Satellite communication module for a motor vehicle

Abstract

The present invention relates to a satellite communication module (10) for a vehicle (1), said module (10) comprising an electronic control unit (12) and at least one antenna (11) capable of communicating with a plurality of satellites characterized by a predefined orbital trajectory and by a predefined same speed: a) the at least one antenna (11) is configurable according to a plurality of configurations, each configuration enabling the at least one antenna (11) to radiate along an angular window, each angular window corresponding to a sky region characterized by a longitudinal coordinate and a transversal coordinate, b) the control unit (12) comprises a memory area comprising a calibration table of the at least one antenna, the control circuit (12) being configured to adapt the radiation of the at least one antenna (11) so that it radiates in the direction of at least one angular window determined during a respective given time interval.

Description

Technical Field

[0001] This invention relates to the field of vehicles, particularly motor vehicles, and more specifically to vehicle communication modules that enable said vehicles to communicate with satellites. The invention is particularly aimed at enabling optimized communication between a vehicle and one or more satellites. Background Technology

[0002] As is well known, some vehicles are called "connected vehicles" and are capable of communicating with at least one satellite. Currently, these satellites are primarily LEO (Low Earth Orbit) satellites, meaning satellites in low Earth orbit defined as altitudes between 500 km and 1200 km. Each satellite moves in its orbit at a speed of 27,000 km / h, so each connected vehicle can only see the network for a few minutes.

[0003] In order to communicate with satellites, each connected vehicle includes an antenna or antenna array to relay signals, particularly radio frequency signals. For example, each connected vehicle is equipped with a directional antenna, that is, an antenna that radiates in a predefined direction.

[0004] However, because a directional antenna radiates in only a single direction, it is highly sensitive to motion, and therefore, in this case, to the motion of the satellite relative to the vehicle. For this reason, the communication quality between the antenna and the satellite may be unreliable; in other words, it may be discontinuous and interrupted.

[0005] Furthermore, directional antennas are also sensitive to their surroundings, particularly due to multipath propagation. Multipath propagation occurs when a radio frequency signal travels from one point to another via multiple paths, especially because the signal can be reflected by obstacles such as buildings or vehicles. This phenomenon can lead to signal attenuation or loss.

[0006] To compensate for this situation and to obtain a reliable communication link between the antenna and the satellite, one possibility is to use more satellites. However, this solution is costly and increases the potential for inter-satellite interference due to the increased number of satellites and their proximity in their orbits.

[0007] In another solution, the vehicle includes a dynamic tracking system comprising a motorized antenna. The dynamic tracking system controls the motorized antenna to change its radiation direction based on the satellite's position. More specifically, the dynamic system detects the satellite's position, particularly using a "scanning" method, and then controls the movement of the motorized antenna so that it aligns with the satellite in response to its movement. However, monitoring the satellite's position is very time-consuming and consumes a significant amount of energy.

[0008] Therefore, a solution is needed that can at least partially compensate for these shortcomings. Summary of the Invention

[0009] This invention relates to a satellite communication module for vehicles, particularly motor vehicles, the communication module comprising an electronic control unit and at least one antenna capable of communicating with multiple satellites, the multiple satellites being characterized by predefined orbital trajectories and predefined uniform speeds: a. The at least one antenna can be configured according to multiple configurations, each configuration enabling the at least one antenna to radiate along one of a predefined plurality of angular windows, each angular window corresponding to a sky region characterized by a vertical and a horizontal coordinate. b. The control unit includes a storage area containing a calibration table for the at least one antenna. This calibration table represents a sky map as seen from the vehicle and includes multiple columns and rows. Each row is identified by a vertical axis, and each column by a horizontal axis. The intersection of each row and column is a cell in the calibration table, marking an angular window. The control circuit is configured to: i. Obtain a set of parameters, including: the satellite's position, orbital trajectory, and velocity, and the vehicle's position, inclination and / or orientation, and velocity. ii. Based on the obtained set of parameters, determine the portion of the satellite trajectory seen from the vehicle. iii. Based on the calibration table, determine at least one angular window corresponding to the satellite position on a portion of the determined satellite trajectory within a given time interval. iv. Adapt the radiation of the at least one antenna to radiate in the direction of the determined at least one angular window during a corresponding given time interval.

[0010] Specifically, the at least one satellite moves at a constant speed in an orbit defined at a constant altitude.

[0011] When the communication module determines the visible portion of a satellite's trajectory, it estimates that trajectory based on the received parameters. Therefore, the communication module can quickly and easily determine the satellite's position over time based on the estimated trajectory, instead of directly detecting the satellite's position. Furthermore, because the satellite's position on the trajectory is quickly known, the configuration module can adapt the radiation of at least one antenna towards the satellite's position. Thus, the communication module enables the establishment of a reliable communication channel between the communication module and the satellite.

[0012] Furthermore, as the satellite moves from one angular window to another, the control unit is able to determine when the configuration of at least one antenna needs to be changed to correspond to the moment the satellite is in the new angular window. This enables the assurance of a reliable and continuous communication channel between the vehicle and the satellite.

[0013] When the first satellite is no longer visible, the control unit is configured to configure the at least one antenna such that it radiates within the angular window where the second satellite is located. This ensures a reliable and continuous communication channel between the vehicle and multiple satellites.

[0014] Preferably, the control unit is configured as follows: a. Determine the vehicle's radio frequency (RF) propagation environment, which defines the propagation quality of RF signals in the environment near the vehicle, in order to identify whether the vehicle is located in a congested area. b. Determine a calibration table for the at least one antenna, wherein the number of angle windows and the size of each angle window are defined according to the vehicle's propagation environment; the more congested the vehicle's environment, the fewer the number of angle windows and the larger the size of each angle window.

[0015] Therefore, the control unit enables it to determine its own calibration table based on the level of congestion in the vicinity of the vehicle.

