A method and apparatus for controlling antenna alignment

Abstract

The application discloses an antenna alignment control method and device, the method comprises the following steps: obtaining the first latitude and longitude information and the first orientation information of a target device, obtaining the second latitude and longitude information and the second orientation information of the antenna of a mobile base station, obtaining the rotation angle of the antenna of the mobile base station by using the first latitude and longitude information, the first orientation information, the second latitude and longitude information and the second orientation information, and rotating the antenna of the mobile base station by using the rotation angle. The method provided by the application can obtain the first latitude and longitude information and the first orientation information corresponding to the target device in real time, obtain the rotation angle based on the second latitude and longitude information and the second orientation information of the antenna of the mobile base station, and control the antenna of the mobile base station to rotate in real time, so that the robot can be provided with a stronger network signal in real time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control, in particular to a control method and device for antenna alignment. BACKGROUND

[0002] With the continuous development of science and technology, manual labor in many fields is gradually replaced by machinery, especially in the field of agriculture. The appearance of large-scale mechanized equipment and intelligent robots has greatly improved labor efficiency, and most of the heavy and complex work is solved by large-scale agricultural equipment and robots. At present, the way of using mechanized equipment and intelligent robots for agricultural labor has been gradually accepted by people.

[0003] Mechanized equipment and intelligent robots have high requirements for network signals when working. The prior art provides network signals by setting mobile base stations that can be connected by mechanized equipment and intelligent robots. However, the network signals provided by the prior art for mechanized equipment and intelligent robots often cannot support the normal operation of mechanized equipment and intelligent robots.

[0004] Therefore, how to improve the network signal strength provided by the mobile base station for the equipment connected to the mobile base station has become a problem that technicians in the field are eager to solve. SUMMARY

[0005] Based on the above problems, the present application provides a control method and device for antenna alignment to solve the problem of poor network signals provided by the prior art for mechanized equipment and intelligent robots.

[0006] The embodiments of the present application disclose the following technical solutions:

[0007] The present application discloses a control method for antenna alignment applied to a mobile base station, which comprises:

[0008] obtaining first latitude and longitude information and first orientation information of a target device;

[0009] obtaining second latitude and longitude information and second orientation information of an antenna of the mobile base station;

[0010] obtaining a rotation angle of the antenna of the mobile base station by using the first latitude and longitude information, the first orientation information, the second latitude and longitude information and the second orientation information;

[0011] rotating the antenna of the mobile base station by using the rotation angle.

[0012] Optionally, the control method for antenna alignment further comprises:

[0013] forming a geometric figure with a plurality of target devices as vertices;

[0014] obtaining a geometric center of the geometric figure;

[0015] The geometric center is used as a target device to perform the step of obtaining first longitude and latitude information and first orientation information of an antenna of the target device.

[0016] Optionally, the step of obtaining first longitude and latitude information and first orientation information of the target device comprises:

[0017] obtaining first longitude and latitude information and first orientation information corresponding to a plurality of target devices;

[0018] The method further comprises:

[0019] obtaining a signal coverage area of an antenna of the mobile base station;

[0020] using the first longitude and latitude information corresponding to the plurality of target devices to determine whether all of the plurality of target devices are located within the signal coverage area of the antenna of the mobile base station;

[0021] If yes, the step of forming a geometric figure with the plurality of target devices as vertices is performed;

[0022] If no, the step of forming a geometric figure with the plurality of target devices as vertices is performed after discarding one of the target devices.

[0023] Optionally, the control method for antenna alignment further comprises:

[0024] obtaining a signal coverage area of an antenna of the mobile base station;

[0025] searching for the target device within the signal coverage area;

[0026] determining whether the target device is found within the signal coverage area;

[0027] If no, the step of searching for the target device within the signal coverage area is performed after rotating the antenna of the mobile base station.

[0028] Optionally, the control method for antenna alignment further comprises:

[0029] obtaining a working area, the working area being a working range corresponding to the target device;

[0030] determining whether the working area is rectangular;

[0031] If yes, any vertex of the working area is used as a set point of the mobile base station;

[0032] If no, any vertex of a minimum circumscribed rectangle of the working area is used as the set point of the mobile base station.

