obtained, and then the elevation angle range of the satellite target search airspace can be determined.

[0010] Optionally, acquiring a corresponding satellite elevation angle range according to the latitude and the orbital inclination includes: Obtaining a corresponding satellite elevation angle range from a pre-stored simulation result according to the latitude and the orbital inclination, wherein the simulation result is obtained by simulating the satellite elevation angle range for different latitudes and constellation configuration information; Alternatively, simulation is performed according to the latitude and orbital inclination to obtain a simulated satellite elevation angle range; Alternatively, the satellite elevation angle range is obtained from a pre-constructed correspondence relationship based on the latitude and the orbital inclination, wherein the correspondence relationship is constructed for different latitudes, orbital inclinations and satellite elevation angle ranges.

[0011] In the above implementation, the satellite elevation angle range is obtained through a variety of flexible methods, including obtaining it from pre-stored simulation results, real-time simulation calculations, and obtaining it from pre-established correspondences. This not only improves the efficiency and accuracy of obtaining the satellite elevation angle range, but also enhances the adaptability and flexibility of the system.

[0012] Optionally, when the latitude is 10° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 20°-90°; When the latitude is 30° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 30°-90°; When the latitude is 50° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 40°-90°; When the latitude is 70° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 10°-20°.

[0013] In the above implementation process, by accurately giving the satellite elevation angle range under different latitudes and fixed orbit inclination (50°), a clear search guide is provided for the terminal when there is no ephemeris information or ephemeris failure. This predefined elevation angle range can significantly reduce the search space range, reduce unnecessary scanning, and greatly improve the search efficiency, reduce the terminal energy consumption and computing resource consumption.

[0014] Optionally, the satellite search in the search space by the directional antenna comprises: mapping the target search space into a plurality of target wave positions, each target wave position corresponding to a beam pointing direction of the terminal; searching for a satellite by pointing the receiving beam of the directional antenna to each target wave position.

[0015] In the above implementation process, by mapping the target search space into a plurality of target wave positions, and searching for a satellite by pointing the receiving beam of the directional antenna to each target wave position, efficient and accurate search for a satellite is realized.

[0016] Optionally, the satellite search in the search space by the directional antenna comprises: mapping the target search space into a plurality of target wave positions, each target wave position corresponding to a beam pointing direction of the terminal; searching for a satellite by pointing the receiving beam of the directional antenna to each target wave position.

[0017] In the above implementation process, by mapping the target search space into a plurality of target wave positions, and searching for a satellite by pointing the receiving beam of the directional antenna to each target wave position, efficient and accurate search for a satellite is realized.

[0018] Optionally, the mapping of the target search space into a plurality of target wave positions comprises: dividing the search full space corresponding to the terminal into a plurality of beam pointing directions according to the beam width of the directional antenna of the terminal, to form a grid search full space; projecting the grid search full space onto a UV plane to form a plurality of wave positions, the UV plane being a two-dimensional coordinate plane constructed with azimuth angle and elevation angle; selecting a plurality of target wave positions corresponding to the target search space from the plurality of wave positions according to the azimuth angle and elevation angle range of the target search space.

[0019] In the implementation process, the target search space is mapped to multiple target wave positions, so as to realize fine management of satellite search. First, according to the beam width of the terminal directional antenna, the search full space is divided into multiple beam pointing directions, forming a grid search area, ensuring the comprehensiveness and systematicness of the search. Then, the grid search full space is projected onto the UV plane, and each beam pointing direction is intuitively represented by using a two-dimensional coordinate plane, simplifying the beam management. Finally, according to the azimuth and elevation range of the target search space, the corresponding target wave position is selected from multiple wave positions, further reducing the search range and improving the satellite search efficiency.

[0020] In a second aspect, the embodiments of the present application provide a satellite search device, and the device comprises: An information acquisition module is configured to acquire position information of the terminal and constellation configuration information of satellites when the terminal detects that there is no ephemeris information of the satellites or the ephemeris information is invalid. A search space determination module is configured to determine a target search space of the satellites according to the position information and the constellation configuration information. A satellite search module is configured to perform satellite search in the target search space by using a directional antenna.

[0021] In a third aspect, the embodiments of the present application provide an electronic device, which comprises a processor and a memory, and the memory stores computer readable instructions. When the computer readable instructions are executed by the processor, the steps in the method provided in the first aspect are executed.

[0022] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the method provided in the first aspect are executed.

[0023] In a fifth aspect, the embodiments of the present application provide a computer program product, which comprises computer program instructions. When the computer program instructions are read and executed by a processor, the steps in the method provided in the first aspect are executed.