[0016] Advantageously, the control unit is configured to determine the initial position of the satellite according to the vertical and horizontal coordinates of a calibration table based on the obtained satellite position and the obtained position, speed, orientation and / or tilt of the vehicle, in order to determine the portion of the satellite's trajectory seen by the vehicle.

[0017] This determined initial position is an additional parameter that enables the control unit to determine the portion of the satellite's trajectory.

[0018] Preferably, each angle window of the calibration table is associated with a set of configuration instructions applied to a given angle window of the at least one antenna, which enables the at least one antenna to radiate within the given angle window. The control unit is configured to adapt the at least one antenna to radiate in the direction of the determined angle window by sending the set of configuration instructions associated with the determined angle window to the at least one antenna.

[0019] Therefore, the control unit can easily adapt the operation of the at least one antenna according to the location of the satellite by simply sending a set of configuration instructions to the at least one antenna.

[0020] Preferably, each ordinate in the calibration table is associated with a predetermined time interval, and the control unit is configured to adapt the position of the at least one antenna by sending the set of configuration instructions associated with the angle window within the time interval associated with the ordinate of the angle window in which the satellite is located at a given time.

[0021] This time interval allows the control unit to know when to send the set of configuration commands based on the angle window in which the satellite is located.

[0022] More preferably, the control unit is configured to periodically receive the vehicle's tilt and orientation, and for each obtained tilt and / or orientation of the vehicle, the control unit is configured to transform a portion of the satellite's orbital trajectory as seen from the vehicle by applying translation and rotation based on the obtained vehicle's orientation and tilt.

[0023] The present invention also relates to vehicles including the aforementioned satellite communication module.

[0024] The present invention also relates to a satellite communication method for a vehicle, the vehicle including the communication module described above, the method comprising the following steps: i. Obtain a set of parameters, including: the satellite's position, orbit, and velocity, and the vehicle's position, direction / orientation, and velocity. ii. Based on the obtained set of parameters, determine the portion of the satellite trajectory seen from the vehicle. iii. Based on the table, determine at least one angular window corresponding to the satellite position on a portion of the determined satellite trajectory within a given time interval. iv. Adapt the radiation of the at least one antenna to radiate in the direction of the determined at least one angular window during a corresponding given time interval.

[0025] Preferably, prior to the step of determining at least one angular window corresponding to the satellite position, the method includes the following steps: a. Determine the vehicle's radio frequency (RF) propagation environment, which defines the propagation quality of RF signals in the environment near the vehicle, in order to identify whether the vehicle is located in a congested area. b. Determine a calibration table for the at least one antenna, wherein the number of angle windows and the size of each angle window are defined according to the vehicle's propagation environment; the more congested the vehicle's environment, the fewer the number of angle windows and the larger the size of each angle window.

[0026] More preferably, the method includes a step of determining the initial position of the satellite based on the obtained satellite position and the obtained position, speed, orientation and / or tilt of the vehicle, prior to the step of determining the portion of the satellite trajectory.

[0027] The present invention also relates to a computer program product, notably comprising a set of program code instructions that, when executed by one or more processors, configure the one or more processors to perform the method as described above. Attached Figure Description

[0028] Other features and advantages of the invention will become more apparent from the following description. This description is purely illustrative and should be read with reference to the accompanying drawings, in which: Figure 1 An embodiment of a vehicle according to the present invention is shown. Figure 2 An example of a set of ordinates for the angle window visible to the vehicle according to the present invention is shown. Figure 3 An example of a set of horizontal coordinates for the angle window visible to the vehicle according to the present invention is shown. Figure 4 according to Figure 2 and Figure 3 The vertical and horizontal axes shown are a two-dimensional plan view of a set of angular windows visible from the vehicle according to the present invention. Figure 5 according to Figure 2 and Figure 3 The vertical and horizontal axes shown depict a set of angular windows visible from the vehicle according to the invention in a three-dimensional form. Figure 6 A first embodiment of an antenna installed in a vehicle according to the present invention is shown. Figure 7 A first example of a second embodiment of an antenna array installed in a vehicle according to the present invention is shown. Figure 8 A set of vehicle apparatuses according to the present invention, comprising a communication module installed in a vehicle and a control unit connected to the communication module, are shown. Figure 9 It shows according to Figure 2 and Figure 3 The vertical and horizontal axes shown indicate the portion of the satellite trajectory visible to the vehicle. Figure 10 An embodiment of the method according to the present invention is shown. Detailed Implementation

[0029] An embodiment of a communication module for vehicles, particularly motor vehicles, will now be described, which enables the vehicle to communicate with at least one satellite.

[0030] satellite At least one satellite, especially a LEO (Low Earth Orbit) satellite, is a satellite defined in a low Earth orbit. In particular, LEO satellites move at a constant speed, for example, 27,000 km / h, in an orbit defined at a constant altitude (e.g., between 500 km and 1200 km relative to the ground).

[0031] In other words, each LEO satellite moves along its own unique orbital path, which represents the trajectory that the LEO satellite follows when orbiting the Earth.

[0032] Satellites are specifically configured to transmit their positions to vehicles present within their coverage area, which represents the ground as seen by the satellite at a given time.

[0033] vehicle refer to Figure 1 The vehicle 1 according to the invention particularly includes a communication module 10 for communicating with at least one LEO satellite. The vehicle 1 particularly includes a positioning device 21, an environmental sensor 22, a speed sensor 23, at least one tilt sensor 24 of the vehicle 1, and at least one orientation sensor 25 of the vehicle 1.

[0034] Communication module Still referencing Figure 1 The communication module 10 includes at least one antenna 11 and an electronic control unit 12.