[0033] This application also provides an antenna alignment control device, the antenna alignment control device comprising:

[0034] The target device information acquisition module acquires the first latitude and longitude information and the first orientation information of the target device.

[0035] The mobile base station information acquisition module acquires the second latitude and longitude information and the second orientation information of the antenna of the mobile base station;

[0036] The calculation module uses the first latitude and longitude information, the first orientation information, the second latitude and longitude information, and the second orientation information to obtain the rotation angle of the mobile base station antenna;

[0037] The rotation module rotates the antenna of the mobile base station using the rotation angle.

[0038] Optionally, the antenna alignment control device further includes:

[0039] The geometry generation module uses multiple target devices as vertices to form geometric shapes.

[0040] The geometric center acquisition module acquires the geometric center of the geometric figure.

[0041] Optionally, the target device information acquisition module is specifically used for:

[0042] Acquire the first latitude and longitude information and the first orientation information corresponding to multiple target devices;

[0043] The antenna alignment control device further includes:

[0044] The signal coverage area acquisition module acquires the signal coverage area of ​​the antenna of the mobile base station;

[0045] The target device determination module uses the first latitude and longitude information corresponding to the multiple target devices to determine whether all of the multiple target devices are located within the signal coverage area of ​​the antenna of the mobile base station.

[0046] Optionally, the antenna alignment control device further includes:

[0047] The signal coverage area acquisition module acquires the signal coverage area of ​​the antenna of the mobile base station;

[0048] The search module locates the target device within the signal coverage area;

[0049] Determine whether the target device is located within the signal coverage area;

[0050] If not, then after rotating the antenna of the mobile base station, the step of locating the target device within the signal coverage area is performed.

[0051] Optionally, the antenna alignment control device further includes:

[0052] The work area acquisition module acquires the work area, which is the working range corresponding to the target device.

[0053] The work area determination module determines whether the work area is a rectangle.

[0054] If so, then any vertex of the working area shall be used as the setting point of the mobile base station;

[0055] If not, then any vertex of the smallest bounding rectangle of the working area shall be used as the setting point of the mobile base station.

[0056] Compared with the prior art, this application has the following beneficial effects:

[0057] The method disclosed in this application obtains the first latitude and longitude information and the first orientation information of the target device, and the second latitude and longitude information and the second orientation information of the mobile base station antenna. A rotation angle is calculated, and this rotation angle is used to control the rotation of the mobile base station antenna. The method provided in this application can acquire the target device's information in real time during operation, and calculate the rotation angle based on the mobile base station information and the target device information. This ensures that the mobile base station antenna is always positioned at an angle that provides a good network signal to the target device, thus providing sufficient network support for the target device at all times. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 A flowchart of an antenna alignment control method provided in this application;

[0060] Figure 2 A flowchart of another antenna alignment control method provided in this application;

[0061] Figure 3 Flowchart of another antenna alignment control method provided in this application;

[0062] Figure 4A flowchart of another antenna alignment control method provided in this application;

[0063] Figure 5 A flowchart of an antenna alignment control method provided in this application;

[0064] Figure 6 This application also provides a schematic diagram of the structure of a control device for antenna alignment. Detailed Implementation

[0065] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The terminology used in the following embodiments is for the purpose of describing specific embodiments only and is not intended to be a limitation of this application. As used in the specification and appended claims of this application, the singular expressions "a," "an," "the," "the," "the," and "this" are intended to also include expressions such as "one or more," unless the context clearly indicates otherwise. It should also be understood that in the embodiments of this application, "one or more" refers to one, two, or more; "and / or" describes the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0066] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0067] The "multiple" mentioned in the embodiments of this application refers to two or more. It should be noted that in the description of the embodiments of this application, terms such as "first" and "second" are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0068] As described above, the network signals currently provided by mobile base stations for mechanized equipment and intelligent robots are sometimes insufficient to support their normal operation.

[0069] Currently, using robots for operations in vast areas of farmland, grassland, and forestry can significantly reduce labor costs while improving efficiency and achieving good results. However, mechanized production also presents numerous challenges.