[0024] Other features and advantages of the present application will be described in the following description, and some will become apparent from the description, or will be learned from practice of the embodiments of the present application. The purpose and other advantages of the present application can be achieved and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0026] Figure 1 A schematic diagram of a multi-beam mobile satellite communication system provided by the embodiments of the present application; Figure 2 A flow chart of a satellite search method provided by the embodiments of the present application; Figure 3 A schematic diagram of the geometric relationship between the flight direction of a satellite and the latitude and longitude provided by the embodiments of the present application; Figure 4 A simulation result schematic diagram of the satellite elevation angle range when the latitude is 10° and the orbit inclination is 50° provided by the embodiments of the present application; Figure 5 A simulation result schematic diagram of the satellite elevation angle range when the latitude is 30° and the orbit inclination is 50° provided by the embodiments of the present application; Figure 6 A simulation result schematic diagram of the satellite elevation angle range when the latitude is 50° and the orbit inclination is 50° provided by the embodiments of the present application; Figure 7 A simulation result schematic diagram of the satellite elevation angle range when the latitude is 70° and the orbit inclination is 50° provided by the embodiments of the present application; Figure 8 A schematic diagram of the beam pointing coordinate system of a terminal provided by the embodiments of the present application; Figure 9 A schematic diagram of a UV coordinate system provided by the embodiments of the present application; Figure 10 A schematic diagram of the search of the full space domain of a terminal provided by the embodiments of the present application; Figure 11 A schematic diagram of the wave position distribution on the UV plane corresponding to the search of the full space domain provided by the embodiments of the present application; Figure 12 A schematic diagram of a low-orbit satellite constellation provided by the embodiments of the present application; Figure 13 A schematic diagram of the wave position distribution on the UV plane corresponding to the target search space domain of the ascending orbit satellite provided by the embodiments of the present application; Figure 14 A schematic diagram of the wave position distribution on the UV plane corresponding to the target search space domain when the latitude of the terminal is equal to the orbit inclination provided by the embodiments of the present application; Figure 15 A schematic diagram of the wave position distribution of the target search space on the UV plane for ascending and descending orbit stars provided in an embodiment of the present application; Figure 16 A schematic diagram of the wave position distribution of the target search space on the UV plane when the latitude of the terminal is greater than the satellite orbit inclination is provided in an embodiment of the present application; Figure 17 A schematic diagram of the wave position distribution of the target search space on the UV plane when the latitude is 70° and the orbital inclination is 50° is provided in an embodiment of the present application; Figure 18 A structural block diagram of a satellite search device provided in an embodiment of the present application; Figure 19 A schematic structural diagram of an electronic device for executing a satellite search method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application.

[0028] It should be noted that the terms "system" and "network" in the embodiments of the present invention are used interchangeably. "Multiple" refers to two or more. In view of this, in the embodiments of the present invention, "multiple" can also be understood as "at least two." "And / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the related objects are in an "or" relationship.

[0029] It should also be noted that all actions of obtaining signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0030] The technical solution of the present application can be applied to non-terrestrial network (NTN) systems such as satellite communication systems and high altitude platform station (HAPS) communications, for example, integrated communication and navigation (ICaN) systems, global navigation satellite systems (GNSS), etc.

[0031] Satellite communication systems can be integrated with traditional mobile communication systems. For example, the mobile communication systems may include fourth-generation (4G) communication systems (e.g., long-term evolution (LTE) systems), worldwide interoperability for microwave access (WiMAX) communication systems, fifth-generation (5G) communication systems (e.g., new radio (NR) systems), and future mobile communication systems.

[0032] See also Figure 1 , Figure 1 Schematic diagram of a multi-beam mobile satellite communication system applicable to an embodiment of the present application. Figure 1 , the satellite provides communication services to the terminal device through multiple beams. The satellite in this scenario is a non-geostationary earth orbit (NGEO) satellite, and the satellite is connected to the core network equipment. The satellite uses multiple beams to cover the service area, and different beams can communicate through one or more of time division, frequency division and space division. The satellite provides communication and navigation services to the terminal device by broadcasting communication signals and navigation signals. The satellite mentioned in the embodiments of the present application may also be a satellite base station, or a network-side device carried on a satellite.

[0033] For example, satellite communication systems can be divided into the following three types based on the satellite's orbital altitude: geostationary earth orbit (GEO) satellite communication system, also known as synchronous orbit satellite communication system; medium earth orbit (MEO) satellite communication system; and low earth orbit (LEO) satellite communication system. Among them, the GEO satellite orbit altitude is 35,786 km. Its main advantage is that it can remain stationary relative to the ground and provide a large coverage area. However, GEO satellite communication also has obvious disadvantages: GEO satellite orbits are far away from the earth, and free space propagation losses are large, resulting in a tight communication link budget. In addition, in order to increase the transmission or reception gain, the satellite needs to be equipped with a larger diameter antenna; GEO communication transmission delay is large, which can reach a round-trip delay of about 500ms, which cannot meet the needs of low-latency services; GEO orbital resources are also relatively scarce, the launch cost is high, and it cannot provide coverage for the earth's polar regions. MEO satellites orbit at altitudes between 2,000 and 35,786 km. Their advantage is that they can achieve global coverage with a relatively small number of satellites. However, their orbits are higher than LEO, and communication transmission latency is still higher than that of LEO satellites. LEO satellites, on the other hand, orbit at altitudes between 300 and 2,000 km. LEO satellites are lower than MEO and GEO orbits, offering advantages such as lower data transmission latency, lower transmission loss, and lower launch costs. Of course, in some specific application scenarios, LEO satellites can be replaced with GEO or MEO satellites, or even a combination of multiple types of satellites.

[0034] The satellite system used in the embodiments of the present application may be a non-geostationary orbit satellite system, namely, MEO or LEO.

[0035] The terminals mentioned in the embodiments of the present application include various handheld devices, vehicle-mounted devices, wearable devices, computing devices or other processing devices connected to a wireless modem with wireless communication functions, and may specifically refer to user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device. The terminal may also be a satellite phone, a cellular phone, a smart phone, a wireless data card, a wireless modem, a machine type communication device, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device or a wearable device, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a terminal device in a 5G network or a future communication network, etc.