[0035] Antenna 11 The at least one antenna 11 is a directional antenna, and therefore can radiate in a specific direction to communicate with the at least one satellite. Furthermore, the at least one antenna 11 can be configured according to multiple configurations. Each configuration enables the antenna 11 to radiate along one of a predefined plurality of angular windows. In other words, each configuration enables the at least one antenna 11 to radiate in the direction of a predefined angular window. Each angular window corresponds to a region of the sky visible to the vehicle 1, and therefore corresponds to a region of the sky visible to the at least one antenna 11; each angular window is characterized by a vertical axis and an horizontal axis.

[0036] refer to Figure 2 This shows a set of ordinates X i In the example, i represents a natural number, and each ordinate X... i Defined in the vertical longitudinal plane of vehicle 1. "Vertical longitudinal plane of vehicle 1" is understood as a plane including the longitudinal axis, along which vehicle 1 extends and which is parallel to the vertical line. Specifically, each longitudinal coordinate X... i The vertical plane is specific to the ordinate X. iThe corner sectors. Each corner sector extends from vehicle 1 towards the sky. It corresponds to each vertical coordinate X. i The angular sectors can be defined by the same angle value or by different angle values. (X-axis) i The quantity is changeable.

[0037] For example, the set of ordinates X i The number is 9, in other words, the subscript "i" is a natural number from 1 to 9.

[0038] Similarly, refer to Figure 3 This shows a set of horizontal coordinates Y i In the example, i represents a natural number, and each x-coordinate Y... i Defined in the vertical transverse plane of vehicle 1. "Vertical transverse plane of vehicle 1" is understood as a plane including the transverse axis of vehicle 1, which is defined as an axis perpendicular to the longitudinal axis and parallel to the ground, and the plane is also parallel to the vertical line. Specifically, each transverse coordinate Y... i The vertical horizontal plane is specific to the horizontal coordinate Y. i The corner sectors. Each corner sector extends from vehicle 1 towards the sky. It corresponds to each horizontal coordinate Y. i The angular sector can be defined by the same angle value or not by different angle values. (x-coordinate Y) i The quantity is changeable.

[0039] For example, the number of horizontal coordinates in this set is 9; in other words, the subscript "i" is a natural number from 1 to 9.

[0040] refer to Figure 4 This shows an example of a two-dimensional plan view of all the angled windows; in other words, it shows the area of ​​sky visible from vehicle 1, which is based on the vertical axis X. i and the x-coordinate Y i Defined. In other words, Figure 4 A top or bottom view of the horizontal cross-section of all the angular windows is shown. This horizontal cross-section is specifically defined at the altitude at which the at least one LEO satellite is moving along its orbital trajectory. In particular, each angular window (in other words, each angular region visible from vehicle 1) has a convex quadrilateral cross-section. For example, each angular window has a generally rectangular cross-section.

[0041] According to another embodiment, each angular window has a generally hexagonal cross-section.

[0042] Each angle window is associated with a set of configuration instructions. When the set of configuration instructions associated with a given angle window is applied to the at least one antenna 11, it enables the at least one antenna 11 to radiate along the given angle window, in other words, to radiate in the direction of the angle window.

[0043] Therefore, the at least one antenna 11 can be configured in particular according to a configuration based on a set of configuration instructions received by the at least one antenna 11. In other words, when the at least one antenna 11 receives a set of configuration instructions, the at least one antenna 11 executes the received instructions.

[0044] refer to Figure 5 According to the vertical coordinate X i and the x-coordinate Y i A set of sky regions visible from vehicle 1 is shown in three dimensions; in other words, a set of angular windows.

[0045] According to a first embodiment of the at least one antenna 11, the communication module 10 includes a single antenna 11.

[0046] For example, refer to Figure 6 Each antenna 11 is associated with at least one passive element. Each passive element is, for example, a metamaterial 110, which is defined as a composite material having electromagnetic properties.

[0047] When the metamaterial 110 is powered, it is thus called "active" and emits electromagnetic radiation. The power supply to each metamaterial 110 can be controlled independently. Therefore, the radiation direction of the antenna 11 is the result of the combination of the radiation emitted by the antenna 11 itself and the electromagnetic radiation emitted by at least one powered metamaterial 110.

[0048] The effect of each metamaterial 110 on the radiation direction of the antenna 11 is known. Therefore, in order for the antenna 11 to radiate in a given radiation direction, at least one metamaterial 110 can be activated such that the antenna 11 can radiate in that given direction.

[0049] In this example, the set of configuration instructions for antenna 11 includes combinations of active or inactive states, each state being associated with a metamaterial 110.

[0050] According to a second embodiment of the at least one antenna 11, the communication module 10 includes an antenna array 11.

[0051] refer to Figure 7 According to the first example, antenna array 11 is a directional antenna array, and therefore capable of radiating in a specific direction. Each antenna 11 is connected to amplifier 11-A and phase shifter 11-B. Each combination including antenna 11, amplifier 11-A connected to said antenna 11, and phase shifter 11-B constitutes an active element.

[0052] The radiation direction of antenna array 11 is defined by the combination of radiation from each active element. Therefore, by changing the phase of each active element through phase shifter 11-B and changing the amplitude of each active element through amplifier 11-A, the radiation of each antenna 11 can be changed, thereby changing the radiation direction of antenna array 11.

[0053] In this example, the set of configuration instructions associated with each angle window is defined by a combination of phase and amplitude values, each combination of phase and amplitude values ​​being associated with an active element of the antenna array 11.

[0054] According to the second example, the antenna array 11 includes a plurality of antennas 11 that are independent of each other. Each antenna 11 in the antenna array 11 radiates along an angular window, in other words, radiates along a specific radiation direction of that antenna 11. Therefore, in order to radiate along a given angular window, it is necessary to activate the antenna 11 that radiates along the angular window (in other words, to power that antenna 11) and deactivate all other antennas 11 in the plurality of antennas 11.

[0055] Here, the set of configuration instructions associated with each angle window is defined by a combination of active or inactive states, each state being associated with one antenna 11 of the antenna array 11.