[0070] Research has revealed that large-scale crop cultivation areas in my country are often remote, and large-scale mechanized equipment and intelligent robots have high requirements for network signals during operation. One method to provide network signals for these devices is to build base stations, but this is extremely costly and complex. Another approach is to set up mobile base stations that the equipment and robots can connect to. However, while robots are in motion, mobile base stations cannot follow their movement. Furthermore, mobile base station antennas have limited coverage angles, and the signal is strongest when directly facing the target. Therefore, to ensure efficient robot operation, it is crucial that the antenna rotates to follow the target robot or robot swarm.

[0071] Understandably, this method can be applied to processing devices capable of antenna alignment, such as terminal devices or servers. This method can be executed independently by the terminal device or server, or it can be applied in network scenarios where the terminal device and server communicate, executing in cooperation. The terminal device can be a computer, mobile phone, or similar device. The server can be an application server or a web server; in actual deployment, this server can be a standalone server or a cluster server.

[0072] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0073] This application provides a method such as Figure 1 The flowchart of the antenna alignment control method is described above. The method is applied to a mobile base station and includes the following steps:

[0074] S101: Obtain the first latitude and longitude information and the first orientation information of the target device.

[0075] The target equipment can be an intelligent robot, a large-scale mechanized equipment, or any other equipment. Here, it specifically refers to unmanned equipment used in agricultural work, taking unmanned robots as an example.

[0076] Set up RTK on the robot. RTK is a differential method for processing carrier phase observations from two devices in real time. It sends the carrier phase data collected by the base station to the target device and calculates the coordinates by calculating the difference.

[0077] In addition to RTK, a positioning antenna and a directional antenna are also provided. The positioning antenna can obtain the robot's first latitude and longitude information in real time, and the directional antenna can obtain the robot's first orientation information in real time. The robot sends the first latitude and longitude information and the first orientation information to the processing device through the LoRa link, and the processing device knows the robot's position and orientation.

[0078] Lora is a low-power local area network wireless standard, or Lora is a long-range radio.

[0079] S102: Obtain the second latitude and longitude information and the second orientation information of the mobile base station's antenna.

[0080] Mobile base stations are equipped with GPS positioning systems. GPS, or Global Positioning System, is a high-precision radio navigation positioning system based on artificial Earth satellites. It can provide accurate geographical location anywhere in the world and in near-Earth space. The second latitude and longitude information of the mobile base station's antenna is obtained through the GPS positioning system on the mobile base station.

[0081] Mobile base stations are equipped with magnetic compasses, which are instruments used to indicate direction, based on the principles of a compass. The magnetic compass can be used to determine the yaw angle of the base station in the GPS coordinate system. Based on the relative rotation angle between the base station and its antenna, the yaw angle of the base station's antenna in the GPS coordinate system can be determined, which is the second orientation information.

[0082] S103: The rotation angle of the mobile base station antenna is obtained using the first latitude and longitude information, the first orientation information, the second latitude and longitude information, and the second orientation information.

[0083] The processing device uses information such as the first latitude and longitude, the first orientation, the second latitude and longitude, and the second orientation to calculate the rotation angle of the mobile base station antenna. This selected angle allows the mobile base station antenna to rotate and face the robot.

[0084] Specifically, a ray is obtained by connecting the location of the mobile base station with the location of the robot at a certain moment. Then, a second ray is obtained by taking the location of the mobile base station as the starting point and following the direction of the base station antenna. The angle between the two rays is the angle between the current base station antenna and the robot. This angle can be the rotation angle.

[0085] S104: Rotate the antenna of the mobile base station using the rotation angle.

[0086] The processing device can directly send a request to the mobile base station to rotate the mobile base station antenna. After receiving the request, the mobile base station will select the corresponding rotation angle for the antenna.

[0087] Specifically, the angle of the antenna can be adjusted so that the angle between the two rays is 0 degrees.

[0088] This application acquires the robot's first latitude and longitude information and first orientation information in real time, and obtains the rotation angle based on the second latitude and longitude information and second orientation information of the mobile base station's antenna. The mobile base station controls the rotation of the mobile base station's antenna in real time to provide the robot with a strong network signal in real time.

[0089] Mobile base stations can be set up anywhere. To ensure that mobile base stations provide a better network environment for robots, their location is crucial. This application also provides, for example... Figure 2 The flowchart shown represents another antenna alignment control method, which includes the following steps:

[0090] S201: Obtain the work area.