[0036] To facilitate understanding of the embodiments of the present application, a brief explanation of the terms involved in the present application is first given.

[0037] 1. Satellite beam.

[0038] A satellite's beam is an electromagnetic wave with a specific directionality and energy distribution that it transmits toward a target on the ground or in space. It is generated by the satellite's transmitting antenna system, which converts electrical signals generated within the satellite into electromagnetic waves that are radiated outward. The antenna's directivity pattern controls the shape and direction of the beam.

[0039] 2. The terminal's beam.

[0040] The beam transmitted by a terminal is an electromagnetic beam with specific directionality and energy distribution, emitted by a ground terminal toward a target. It is also generated by the terminal's transmitting antenna, and the antenna's radiation pattern determines the beam's directionality and coverage.

[0041] For example, in a satellite communication system, a ground terminal transmits a beam to a satellite through a directional antenna. This beam points to the satellite to ensure that the signal can be received and forwarded by the satellite.

[0042] 3. Wave position.

[0043] Beams can be divided into transmit beams and receive beams. A beam position can be understood as the location covered by a beam. When a satellite sends a beam to the ground, the satellite's coverage area on the ground can be divided into multiple beam positions. When transmitting signals, the satellite can adjust the beam position to point to the ground to transmit signals in a direction. In this case, the beam position refers to the location where the satellite's transmitted beam is pointing.

[0044] The wave position in the embodiment of the present application refers to the position covered by the terminal receiving beam. The wave position is divided according to the star-searching airspace. In this scheme, the star-searching area can also be divided into multiple wave positions. Then, when searching for stars, the terminal can adjust the wave position of the beam pointing to the airspace to directionally receive the signal, thereby achieving the purpose of star searching.

[0045] Please refer to Figure 2 , Figure 2 A flowchart of a satellite search method provided in an embodiment of the present application, the method comprising the following steps: Step S110: When the terminal detects that there is no satellite ephemeris information or the ephemeris information is invalid, the terminal's position information and the satellite constellation configuration information are acquired.

[0046] Under normal circumstances, after connecting to a satellite network, a terminal can store the acquired ephemeris information for all satellites in the network. The next time it needs to reconnect to the satellite network, it can directly use the historically stored ephemeris information. However, in some special cases, such as when the terminal is a new device or the terminal is restored to factory settings, the terminal has never connected to a satellite network and has no stored ephemeris information. In this case, the terminal needs to obtain ephemeris information again to connect to the satellite network.

[0047] When a terminal accesses a satellite network, it can first detect whether it has stored ephemeris information. If not, it means that the terminal does not have the satellite's ephemeris information. Alternatively, if ephemeris information is detected but invalid, that is, the ephemeris information is unavailable, it needs to be re-acquired. The following methods can be used to detect whether the ephemeris information is valid: (1) Almanac information usually contains the timestamp of its generation. The terminal can obtain the current time and compare it with the almanac timestamp. If the time difference between the two exceeds the validity period of the almanac (such as a few hours to a few days), the almanac information is considered invalid.

[0048] (2) The ephemeris information itself can have check information, and the terminal can use the check code or checksum to verify the integrity and accuracy of the ephemeris information. If the check fails, it means that the ephemeris information may have errors or be invalid in the transmission or storage process.

[0049] Therefore, in the case that the terminal does not have ephemeris information or the ephemeris information is invalid, the terminal needs to search for satellites again to obtain ephemeris information for access. In this scheme, in order to improve the efficiency of satellite search of the terminal, the position information of the terminal and the constellation configuration information of the satellite can be obtained.

[0050] The position information of the terminal can include the longitude and latitude where the terminal is located, or the position information can only include the latitude. The position information of the terminal can be obtained by a positioning module built-in the terminal, or can be obtained by other ways such as sextant, sensor positioning, user input, network connection positioning, etc.

[0051] The constellation configuration information can refer to the basic information of the satellite orbit, such as including the orbit inclination, the number of orbits, the number of satellites, etc. The constellation configuration information can be obtained by the public data provided by the satellite operator or the pre-stored constellation parameters of the terminal. Or the terminal can periodically obtain the update information of the satellite constellation from the network server or the ground station, such as the satellite orbit adjustment, the addition or retirement of satellites, etc., to ensure the accuracy and timeliness of the constellation configuration information. The orbit inclination refers to the angle between the satellite orbit plane and the earth equatorial plane, which is in the range of 0° to 180°, and it determines the direction and coverage range of the satellite orbit.

[0052] Step S120: determining the target search airspace of the satellite according to the position information and the constellation configuration information.

[0053] The target search airspace of the satellite can refer to the airspace where the satellite is most likely to appear at the current location of the terminal. When the terminal searches for satellites, it can first search for satellites in the target search airspace, so as to achieve the purpose of fast satellite search.

[0054] In some embodiments, the orbit inclination in the constellation configuration information determines the direction of the satellite orbit plane, which refers to the angle between the satellite orbit plane and the earth equatorial plane, and its range is 0°-180°. The position information of the terminal determines the direction where the satellite is likely to pass, so the target search airspace where the satellite is likely to pass can be determined by combining the position information and the orbit inclination. For example, for low-orbit satellites, the larger the orbit inclination, the higher the possibility of the satellite appearing in high-latitude areas.