[0056] Control Unit 12 refer to Figure 8 The control unit 12 is electrically connected to the at least one antenna 11. In addition, the control unit 12 is connected in particular to at least one positioning device 21, at least one environmental sensor 22, vehicle speed sensor 23, at least one tilt sensor 24 of vehicle 1, and at least one orientation sensor 25 of vehicle 1.

[0057] At least one positioning device 21 is configured to determine the geographical location of vehicle 1. The at least one positioning device 21 is preferably a satellite positioning device, such as a GPS (Global Positioning System) system known to those skilled in the art, or a GNSS (Satellite Geolocation and Navigation System) receiver also known to those skilled in the art. The at least one positioning device 21 is also configured to transmit the determined geographical location of vehicle 1 to control unit 12.

[0058] At least one environmental sensor 22 enables the measurement of at least one environmental parameter.

[0059] This at least one environmental parameter enables the control unit 12 to define the environment near the vehicle 1, and more specifically, to define the congestion level of the environment of the vehicle 1. An environment near the vehicle that includes a large number of vertical elements, such as vegetation, buildings, etc., is called a "congested" environment. For example, a congested environment corresponds to an urban environment or a rural environment that includes forests or numerous undulating terrains. The opposite environment is called an "open environment."

[0060] At least one environmental sensor 22 may be configured, for example, to determine the radio frequency propagation environment of the vehicle based on spectral analysis of the signal received by the at least one antenna 11. Thus, at least one environmental sensor 22 defines the propagation quality of the radio frequency signal in the environment near the vehicle 1.

[0061] At least one environmental sensor 22 is also configured to send at least one measured environmental parameter to the control unit 12.

[0062] The speed sensor 23 of vehicle 1 is configured to measure the speed of vehicle 1 and send the measured speed value to the control unit 12.

[0063] At least one tilt sensor 24 installed in vehicle 1 enables the measurement (especially periodic measurement) of the so-called "roll" motion of vehicle 1, which is defined as the rotational motion of vehicle 1 about its longitudinal axis (referred to as the "roll axis"). Roll motion is generated, in particular, by road deformation or centrifugal force when vehicle 1 is traveling on a curve. Furthermore, at least one tilt sensor 24 is configured to send each measurement of the roll motion to control unit 12.

[0064] At least one tilt sensor 24 also enables the measurement (especially periodic measurement) of the so-called “pitch” motion of vehicle 1, which is defined as the rotational motion of vehicle 1 about its lateral axis (referred to as the “pitch axis”). Pitch motion specifically refers to the motion of vehicle 1 when it is traveling on an undulating road. Furthermore, at least one tilt sensor 24 is configured to send each measurement of pitch motion to control unit 12.

[0065] According to another example, vehicle 1 may obviously include a first tilt sensor configured to measure roll motion and a second tilt sensor configured to measure pitch motion.

[0066] At least one orientation sensor 25 of vehicle 1 enables the measurement (especially periodic measurement) of the so-called "tilt" motion of vehicle 1, which is defined as the rotational motion of the vehicle about a vertical axis of vehicle 1 (referred to as the "tilt axis"). The tilt motion specifically indicates the direction of movement of vehicle 1. Furthermore, at least one orientation sensor 25 is configured to send each measurement of the tilt motion to control unit 12.

[0067] Still referencing Figure 8 The control unit 12 includes a storage area MEM. The storage area MEM records the following information: a set of velocity values ​​for LEO satellites, a set of orbital trajectories for LEO satellites, a conversion table, and a set of congestion levels.

[0068] Each speed value in this set is associated with an identifier.

[0069] Each track in this group is associated with an identifier.

[0070] The “transformation” table includes a set of parameters representing the effect of the orientation and / or tilt of vehicle 1 relative to the satellite’s orbital trajectory. In other words, the transformation table makes it possible to transform the satellite’s orbital trajectory as seen from vehicle 1 in a manner known per se by applying translation and rotation according to the orientation and tilt of vehicle 1.

[0071] This set of congestion levels defines the congestion of the environment in which vehicle 1 is located. In other words, the congestion levels define the radio frequency propagation environment of vehicle 1. For example, this set of levels includes level n. i Let i be a natural number between 1 and N, and N be a natural number greater than or equal to 2. For example, level n i The larger the subscript i, the more related it is to the level n. i The more crowded the related environment, the better. In another example, level n i The smaller the subscript i, the closer it is to the level n. i The more crowded the environment becomes.

[0072] The control unit 12 is configured to receive the geographical location of the vehicle 1 determined and transmitted by at least one positioning device 21 and / or at least one parameter measured by an environmental sensor 22.

[0073] In a first embodiment of the control unit 12, the storage area MEM of the control unit 12 contains a predetermined calibration table of the at least one antenna 11.

[0074] The calibration table consists of multiple columns and multiple rows. Each row can be represented by a vertical axis X. i Identifier. Each column can be represented by a horizontal axis Y. i Identification. The intersection of each row and column is a cell in the calibration table, indicating an angle window. Each angle window is characterized by its unique width and length. The length indicates the dimension of the angle window's cross-section along the longitudinal axis of vehicle 1. The width indicates the dimension of the angle window's cross-section along the transverse axis of vehicle 1.

[0075] Therefore, the calibration table represents the sky view as seen from vehicle 1, and especially... Figure 4 The image shows a two-dimensional plan view of a set of angled windows.

[0076] Furthermore, it shares the same y-coordinate X with each cell in the same row (in other words, has the same y-coordinate X). i The sum of the lengths associated with each cell in the same column (in other words, cells with the same x-coordinate Y) equals the total length visible to the at least one antenna 11. i The sum of the widths associated with the grid (the grid) is equal to the total width that the at least one antenna 11 can see.

[0077] Furthermore, each angle window is associated with a set of configuration instructions. Each set of instructions may be predetermined and recorded in the memory area MEM, or it may be determined by the control unit 12.