[0091] The processing device acquires the working area, which can be the area of ​​farmland where the robot works. Farmland is generally a regular rectangle, with a few irregular farmlands being polygonal.

[0092] S202: Determine if the work area is rectangular.

[0093] In addition to the device making a judgment based on the acquired working area, it determines whether the working area is rectangular. If it is, S203 is executed; otherwise, S204 is executed.

[0094] S203: Use any vertex of the working area as the setting point for the mobile base station.

[0095] For rectangular farmland, with edges formed by farm roads or rural roads, the angle between the roads is generally about 90 degrees. Therefore, mobile base stations can be placed at the vertices of the rectangular farmland.

[0096] S204: Use any vertex of the smallest bounding rectangle of the working area as the setting point of the mobile base station.

[0097] If the farmland is not a regular rectangle, it is necessary to calculate the minimum bounding rectangle of the polygon and set up a mobile base station at any vertex of this minimum bounding rectangle. However, some vertices of this minimum bounding rectangle are inconvenient locations for setting up mobile base stations, such as ponds. In such cases, one side of the rectangle can be extended until it intersects with the road, and the mobile base station can be set up at that location.

[0098] The placement of mobile base stations is crucial for the signal they provide to the target device. In the method described above, the most appropriate mobile base station placement point is selected based on the robot's different working areas. The mobile base station is then placed at the designated point to ensure that the mobile base station setup is suitable for the robot's operation and to provide a better network environment for the robot.

[0099] The target device can be one or multiple. For cases where multiple target devices operate in the same area, this application also provides, for example... Figure 3 The flowchart shown represents another antenna alignment control method, which includes the following steps:

[0100] S301: Use multiple target devices as vertices to form a geometric shape.

[0101] In some agricultural operations, multiple robots are not used alone, but rather work collaboratively, forming a robot swarm. When multiple robots are working, mobile base stations cannot rotate their antennas to target individual robots. In such cases, processing equipment can treat the multiple robots as a whole, with each robot as a point, and connect these points to form a geometric pattern.

[0102] S302: Obtain the geometric center of the geometric figure.

[0103] The processing device obtains the center of the geometric figure based on the acquired geometric figure.

[0104] S303: Use the geometric center as the target device.

[0105] When multiple robots are operating, the assembly center is used as a representative of these robots, essentially treating them as a single target robot. The antenna alignment method described above is then applied to this target robot. Aligning the mobile base station's antenna with the location of this virtual target robot provides the best network environment for the robot swarm.

[0106] For cases involving multiple target devices, this application also provides, for example... Figure 4 The flowchart shown represents another antenna alignment control method, which includes the following steps:

[0107] S401: Obtain the signal coverage area of ​​the mobile base station's antenna.

[0108] The antenna of a mobile base station has an optimal signal coverage area, which has a certain angle. It can be any angle, but it is generally 120 degrees.

[0109] S402: Obtain the first latitude and longitude information and the first orientation information corresponding to multiple target devices.

[0110] In a scenario where multiple robots are working in the same work area, the processing device acquires the first latitude and longitude information and the first orientation information of each robot.

[0111] S403: Determine whether multiple target devices are all within the signal coverage area of ​​the mobile base station's antenna.

[0112] The processing device uses the first latitude and longitude information corresponding to multiple target devices to determine whether all multiple target devices are located within the signal coverage area of ​​the mobile base station's antenna.

[0113] If there are multiple robots, each with a different location, determine whether all robots are within the signal coverage area using the first latitude and longitude information of each robot. If all robots are within the signal coverage area, proceed to step S404; if any robot is not within the signal coverage area, proceed to step S407.

[0114] S404: Use multiple target devices as vertices to form a geometric shape.

[0115] S405: Obtain the geometric center of the geometric figure.

[0116] S406: Use the geometric center as the target device.

[0117] S407: Discard a target device.

[0118] Specifically, the location of the mobile base station can be connected to the location of each robot to form multiple rays. A robot can be abandoned on either of the outermost sides, meaning that the mobile base station will not provide network signals to the abandoned robot.