[0055] In some implementations, orbital inclination and the number of satellites determine the constellation's coverage and revisit period. By analyzing these parameters, the probability of a satellite appearing at a specific time and location can be predicted, thereby determining the target search airspace. Based on this, a trained neural network model can be used for prediction. For example, terminal location information and constellation configuration information can be input into the trained neural network model, which then predicts the target search airspace for the satellites. Examples of neural network models include random forests, long short-term memory networks, and generative adversarial networks.

[0056] Step S130: Use a directional antenna to search for satellites in the target search space.

[0057] After determining the target search airspace, the terminal antenna can be adjusted so that the terminal antenna points to the direction of the target search airspace. Electric or electronic scanning can be used to scan the antenna beam within the range of the target search airspace. During the scanning process, the terminal detects the satellite downlink pilot signal or other characteristic information. If a satellite signal is detected, it can lock onto the satellite signal and start the tracking algorithm to accurately track the satellite position, establish a communication link between the satellite and the terminal, and achieve terminal access. The satellite's ephemeris information can then be obtained. The ephemeris information can provide the terminal with reference data on the satellite's location the next time it needs to re-access the satellite network. For example, the terminal can calculate the approximate position of the satellite based on the acquired ephemeris information the next time it re-accesses the satellite network, allowing the terminal to quickly locate the satellite position, narrow the search range, and reduce the search time, thereby achieving rapid access.

[0058] In the above implementation process, when there is no ephemeris or the ephemeris is invalid, the orbital inclination and terminal position information can be used to narrow the search range to areas where satellites are likely to appear, thereby reducing the search time and calculation amount.

[0059] On the basis of the above embodiments, in the method of determining the target search airspace, it can also be calculated based on the position information and orbital inclination. In this implementation method, the position information may include latitude, and the constellation configuration information may include orbital inclination. The angle between the satellite flight direction and the longitude or latitude line where the terminal is located can be calculated based on the latitude and orbital inclination, and then the azimuth of the satellite's target search airspace can be determined based on the angle.

[0060] Method 1: Calculate the angle between the satellite's flight direction and the terminal's longitude based on the latitude and orbital inclination.

[0061] Among them, the angle B' between the satellite flight direction and the longitude line of the terminal can be calculated based on the spherical geometric relationship, such as Figure 3 As shown, Figure 3This is a schematic diagram of the geometric relationship between the satellite flight direction and longitude and latitude. If the terminal latitude is , the orbital inclination of the satellite constellation is i. Assuming that the satellite sub-satellite point passes through the terminal, the angle B' between the satellite flight direction and the longitude line of the point can be calculated by spherical trigonometry formula, where A=i. The calculation formula is as follows: ;

[0062] B'=B.

[0063] Method 2: Calculate the angle between the satellite's flight direction and the terminal's latitude based on the latitude and orbital inclination.

[0064] The calculation formula is: B1=90°-B'.

[0065] Substitute the obtained terminal latitude and satellite orbit inclination into the above formula to calculate the value of angle B or B1. For example, if the orbit inclination is 50° and the latitude is =30°, the calculated angle B is approximately 48°.

[0066] After obtaining the included angle, the azimuth of the target search area can be determined. The azimuth angle refers to the angle between the line connecting the satellite and the ground terminal in the horizontal plane at the terminal relative to the proportional direction. For example, for an ascending satellite (a satellite traveling from south to north), the azimuth angle is angle B'. For a descending satellite (a satellite traveling from north to south), the azimuth angle is approximately 180° + B'.

[0067] If the terminal's latitude is equal to the orbital inclination, the satellite may be approaching from due east or due west, with an azimuth of 90° or 270°. If the terminal's latitude is greater than the orbital inclination, the satellite may appear only at lower elevation angles in the south (above 50° north latitude), with the azimuth range primarily concentrated in the south. Alternatively, the satellite may appear only in the north (above 50° south latitude).

[0068] In the above implementation process, by using the terminal's latitude and the satellite orbit inclination, the angle between the satellite's flight direction and the terminal's longitude or latitude line is calculated, and then the azimuth of the satellite target search airspace is accurately determined.

[0069] On the basis of the above embodiment, after determining the azimuth of the target search airspace, the elevation angle range of the target search airspace can also be determined. In this implementation method, the location information includes latitude. The corresponding satellite elevation angle range can be obtained according to the latitude and orbital inclination, and the elevation angle range of the satellite's target search airspace can be determined according to the satellite elevation angle range.

[0070] The elevation angle refers to the angle between the direction of the satellite relative to the ground and the ground plane when looking upward from the ground terminal. The elevation angle usually ranges from 0° to 90°.

[0071] In some implementations, a neural network model can be used to predict the satellite elevation angle range based on latitude and orbital inclination, and then the satellite elevation angle range can be determined as the elevation angle range of the target search airspace.

[0072] In some implementations, the satellite elevation angle range can also be obtained through simulation. For example, the corresponding satellite elevation angle range can be obtained from pre-stored simulation results based on latitude and orbital inclination. The simulation results are obtained by simulating the satellite elevation angle range for different latitudes and constellation configurations. Alternatively, simulation can be performed based on latitude and orbital inclination to obtain the simulated satellite elevation angle range.

[0073] When the number of satellite orbits and satellites per orbit in a constellation is known, simulation tools can be used to simulate that satellites will always be within a certain elevation angle range over a certain period of time. By inputting different latitudes and constellation configuration information (i.e., orbital inclination, number of orbits, and number of satellites), the simulation tool can output the changes in satellite elevation angles at specific latitudes and constellation configurations.