[0078] In a second embodiment of the control unit 12, the control unit 12 is configured to determine the radio frequency propagation environment of the vehicle 1, defining the propagation quality of radio frequency signals in the environment near the vehicle 1 in order to identify whether the vehicle 1 is located in a congested area.

[0079] For this purpose, the control unit 12 is configured to receive geographical location sent by the positioning device 21 and / or at least one environmental parameter sent by the environmental sensor 22.

[0080] Control unit 12 is configured to select a congestion level n adapted to the environment of vehicle 1 from a set of environmental levels recorded in storage area MEM. i To determine the congestion level n of the environment of vehicle 1 based on the received geographic location or based on at least one received environmental parameter. i .

[0081] More specifically, based on geographical location, the control unit 12 is configured to determine whether the vehicle 1 is located in an urban area. Based on at least one environmental parameter, the control unit 12 is configured to determine whether obstacles, such as vegetation, undulations, or buildings, exist in the environment of the vehicle 1. The presence of urban areas and obstacles corresponds to a congested environment.

[0082] In the second embodiment of the control unit 12, the control unit 12 is further configured to base its operation on the determined congestion level n. i To determine the calibration table of the at least one antenna 11.

[0083] The number of angled windows and the size of each angled window are defined based on the environment of vehicle 1, and more precisely, based on the determined congestion level n. i Defined.

[0084] The more crowded the propagation environment, the fewer the number of angle windows, and the larger the size of each angle window.

[0085] Furthermore, the control unit 12 is configured to determine a set of configuration instructions for each angle window of the determined calibration table, and associate the determined set of configuration instructions with the corresponding angle window.

[0086] The calibration table thus determined by the control unit 12 is recorded in the storage area MEM of the control unit 12. Similarly, each set of configuration instructions determined and associated with the angle window is also recorded in the storage area MEM of the control unit 12.

[0087] The control unit 12 is configured to obtain a set of parameters, including the position of a satellite visible to the vehicle 1 (associated with an identifier of the satellite), the speed of the satellite, the geographic location and speed of the vehicle 1, and the orientation and / or tilt of the vehicle 1.

[0088] More precisely, when a satellite is located within an angular window, and therefore within an area visible to the vehicle 1, the control unit 12 obtains the satellite's position by receiving the satellite's position. The satellite's position may be pre-transmitted by the satellite itself, by another satellite, or by other structures, such as a fixed ground station that is always aware of the position of each satellite.

[0089] The control unit 12 is configured to obtain the satellite's velocity by receiving the satellite velocity value transmitted by the satellite itself or a fixed ground station, or by selecting the velocity value corresponding to an identifier associated with the received satellite position from a set of velocity values ​​recorded in the storage area MEM.

[0090] The control unit 12 obtains the vehicle's geographical location by receiving the geographical location determined and transmitted by at least one positioning device 21. The control unit 12 obtains the vehicle 1's speed by receiving the speed value measured and transmitted by the vehicle 1's speed sensor 23.

[0091] The control unit 12 obtains the tilt angle of the vehicle 1 based on each received measurement of the pitch motion and each measurement of the roll motion. For recap, each measurement of the roll motion and each measurement of the pitch motion are transmitted (especially periodically) by at least one tilt sensor 24 of the vehicle 1.

[0092] The control unit 12 obtains the orientation of the vehicle 1 based on the measurement value of each received yaw motion. For recap, each measurement value of the yaw motion is sent by at least one orientation sensor 25 of the vehicle 1 (especially sent periodically).

[0093] The control unit 12 is configured to obtain the satellite's orbital trajectory based on an identifier associated with the received satellite position transmitted by a satellite or fixed ground station and a set of orbital trajectories recorded in a storage area MEM. According to this embodiment, the control unit 12 selects the trajectory corresponding to the received identifier from the storage area MEM.

[0094] As another example, the control unit 12 is configured to identify the satellite's orbital trajectory by directly receiving the satellite's orbital trajectory transmitted by a ground station or the satellite itself.

[0095] The control unit 12 is configured to associate a time interval with the angle window based on the length of each angle window recorded in the calibration table in the storage area MEM.

[0096] More precisely, for each angular window, the control unit 12 determines the duration by multiplying the obtained satellite velocity by the length of the angular window. The obtained duration corresponds to that time interval.

[0097] According to another example, the control unit 12 is configured to associate the time interval with each angle window recorded in the calibration table in the storage area MEM by multiplying the obtained satellite velocity by the width of the angle window for each angle window.

[0098] Control unit 12 is configured to determine the initial position of the satellite relative to vehicle 1 based on the received satellite position, the obtained position of vehicle 1, the speed of vehicle 1, and the orientation and tilt of vehicle 1. More specifically, control unit 12 is configured to determine the initial position of the satellite relative to vehicle 1 based on the ordinate X in the calibration table recorded in storage area MEM. i and the x-coordinate Y i To define the initial position of the satellite.

[0099] The control unit 12 is also configured to associate the satellite’s initial position with its initial time.

[0100] For example, refer to Figure 9 It shows that according to Figure 4 The vertical axis X of the plan view of all angled windows shown. i and the x-coordinate Y i The initial position P of the determined satellite i .

[0101] The control unit 12 is also configured to determine the portion of the satellite's trajectory seen by vehicle 1 based on the determined initial position of the satellite, the obtained orbital trajectory of the satellite, and the obtained orientation and tilt of vehicle 1. More specifically, the control unit 12 is configured to determine the portion of the satellite's trajectory seen by vehicle 1 based on the vertical coordinate X recorded in the calibration table in the storage area MEM. i and the x-coordinate Yi To define the portion of the satellite's trajectory that the vehicle sees.

[0102] refer to Figure 9 It shows that according to Figure 4 The vertical axis X of the plan view of all angled windows shown. i and the x-coordinate Y i Part T of the determined satellite orbit s .