[0119] In practical applications, there may be situations where the processing device cannot obtain the first latitude and longitude information and the first orientation information corresponding to the target device. This could be due to a LoRa communication link failure preventing the processing device from obtaining the robot's location information, or due to the loss of GPS signals from the mobile base station or the robot. In such cases, the angle between the target device and the mobile base station is unknown to the processing device. Therefore, this application also provides a method... Figure 5 The flowchart of the antenna alignment control method is as follows: The method includes the following steps:

[0120] S501: Obtain the signal coverage area of ​​the mobile base station's antenna.

[0121] The antenna of a mobile base station has an optimal signal coverage area, which has a certain angle. It can be any angle, but it is generally 120 degrees.

[0122] S502: Locate the target device within the signal coverage area.

[0123] The processing equipment can locate the robot within the signal coverage area based on the acquired signal coverage area.

[0124] S503: Determine whether the target device has been found within the signal coverage area.

[0125] If the robot is found within the signal coverage area, proceed to step S504; if the robot is not found within the signal coverage area, proceed to step S505.

[0126] S504: Obtain the first latitude and longitude information and the first orientation information of the target device.

[0127] If the robot is located within the signal coverage area, its first latitude and longitude information and first orientation information can be obtained through the mobile base station. In other words, the antenna alignment method described above can be performed based on the first latitude and longitude information and the first orientation information.

[0128] S505: Rotate the antenna of the mobile base station.

[0129] The optimal signal coverage area of ​​a mobile base station antenna is generally 120 degrees. For this 120-degree coverage area, a 45-degree rotation angle is optimal. By rotating the mobile base station antenna 45 degrees in any direction and then executing S502 to search for the robot again, the process continues until the robot is found. During the antenna rotation process, protective measures can be implemented, such as obtaining the maximum rotation angle of the mobile base station antenna. If the antenna exceeds its maximum rotation angle after rotating 45 degrees, the rotation will stop at the maximum angle.

[0130] The method provided in this application takes into account the situation where the processing device cannot obtain the first latitude and longitude information and the first orientation information of the target device. It can capture the target device by continuously rotating an appropriate angle, so as to adapt to the situation where the processing device cannot obtain the robot's position information, thus making it more usable.

[0131] This application also provides a schematic diagram of an antenna alignment control device 600, which includes the following modules:

[0132] The target device information acquisition module 601 acquires the first latitude and longitude information and the first orientation information of the target device;

[0133] The mobile base station information acquisition module 602 acquires the second latitude and longitude information and the second orientation information of the antenna of the mobile base station;

[0134] The calculation module 603 uses the first latitude and longitude information, the first orientation information, the second latitude and longitude information, and the second orientation information to obtain the rotation angle of the mobile base station antenna;

[0135] The rotation module 604 rotates the antenna of the mobile base station using the rotation angle.

[0136] The antenna alignment control device further includes:

[0137] The geometry generation module uses multiple target devices as vertices to form geometric shapes.

[0138] The geometric center acquisition module acquires the geometric center of the geometric figure.

[0139] The target device information acquisition module is specifically used for:

[0140] Acquire the first latitude and longitude information and the first orientation information corresponding to multiple target devices;

[0141] The antenna alignment control device further includes:

[0142] The signal coverage area acquisition module acquires the signal coverage area of ​​the antenna of the mobile base station;

[0143] The target device determination module uses the first latitude and longitude information corresponding to the multiple target devices to determine whether all of the multiple target devices are located within the signal coverage area of ​​the antenna of the mobile base station.

[0144] The antenna alignment control device further includes:

[0145] The signal coverage area acquisition module acquires the signal coverage area of ​​the antenna of the mobile base station;

[0146] The search module locates the target device within the signal coverage area;

[0147] Determine whether the target device is located within the signal coverage area;

[0148] If not, then after rotating the antenna of the mobile base station, the step of locating the target device within the signal coverage area is performed.

[0149] The antenna alignment control device further includes:

[0150] The work area acquisition module acquires the work area, which is the working range corresponding to the target device.

[0151] The work area determination module determines whether the work area is a rectangle.