[0074] Of course, it is possible to simulate a large amount of data in advance and store the simulation results. When determining the current satellite elevation angle range, you can directly obtain it from the simulation results. You can also simulate in real time, that is, input the current terminal latitude and constellation configuration information into the simulation tool and simulate it, and the satellite elevation angle range can also be obtained.

[0075] In some implementations, the simulation results can also be stored through corresponding relationships, so that the satellite elevation angle range can be obtained from a pre-constructed corresponding relationship based on the latitude and orbital inclination, where the corresponding relationship is constructed for different latitudes, orbital inclinations and satellite elevation angle ranges.

[0076] The corresponding relationship can be constructed based on the above-mentioned simulation results. For example, a corresponding relationship can be constructed for each simulation result, so that the satellite elevation angle range can be obtained by directly searching the corresponding relationship.

[0077] Satellite elevation angle ranges are obtained through a variety of flexible methods, including from pre-stored simulation results, real-time simulation calculations, and pre-built correspondences. This not only improves the efficiency and accuracy of obtaining satellite elevation angle ranges, but also enhances the adaptability and flexibility of the system.

[0078] like Figure 4-Figure 7 As shown, it is a schematic diagram of several simulation results. Figure 4 The following is a schematic diagram of the simulation results of the satellite elevation angle range when the latitude is 10° and the orbital inclination is 50°. Figure 5 Fig. 2 is a simulation result diagram of a satellite elevation angle range when the latitude is 30° and the orbit inclination is 50°, Figure 6 Fig. 3 is a simulation result diagram of a satellite elevation angle range when the latitude is 50° and the orbit inclination is 50°, Figure 7 Fig. 4 is a simulation result diagram of a satellite elevation angle range when the latitude is 70° and the orbit inclination is 50°. It can be understood that similar simulation results can be obtained for different latitudes and orbit inclinations, and simulation results of some latitudes and orbit inclinations can also be obtained by interpolation to improve simulation efficiency.

[0079] Based on the simulation results shown in the diagrams, when the latitude is 10° and the orbit inclination is 50°, the corresponding satellite elevation angle range is 20°-90°; when the latitude is 30° and the orbit inclination is 50°, the corresponding satellite elevation angle range is 30°-90°; and when the latitude is 50° and the orbit inclination is 50°, the corresponding satellite elevation angle range is 40°-90°.

[0080] It can be seen that when the latitude is 50°, the satellite elevation angle is above 40°; when the latitude is 30°, the satellite elevation angle is above 30°; and when the latitude is 10°, the satellite elevation angle is above 30° most of the time.

[0081] By accurately giving the satellite elevation angle range under different latitudes and a fixed orbit inclination (50°), a clear search guide is provided for the terminal when there is no ephemeris information or the ephemeris is invalid. This predefined elevation angle range can significantly reduce the search space range, reduce unnecessary scanning, and thus greatly improve the search efficiency and reduce the terminal energy consumption and computing resource consumption.

[0082] Therefore, on a certain latitude, the azimuth and elevation angle range of the satellite can be determined, and according to this information, the search space range can be reduced, that is, the search process can be accelerated.

[0083] In the above implementation process, by combining the latitude of the terminal and the orbit inclination of the satellite, the satellite elevation angle range can be accurately obtained, and the elevation angle range of the satellite target search space can be determined.

[0084] On the basis of the above embodiment, in order to facilitate adjustment of the beam pointing direction of the terminal during the satellite search, when the satellite is searched, the target search space can be mapped into a plurality of target wave positions, each target wave position corresponds to a beam pointing direction of the terminal, and the receiving beam of the directional antenna points to each target wave position to search for the satellite.

[0085] Specifically, the target search space can be divided into multiple beam directions, that is, multiple target beam positions. The size of the beam position is related to the beam width of the terminal. In this way, the target search space can be mapped into a gridded search area. When specifically divided, for example, the azimuth range can be divided into multiple intervals, each interval corresponding to a specific azimuth angle, and the elevation range can be divided into multiple intervals, each interval corresponding to a specific elevation angle. The grid area formed by the division can correspond to the beam position, and the size of the grid area is related to the beam width of the terminal. For example, if the beam width of the terminal's antenna is 10°, the interval between each beam position in the azimuth and elevation directions can be set to 10°.

[0086] During scanning, the directional antenna can be controlled to sequentially point to each target position within the azimuth range corresponding to the target search area. Motorized or electronic scanning can be used to sweep the antenna beam within the set azimuth and elevation ranges. During the scanning process, each target position can be sequentially pointed to in a specific order to ensure coverage of the entire target search airspace.

[0087] When scanning in this way, it is equivalent to searching for satellites in the target search airspace by using the receiving beam to traverse the entire range.

[0088] During the scanning process, the terminal's receiving beam stays at each beam position for a specific time (e.g., 200 milliseconds), transmitting a wireless signal of a specific frequency and power while listening for a return signal from a satellite. If a satellite signal is received, the azimuth and elevation of that beam position are recorded as the approximate satellite position. The antenna is then adjusted to accurately track the satellite position and improve signal quality.