[0103] Furthermore, if vehicle 1 is going through a curve, or if vehicle 1 is traveling on a winding, undulating road, the orientation and tilt of vehicle 1 will change, which will also change the portion of the satellite trajectory that vehicle 1 can see. Therefore, control unit 12 is also configured to update the determined portion of the satellite trajectory seen by vehicle 1.

[0104] Therefore, since the control unit 12 periodically receives measurements of the yaw motion, roll motion, and pitch motion, it periodically obtains the orientation and tilt of the vehicle 1. More specifically, when the control unit 12 obtains the orientation and tilt, it is configured to transform a portion of the determined satellite orbit trajectory seen from the vehicle based on the orientation and tilt of the vehicle 1 obtained by using a conversion table recorded in the storage area MEM.

[0105] The conversion table enables the control unit 12 to know what type of translation and / or rotation to apply to the determined portion of the track trajectory to be converted.

[0106] According to another embodiment, the control unit 12 is configured to determine for itself what type of translation and / or rotation to apply to the determined track trajectory portion in order to update the determined track trajectory portion.

[0107] The control unit 12 is also configured to determine at least one angle window based on a calibration table recorded in the storage area MEM, the at least one angle window corresponding to the position of the satellite on the determined portion of the satellite orbit trajectory within a given time interval.

[0108] In other words, the control unit 12 is configured to determine at least one angle window from a calibration table that includes at least one position of the determined portion of the satellite orbit trajectory.

[0109] For example, refer to Figure 9 The determined angular window, including at least one position of the determined satellite trajectory portion, is marked with a shading line and corresponds to the following coordinates: (X8; Y5), (X9; Y5), (X5; Y4), (X6; Y4), and (X7; Y4).

[0110] Furthermore, the control unit 12 is configured to sort the determined set of angle windows according to the order in which the satellite passes through each angle window within the determined set of angle windows. For example, according to Figure 9 In the example shown, the control unit 12 is configured to sort the angle windows in the following order: (X5; Y4), (X6; Y4), (X7; Y4), (X8; Y5), and (X9; Y5).

[0111] Therefore, the first angle window corresponds to the satellite's initial position P. i The corresponding angle window, in other words, the angle window corresponding to coordinates (X5; Y4). The second angle window corresponds to the angle window the satellite passes through after leaving the first angle window, therefore, this corresponds to the angle window at coordinates (X6; Y4), and so on.

[0112] The control unit 12 is also configured to adapt the radiation of the at least one antenna 11 to radiate in the direction of the at least one determined angle window during a corresponding given time interval.

[0113] In other words, the control unit 12 is configured to operate the at least one antenna 11 by transmitting (in other words, sending) at least one set of configuration commands to the at least one antenna 11.

[0114] At a given moment, the set of configuration instructions to be sent corresponds to the set of configuration instructions associated with an angle window, which corresponds to the satellite's position on the determined portion of its orbital trajectory at that given moment. This angle window is located at the ordinate X... i or x-axis Y i The set of configuration instructions is sent at the associated time interval.

[0115] For example, at the determined initial position P i At the associated initial moment, the control unit 12 is configured to send the set of configuration commands associated with the first angle window to the at least one antenna 11. Furthermore, the control unit 12 is configured to [operate at] the vertical coordinate X of the first angle window. i or x-axis Y i The set of configuration instructions is sent at the associated time interval.

[0116] Similarly, the control unit 12 is configured to be in the vertical coordinate X of the second angle window. i or x-axis Y i The set of configuration instructions for the second window is sent to the at least one antenna 11 at the associated time interval, and so on.

[0117] The control unit 12 includes a processor capable of implementing a set of instructions that enable these functions.

[0118] Control unit 12 is also configured to determine the moment when the LEO satellite can no longer be seen. Furthermore, control unit 12 is configured to determine whether the second satellite can be seen by obtaining its position. Therefore, when the first satellite can no longer be seen, control unit 12 is configured to reproduce all the aforementioned actions for the second satellite.

[0119] In other words, when the satellite is no longer visible, the control unit 12 ensures that the communication link between the communication module 10 and the visible second satellite remains uninterrupted, and so on. Therefore, the control unit 12 enables the establishment of a continuous communication link between the vehicle 1's communication module 10 and the satellite.

[0120] method refer to Figure 10 An embodiment of the method according to the invention, implemented by the communication module 10 as described above, will now be described.

[0121] In a first embodiment of the method, the method is implemented by a first embodiment of the control unit 12, wherein the calibration table is predetermined and recorded in the storage area of ​​the control unit 12.

[0122] In a second embodiment of the method, the method includes step E0 of determining the radio frequency propagation environment of vehicle 1, the radio frequency propagation environment defining the propagation quality of radio frequency signals in the environment near the vehicle in order to identify whether vehicle 1 is located in a congested area.

[0123] During this step, the control unit 12 receives the geographical location of the vehicle 1 sent by the positioning device 21 and at least one environmental parameter sent by at least one environmental sensor 22.

[0124] The geographical location enables the control unit 12 to determine whether the vehicle 1 is located in an urban area, and thus whether the vehicle 1 is located in a congested area. This at least one environmental parameter enables the control unit 12 to determine whether there are obstacles in the environment near the vehicle 1. If an obstacle is determined to be present, the environment near the vehicle 1 is also defined as a "congested environment".

[0125] Therefore, the control unit 12 selects a congestion level n that is adapted to the environment of the vehicle 1 from a set of environmental levels recorded in the storage area MEM. i To determine the congestion level n of the environment for vehicle 1. i .

[0126] In a second embodiment of the method, the method includes based on the congestion level n i The steps to determine the calibration table are E0'.

[0127] The number of angle windows and the size of each angle window are defined based on the propagation environment of vehicle 1.