[0152] If so, then any vertex of the working area shall be used as the setting point of the mobile base station;

[0153] If not, then any vertex of the smallest bounding rectangle of the working area shall be used as the setting point of the mobile base station.

[0154] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. The components indicated 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 modules can be selected to achieve the purpose of this embodiment solution according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0155] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling antenna alignment, applied to a mobile base station, characterized in that, include: Obtain the target device's first latitude and longitude information and first orientation information; Obtain the second latitude and longitude information and the second orientation information of the antenna of the mobile base station; The rotation angle of the mobile base station antenna is obtained using the first latitude and longitude information, the first orientation information, the second latitude and longitude information, and the second orientation information; The rotation angle is the angle between the ray obtained by connecting the mobile base station and the target device and the ray along the direction of the base station antenna starting from the position of the mobile base station; The antenna of the mobile base station is rotated using the aforementioned rotation angle so that the included angle between the two rays is 0 degrees. The method further includes: Multiple target devices are used as vertices to form a geometric shape; Obtain the geometric center of the geometric figure; The geometric center is used as the target device to perform the step of acquiring the first latitude and longitude information and the first orientation information of the antenna of the target device; The method further includes: Obtain the working area, which is the working range corresponding to the target device; Determine whether the work area is rectangular; If so, then any vertex of the working area shall be used as the setting point of the mobile base station; If not, then any vertex of the smallest bounding rectangle of the working area shall be used as the setting point of the mobile base station.

2. The method according to claim 1, characterized in that, The acquisition of the first latitude and longitude information and the first orientation information of the target device includes: Acquire the first latitude and longitude information and the first orientation information corresponding to multiple target devices; The method further includes: Obtain the signal coverage area of ​​the mobile base station's antenna; The first latitude and longitude information corresponding to the multiple target devices is used to determine whether all of the multiple target devices are located within the signal coverage area of ​​the mobile base station's antenna; If so, then perform the step of forming a geometric shape by using multiple target devices as vertices; If not, then discard one of the target devices and proceed with the step of forming a geometric figure using multiple target devices as vertices.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the signal coverage area of ​​the mobile base station's antenna; Locate the target device within the signal coverage area; Determine whether the target device is located within the signal coverage area; If not, then after rotating the antenna of the mobile base station, the step of locating the target device within the signal coverage area is performed.

4. A control device for antenna alignment, characterized in that, include: The target device information acquisition module acquires the first latitude and longitude information and the first orientation information of the target device. The mobile base station information acquisition module acquires the second latitude and longitude information and the second orientation information of the antenna of the mobile base station; The calculation module uses the first latitude and longitude information, the first orientation information, the second latitude and longitude information, and the second orientation information to obtain the rotation angle of the mobile base station antenna; The rotation angle is the angle between the ray obtained by connecting the mobile base station and the target device and the ray along the direction of the base station antenna starting from the position of the mobile base station; The rotation module rotates the antenna of the mobile base station using the rotation angle so that the included angle between the two rays is 0 degrees. The device further includes: The geometry generation module uses multiple target devices as vertices to form geometric shapes. The geometric center acquisition module acquires the geometric center of the geometric figure; The device further includes: The work area acquisition module acquires the work area, which is the working range corresponding to the target device. The work area determination module determines whether the work area is rectangular. If so, then any vertex of the working area shall be used as the setting point of the mobile base station; If not, then any vertex of the smallest bounding rectangle of the working area shall be used as the setting point of the mobile base station.

5. The apparatus according to claim 4, characterized in that, The target device information acquisition module is specifically used for: Acquire the first latitude and longitude information and the first orientation information corresponding to multiple target devices; The device further includes: The signal coverage area acquisition module acquires the signal coverage area of ​​the antenna of the mobile base station; The target device determination module uses the first latitude and longitude information corresponding to the multiple target devices to determine whether all of the multiple target devices are located within the signal coverage area of ​​the antenna of the mobile base station.

6. The apparatus according to claim 4, characterized in that, The device further includes: The signal coverage area acquisition module acquires the signal coverage area of ​​the antenna of the mobile base station; The search module locates the target device within the signal coverage area; Determine whether the target device is located within the signal coverage area; If not, then after rotating the antenna of the mobile base station, the step of locating the target device within the signal coverage area is performed.

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