[0089] When detecting satellite signals, when a directional antenna is pointed at a certain beam position, it detects whether a satellite signal is received in that direction. Based on the detection results, the terminal adjusts its beam direction. For example, a signal estimation algorithm can be used to estimate the received signal to determine whether a signal is present. If no signal is present, the terminal switches to the next beam direction until a satellite signal is found or the beam direction covers the entire target search area. Signal estimation methods can be based on signal strength, signal-to-noise ratio, or a specific pilot signal. During the dwell time at each beam position, signal quality indicators such as signal strength and bit error rate are continuously monitored.

[0090] If a satellite signal is detected, the antenna locks onto that beam and initiates a tracking algorithm to precisely track the satellite's position. Based on the satellite's motion model and signal feedback, the tracking algorithm adjusts the antenna's pointing direction in real time to maintain a communication link with the satellite. If no satellite signal is detected, the antenna scans the next beam until a satellite is found or all beams have been scanned.

[0091] After successfully locking onto the satellite, the terminal establishes a link with the satellite, including frequency synchronization, time synchronization, and channel estimation. The terminal then sends an access request to the satellite, which allocates resources based on the request and negotiates communication parameters (such as modulation method and coding rate) with the terminal. Once the communication link is established, the terminal and satellite conduct bidirectional data transmission.

[0092] In the above implementation process, by mapping the target search airspace into multiple target wave positions and using the directional antenna's receiving beam to point to each target wave position for satellite search, efficient and accurate search for satellites is achieved.

[0093] On the basis of the above embodiment, in order to further improve the satellite search efficiency of the terminal, the target search space can be mapped into multiple target wave positions, each target wave position corresponds to a beam direction of the terminal, and then the receiving beam of the directional antenna is used to point to the target wave position at intervals to perform satellite search.

[0094] In this solution, an antenna pointing strategy can be developed based on the distribution and number of target beam positions. This strategy determines the order and intervals in which the antenna points to the target beam positions. For example, antennas can be pointed to target beam positions according to a specific pattern (such as every other beam position or every few beam positions) to achieve interval pointing.

[0095] When adjusting the receiving beam direction, the directional antenna can be controlled to point to the target beam position at intervals based on the established antenna pointing strategy. For example, if there are N target beam positions, the directional antenna can be pointed at every k beam positions, with the specific interval adjusted based on actual conditions. At each targeted beam position, a wireless signal of a specific frequency and power is transmitted to search for satellites.

[0096] It is understandable that if the terminal does not find any satellite signals when scanning the wave positions for satellite search at intervals in this manner, it can scan the remaining wave positions, that is, adjust the antenna direction so that the receiving beam points to other wave positions to continue satellite search.

[0097] In this implementation, the target search space is mapped into multiple target beam positions and the directional antenna's receiving beam is intermittently pointed at these beam positions for satellite search, significantly improving satellite search efficiency. This intermittent pointing strategy reduces unnecessary scans, lowering the terminal's energy consumption and computational burden, while also avoiding the waste of resources associated with full-space scans.

[0098] On the basis of the above embodiment, in the process of mapping the target search airspace into multiple target wave positions, the entire search airspace corresponding to the terminal can be divided into multiple beam directions according to the beam width of the terminal's directional antenna to form a grid search of the entire airspace, and then the grid search of the entire airspace is projected onto the UV plane to form multiple wave positions, wherein the UV plane is a two-dimensional coordinate plane constructed with azimuth and elevation angles, and then the multiple target wave positions corresponding to the target search airspace can be screened out from the multiple wave positions according to the azimuth and elevation angle ranges corresponding to the target search airspace.

[0099] like Figure 8 As shown, Figure 8 This is a diagram illustrating the beam pointing coordinate system of the terminal. The terminal takes its own center of mass as the origin O, the north direction is the x-axis, the z-axis points to the opposite direction of the earth's center, and the y-axis is perpendicular to the xoz plane and satisfies the right-hand screw rule. Through this coordinate system and Figure 9 The UV coordinate system shown in the figure shows that the entire search space scanned by the terminal can be represented on the UV plane. For example, when the elevation angle is greater than 10°, the entire search space is a conical area limited by the elevation angle of 10°, as shown in the figure. Figure 10 shown.

[0100] The conical area is the search airspace, and then the search airspace can be divided into multiple beam directions according to the beam width of the terminal's antenna to form a grid search airspace and project it onto the UV plane, such as Figure 11 As shown in Figure 1, this is the beam position distribution corresponding to searching the entire airspace from the terminal's perspective. In the UV plane, U represents the azimuth angle and V represents the elevation angle.

[0101] Generally, low-orbit satellite constellations such as Figure 12 As shown, after determining the azimuth and elevation ranges of the target search airspace, multiple target wave positions corresponding to the target search airspace can be determined from multiple wave positions corresponding to the search of the entire airspace.

[0102] For example, for an ascending satellite, that is, considering the scenario where the satellite flies from south to north, if the azimuth and elevation angle ranges are known, it is only necessary to scan the airspace within the range, and the corresponding wave position on the UV plane is as follows: Figure 13 The 42 / 43 / 51 / 52 / 53 / 61 / 62 wave positions shown only account for 6.8% of the total wave positions, which can save scanning time compared to a full airspace scan.

[0103] For example, if the terminal latitude is equal to the orbital inclination, that is, B=90°, the satellite will fly from the left or right regardless of whether it is an ascending or descending satellite. In this case, only a small number of wave positions need to be scanned. Figure 14 The 50 / 51 / 52 / 53 / 54 wave positions shown only account for 4.9% of all wave positions.