[0128] Furthermore, the size of each angular window is proportional to the congestion level of the radio frequency propagation environment of the determined vehicle 1.

[0129] For example, when the congestion level n i At low altitudes, in other words, when the environment is open, the calibration table includes a large number of relatively small angular windows distributed across the total length and width visible to the at least one antenna 11.

[0130] As another example, when the crowding level n i At high levels, the calibration table comprises a small number of relatively large angular windows distributed across the total length and width visible to the at least one antenna 11. In particular, when the congestion level n... i At very high speeds, the calibration table can include a single angle window.

[0131] Furthermore, during step E0' of determining the calibration table, the control unit 12 determines a set of configuration instructions for the at least one antenna 11 for each angle window in the calibration table. Additionally, the control unit 12 associates each determined set of configuration instructions with a corresponding angle window.

[0132] Finally, the calibration table thus determined and the set of configuration instructions associated with each angle window are recorded in the memory area MEM.

[0133] For a given satellite, the method then includes step E1, whereby the satellite itself transmits the satellite's position associated with its identifier. In practice, as LEO satellites move in their orbits, they periodically transmit their positions over their coverage areas.

[0134] In another embodiment, the satellite's location may be pre-sent by another satellite or ground station.

[0135] The method then includes the step of having at least one antenna 11 in each vehicle 1 located within the satellite coverage area receive the transmitted satellite location.

[0136] For a vehicle 1 whose at least one antenna 11 has received a satellite position, the method then includes step E3 of transmitting the received satellite position to a control unit 12 of the vehicle 1.

[0137] Then, the method includes step E4 whereby the control unit 12 obtains a set of parameters, including the position of the LEO satellite, the speed of the LEO satellite, and the position, orientation and / or facing, and speed of the vehicle 1.

[0138] More precisely, the control unit 12 receives the satellite's position via the at least one antenna 11.

[0139] The control unit 12 obtains the satellite's velocity by receiving the velocity value of the LEO satellite transmitted by the satellite itself or the ground station, or by selecting the velocity value corresponding to an identifier associated with the received satellite position from a set of velocity values ​​recorded in the storage area MEM.

[0140] The control unit 12 receives the geographical location of vehicle 1 determined and transmitted by the positioning device 21. The control unit 12 receives the speed value of vehicle 1 measured and transmitted by the speed sensor 23 of vehicle 1.

[0141] The control unit 12 obtains the tilt angle of the vehicle 1 based on each received measurement of the pitch motion and each received measurement of the roll motion. The control unit 12 obtains the orientation of the vehicle 1 based on each received measurement of the yaw motion.

[0142] After obtaining this set of parameters, the method includes the step of obtaining the satellite's orbital trajectory, during which the control unit 12 identifies the satellite's orbital trajectory based on an identifier associated with the received satellite position. More specifically, the control unit 12 is configured to select the orbital trajectory associated with the identifier recorded in the storage area MEM.

[0143] In another embodiment of the step of obtaining the orbital trajectory, the control unit 12 receives the orbital trajectory of the satellite directly transmitted by the ground station.

[0144] The method then includes step E5, which associates the time interval with each angular window.

[0145] According to the first embodiment, for each angle window, the control unit 12 determines the duration by multiplying the obtained satellite velocity recorded in the storage area MEM by the length of the angle window. The obtained duration corresponds to the time interval.

[0146] The satellite's speed can also be transmitted from a ground station.

[0147] After obtaining this set of parameters, or after the association step E5, the method further includes step E6, which determines the initial position of the satellite relative to vehicle 1 based on the received satellite position and the received position, speed, orientation, and / or tilt of vehicle 1. During this step, the initial position of the satellite is determined according to the ordinate X in the calibration table recorded in the storage area. i and the x-coordinate Y i Defined.

[0148] During the determination step E6, the initial position is associated with the initial time.

[0149] Then, the method includes based on the determined initial position P of the satellite. i Step E7 involves determining the portion of the satellite trajectory seen by vehicle 1 based on the satellite trajectories recorded in the storage area MEM. During this step, the portion of the satellite trajectory seen by the vehicle is therefore determined based on the ordinate X in the calibration table recorded in the storage area MEM. i and the x-coordinate Y i Defined.

[0150] Furthermore, the method subsequently includes at least one step E7' of updating the determined satellite orbit portion. In practice, the control unit 12 periodically receives measurements of the yaw motion, roll motion, and pitch motion. Therefore, the control unit 12 periodically obtains the tilt and orientation of the vehicle 1. This allows the control unit 12 to transform the determined satellite orbit portion based on the obtained vehicle 1's orientation and tilt, and a conversion table.

[0151] The method then includes step E8 of determining at least one angular window corresponding to the satellite position on the determined satellite orbit portion within a given time interval, based on a calibration table recorded in the storage area MEM. Furthermore, once the set of angular windows, including at least one position of the satellite trajectory seen by the vehicle, is determined, the control unit 12 sorts the set of angular windows according to the order in which the satellite passes through each angular window in the determined set of angular windows.

[0152] Furthermore, if the determined portion of the satellite trajectory has been updated, the method includes another step of determining at least one angular window corresponding to the satellite position on that portion of the satellite trajectory.

[0153] Once at least one angle window is determined, the method includes step E9 of adapting the radiation of the at least one antenna 11. Specifically, here the control unit 12 adjusts the ordinate X of the first angle window... i or x-axis Y i The at least one antenna 11 is sent a set of configuration commands associated with the first angular window through which the satellite passes at the associated time interval. Therefore, the at least one antenna 11 radiates within the first angular window.

[0154] The control unit 12 then performs the same operation on each sorted angle window. When the time interval associated with the first angle window ends, the control unit 12 measures the time relative to the ordinate X of the second angle window. i or x-axis Y i The set of configuration commands associated with the second angular window traversed by the satellite's position are transmitted over the associated time interval to adapt the radiation of the at least one antenna 11. Thus, the at least one antenna 11 radiates within the second angular window.