[0104] For example, when both ascending and descending satellites are considered, the descending satellite flies from north to south, and the angle between it and the north longitude of the terminal is 180°-B, then the scanning wave position range can be expanded, such as Figure 15 The wave positions shown as 40 / 41 / 42 / 43 / 51 / 52 / 53 / 61 / 62 / 63 / 64 only account for 10.7% of all wave positions.

[0105] For example, when the terminal's latitude is greater than the satellite's orbit inclination, Figure 16 As shown in the figure, the satellite only has coverage in the south direction, so the terminal's scanning wave position only needs to include the wave position with lower elevation angle. For example, at a latitude of 70° and an orbital inclination of 50°, the maximum elevation angle of the satellite does not exceed 20°, so the satellites are all in the south. At this time, the scanning wave positions can be as follows: 89 / 90 / 98 / 99 / 100 / 101 / 102 / 103 / 96 / 97, as shown in the figure. Figure 17 shown.

[0106] It is understandable that if the terminal does not search for satellite signals in the target position corresponding to the target search airspace, the terminal may expand the search range, and the expanded search range may be the positions around the original target position. Figure 17 If the terminal fails to find satellite signals at the target beam positions shown in the figure, it can select beam positions around these target beam positions for further search. Specifically, it adjusts the directional antenna's receiving beam to point at these beam positions, such as 91 / 92 / 93 / 94 / 95. If satellites are still not found at these beam positions, the terminal continues to search within a wider range. This method allows the terminal to gradually expand the search range until a satellite signal is found.

[0107] In the above implementation process, by mapping the target search airspace into multiple target wave positions, refined management of satellite search is achieved. First, based on the beam width of the terminal directional antenna, the entire search airspace is divided into multiple beam directions to form a grid search area, ensuring the comprehensiveness and systematicness of the search. Next, the entire grid search airspace is projected onto the UV plane, and each beam direction is intuitively represented using a two-dimensional coordinate plane, simplifying beam management. Finally, based on the azimuth and elevation range of the target search airspace, the corresponding target wave position is selected from multiple wave positions, further narrowing the search range and improving satellite search efficiency.

[0108] In conjunction with the above method embodiment, please refer to Figure 18 , Figure 18This is a block diagram of a satellite search device 200 provided in an embodiment of the present application. The satellite search device 200 may be a module, program segment, or code on an electronic device. It should be understood that the satellite search device 200 corresponds to the aforementioned method embodiment and is capable of executing each step involved in the method embodiment. The specific functions of the satellite search device 200 can be found in the description above; to avoid repetition, a detailed description is omitted here.

[0109] Optionally, the satellite search device 200 includes: The information acquisition module 210 is configured to acquire the terminal's position information and satellite constellation configuration information when the terminal detects that there is no satellite ephemeris information or the ephemeris information is invalid; A search airspace determination module 220 is configured to determine a target search airspace for the satellite based on the position information and the constellation configuration information; The satellite search module 230 is configured to use a directional antenna to perform satellite search within the target search airspace.

[0110] Optionally, the location information includes latitude, the constellation configuration information includes orbital inclination, and the search airspace determination module 220 is used to calculate the angle between the satellite flight direction and the longitude or latitude line where the terminal is located based on the latitude and the orbital inclination; and determine the azimuth of the satellite's target search airspace based on the angle.

[0111] Optionally, the search airspace determination module 220 is used to obtain a corresponding satellite elevation angle range according to the latitude and the orbital inclination; and determine an elevation angle range of a target search airspace of the satellite according to the satellite elevation angle range.

[0112] Optionally, the search airspace determination module 220 is used to obtain the corresponding satellite elevation angle range from a pre-stored simulation result according to the latitude and the orbital inclination, wherein the simulation result is obtained by simulating the satellite elevation angle range for different latitudes and constellation configuration information; or, perform simulation according to the latitude and orbital inclination to obtain the simulated satellite elevation angle range; or, obtain the satellite elevation angle range from a pre-constructed corresponding relationship according to the latitude and the orbital inclination, wherein the corresponding relationship is constructed for different latitudes, orbital inclinations and satellite elevation angle ranges.

[0113] Optionally, when the latitude is 10° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 20°-90°; When the latitude is 30° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 30°-90°; When the latitude is 50° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 40°-90°; When the latitude is 70° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 10°-20°.

[0114] Optionally, the satellite search module 230 is configured to map the target search space into multiple target wave positions, each target wave position corresponding to a beam direction of the terminal; and perform satellite search by pointing the receiving beam of a directional antenna to each target wave position.

[0115] Optionally, the satellite search module 230 is configured to map the target search space into multiple target wave positions, each target wave position corresponding to a beam direction of the terminal; and perform satellite search by using a receiving beam of a directional antenna to point to the target wave positions at intervals.

[0116] Optionally, the satellite search module 230 is used to divide the entire search airspace corresponding to the terminal into multiple beam directions according to the beam width of the directional antenna of the terminal, forming a gridded search airspace; project the gridded search airspace onto a UV plane to form multiple wave positions, where the UV plane is a two-dimensional coordinate plane constructed with azimuth and elevation angles; and screen out multiple target wave positions corresponding to the target search airspace from the multiple wave positions according to the azimuth and elevation range of the target search airspace.

[0117] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0118] Please refer to Figure 19 , Figure 19 This is a schematic diagram of the structure of an electronic device for performing a satellite search method provided in an embodiment of the present application. The electronic device may include: at least one processor 310, such as a CPU, at least one communication interface 320, at least one memory 330, and at least one communication bus 340. The communication bus 340 is used to enable connection and communication between these components. The communication interface 320 of the device in the embodiment of the present application is used to communicate signaling or data with other node devices. The memory 330 may be a high-speed RAM memory or a non-volatile memory, such as at least one disk storage device. The memory 330 may optionally be at least one storage device located remotely from the aforementioned processor. The memory 330 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 310, the electronic device performs the aforementioned method process.

[0119] I understand. Figure 19 The structure shown is only for illustration, and the electronic device may also include Figure 19 More or fewer components than shown, or with Figure 19 Different configurations shown. Figure 19 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0120] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method process executed by the electronic device in the above method embodiment is executed.

[0121] This embodiment discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can perform the methods provided in the above method embodiments, for example, including: When the terminal detects that there is no satellite ephemeris information or the ephemeris information is invalid, obtaining the terminal's position information and the satellite constellation configuration information; Determining a target search space for a satellite based on the position information and the constellation configuration information; A directional antenna is used to search for satellites within the target search airspace.

[0122] In summary, the embodiments of the present application provide a satellite search method, device, electronic device, storage medium and program product. When the terminal has no satellite ephemeris information or the ephemeris is invalid, the method accurately determines the target search airspace of the satellite by obtaining the terminal position information and satellite constellation configuration information, and uses a directional antenna to perform efficient search in the airspace, significantly reducing the satellite search time and computing resource consumption.

[0123] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0126] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0127] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A satellite search method, characterized in that: The method comprises: When the terminal detects that there is no satellite ephemeris information or the ephemeris information is invalid, obtaining the terminal's position information and the satellite constellation configuration information; Determining a target search space for a satellite based on the position information and the constellation configuration information; A directional antenna is used to search for satellites within the target search airspace.

2. The method according to claim 1, characterized in that The position information includes latitude, the constellation configuration information includes orbital inclination, and determining a target search space for a satellite based on the position information and the constellation configuration information includes: Calculating, based on the latitude and the orbital inclination, an angle between the satellite flight direction and the longitude or latitude line where the terminal is located; The azimuth of the satellite's target search space is determined based on the angle.

3. The method according to claim 2, characterized in that Determining a target search space for a satellite based on the position information and the constellation configuration information includes: Obtaining a corresponding satellite elevation angle range according to the latitude and the orbital inclination; The elevation angle range of the satellite's target search airspace is determined according to the satellite elevation angle range.

4. The method according to claim 3, characterized in that The acquiring, according to the latitude and the orbital inclination, a corresponding satellite elevation angle range includes: Obtaining a corresponding satellite elevation angle range from a pre-stored simulation result according to the latitude and the orbital inclination, wherein the simulation result is obtained by simulating the satellite elevation angle range for different latitudes and constellation configuration information; Alternatively, simulation is performed according to the latitude and orbital inclination to obtain a simulated satellite elevation angle range; Alternatively, the satellite elevation angle range is obtained from a pre-constructed correspondence relationship based on the latitude and the orbital inclination, wherein the correspondence relationship is constructed for different latitudes, orbital inclinations and satellite elevation angle ranges.

5. The method according to claim 3, characterized in that When the latitude is 10° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 20°-90°; When the latitude is 30° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 30°-90°; When the latitude is 50° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 40°-90°; When the latitude is 70° and the orbital inclination is 50°, the corresponding satellite elevation angle range is 10°-20°.

6. The method according to claim 3, characterized in that The method of using a directional antenna to search for satellites in the search airspace includes: Mapping the target search space into multiple target wave positions, each target wave position corresponding to a beam direction of the terminal; The receiving beam of a directional antenna is directed to each target wave position to search for satellites.

7. The method according to claim 3, characterized in that The method of using a directional antenna to search for satellites in the search airspace includes: Mapping the target search space into multiple target wave positions, each target wave position corresponding to a beam direction of the terminal; The receiving beam of a directional antenna is pointed at the target wave position at intervals to search for satellites.

8. The method according to claim 6 or 7, characterized in that Mapping the target search space into multiple target wave positions includes: Divide the entire search airspace corresponding to the terminal into multiple beam directions according to the beam width of the terminal's directional antenna, forming a gridded search of the entire airspace; Projecting the grid search full airspace onto a UV plane to form multiple wave positions, wherein the UV plane is a two-dimensional coordinate plane constructed by azimuth and elevation; According to the azimuth and elevation ranges of the target search airspace, a plurality of target wave positions corresponding to the target search airspace are screened out from the plurality of wave positions.

9. A satellite search device, characterized in that: The device comprises: An information acquisition module, configured to acquire the terminal's position information and satellite constellation configuration information when the terminal detects that there is no satellite ephemeris information or the ephemeris information is invalid; A search airspace determination module is used to determine a target search airspace for the satellite based on the position information and the constellation configuration information; The satellite search module is used to use a directional antenna to perform satellite search in the target search airspace.

10. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 8 is executed.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is executed.

12. A computer program product, characterized in that The method comprises computer program instructions, and when the computer program instructions are read and executed by a processor, the method according to any one of claims 1 to 8 is executed.

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