[0155] Once the control unit 12 has sent the set of configuration instructions for each specific window, it means that the satellite will no longer be visible.

[0156] Therefore, when the satellite is no longer visible, especially after the at least one antenna 11 receives the position of a second satellite moving in one of the sky areas visible to the vehicle 1, the method is repeated. Thus, this method ensures that the communication link between the communication module 10 and the visible second satellite, etc., is maintained without interruption.

[0157] Therefore, the control unit 12 of the communication module 10 and the method enable the at least one antenna 11 to radiate within the angular window where the satellite is located, thereby ensuring a reliable communication channel between the communication module 10 and the satellite. Then, the method and control unit 12 ensure an uninterrupted communication channel between the communication module 10 and the second satellite, etc.

Claims

1. A satellite communication module (10) for a vehicle (1), the communication module (10) comprising an electronic control unit (12) and at least one antenna (11) capable of communicating with a plurality of satellites, the plurality of satellites being characterized by predefined orbital trajectories and predefined identical speeds: a) The at least one antenna (11) can be configured according to a plurality of configurations, each configuration such that the at least one antenna (11) can radiate along one of a plurality of predefined angular windows, each angular window corresponding to the ordinate (X) i ) and x-axis (Y) i ) represents a region of the sky. b) The control unit (12) includes a memory area (MEM) containing a calibration table of the at least one antenna (11), the calibration table representing a sky view as seen from the vehicle (1) and including multiple columns and multiple rows, each row being traversable by a vertical axis (X). i Each column can be identified by a horizontal axis (Y). i The intersection of each row and each column is a cell in the calibration table, marking an angle window. The control circuit (12) is configured as follows: i) Obtain a set of parameters, which includes: The satellite's position, orbital trajectory, and velocity, and the vehicle's (1) position, tilt, and / or orientation and velocity, ii) Based on the obtained set of parameters, determine the portion of the satellite trajectory seen from the vehicle (1), iii) Based on the calibration table, determine at least one angular window corresponding to the satellite position on the determined trajectory portion within a given time interval. iv) Adapt the radiation of the at least one antenna (11) to radiate in the direction of the determined at least one angle window during the corresponding given time interval.

2. The communication module (10) according to claim 1, wherein, The control unit (12) is configured to: i) Determine the radio frequency propagation environment of the vehicle (1), which defines the propagation quality of radio frequency signals in the environment near the vehicle (1) in order to identify whether the vehicle (1) is located in a congested area. ii) Determine the calibration table of the at least one antenna (11), wherein the number of angle windows and the size of each angle window are defined according to the propagation environment of the vehicle (1), and the more crowded the environment of the vehicle (1), the fewer the number of angle windows and the larger the size of each angle window.

3. The communication module according to claim 1, wherein, The control unit (12) is configured to determine the longitudinal coordinate (X) according to the calibration table based on the obtained satellite position and the obtained position, speed, orientation and / or tilt of the vehicle (1). i ) and x-axis (Y) i The initial position of the satellite (P) i ), in order to determine the portion of the satellite trajectory seen by the vehicle (1).

4. The communication module (10) according to any one of claims 1 to 3, wherein, Each angle window of the calibration table is associated with a set of configuration instructions applied to a given angle window of the at least one antenna (11) such that the at least one antenna (11) is able to radiate in the given angle window. The control unit (12) is configured to adapt the at least one antenna (11) to radiate in the direction of the determined angle window by sending the set of configuration instructions associated with the determined angle window to the at least one antenna (11).

5. The communication module (10) according to claim 4, wherein, Each ordinate (X) in the calibration table i Associated with a predetermined time interval, the control unit (12) is configured to communicate via the ordinate (X) of the angular window in which the satellite is located at a given time. i Within the associated time interval, the set of configuration instructions associated with the angle window are sent to adapt to the position of the at least one antenna (11).

6. The communication module (10) according to any one of claims 1 to 3, wherein, The control unit (12) is configured to periodically receive the tilt and orientation of the vehicle (1), and for each tilt and / or orientation of the vehicle (1) obtained, the control unit (12) is configured to transform a portion of the orbital trajectory of the satellite seen from the vehicle (1) by applying translation and rotation according to the obtained orientation and tilt of the vehicle (1).

7. A vehicle (1) comprising a satellite communication module (10) according to any one of claims 1 to 6.

8. A satellite communication method for a vehicle (1), the vehicle (1) comprising a communication module (10) according to any one of claims 1 to 6, the method comprising the steps of: i) Obtain a set of parameters (E4) including: the satellite's position, orbital trajectory, and velocity, and the vehicle's (1) position, tilt, and / or orientation and velocity. ii) Based on the obtained set of parameters, determine (E7) the portion of the satellite trajectory seen from the vehicle (1), iii) Based on the calibration table, determine (E8) at least one angular window corresponding to the satellite position on the determined trajectory portion within a given time interval. iv) Adapt (E9) the radiation of the at least one antenna (11) so that it radiates in the direction of the determined at least one angle window during the corresponding given time interval.

9. The method of claim 8, prior to the step of determining (E8) at least one angular window corresponding to the satellite position, the method comprises the following steps: i) Determine the radio frequency propagation environment of vehicle (1) (E0), the radio frequency propagation environment defining the propagation quality of radio frequency signals in the environment near vehicle (1) in order to identify whether vehicle (1) is located in a congested area, ii) Determine (E0') the calibration table of the at least one antenna (11), wherein the number of angle windows and the size of each angle window are defined according to the propagation environment of the vehicle (1), and the more crowded the environment of the vehicle (1), the fewer the number of angle windows and the larger the size of each angle window.

10. A computer program product, characterized in that, It includes a set of program code instructions that, when executed by one or more processors, configure the one or more processors to implement the method according to any one of claims 8 to 9.

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