Wave position division method, beam scanning method, device and electronic equipment

Abstract

The present application provides a wave position division method, a beam scanning method, a device and an electronic device, and relates to the field of communication technology. The wave position division method obtains the angle information of multiple wave positions within the coverage of the satellite relative to the satellite, and the angle information is determined in a coordinate system constructed based on the flight direction of the satellite, so that the angle information of each wave position under the satellite flight perspective can be obtained, and then the wave position can be converted to a two-dimensional coordinate in a two-dimensional coordinate system according to the angle information, so that the wave position can be converted to a two-dimensional coordinate under the satellite flight perspective, so that the wave position on the sphere can be converted to a plane for division, so as to facilitate the uniform division of the wave position on the plane, and then reduce the interference between beams.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a beam division method, a beam scanning method, a device and an electronic device. Background Art

[0002] Low-orbit satellite systems generally refer to large satellite systems composed of multiple satellites that can perform real-time information processing. The distribution of satellites is called a satellite constellation. Low-orbit satellites can be used for mobile phone communications. The low orbit height of the satellites makes the transmission delay short and the path loss small. A communication system composed of multiple satellites can achieve true global coverage, and frequency reuse is more effective. Cellular communications, multiple access, multi-beam, frequency reuse and other technologies also provide technical support for low-orbit satellite mobile communications.

[0003] Low-orbit satellites cover a large area on the ground. Although a single wide beam can fully cover it, it will cause the antenna gain to decrease. In order to offset the large link loss of the satellite link, higher-gain antennas and RF devices are required, resulting in increased power consumption and cost. Therefore, in the current method, the beam is divided into multiple beam sets, each of which may include multiple beams. In the current communication method, a beam is usually used to scan the beams in a beam set to achieve the purpose of fully covering the ground beams or terminals.

[0004] The prior art divides the wave position set covered by the satellite according to the longitude and latitude of the provided wave position. The longitude and latitude represent a spherical coordinate, and the sphere is an arc surface. In this case, it is difficult to divide the wave position directly based on the longitude and latitude of the wave position. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a wave position division method, a beam scanning method, a device and an electronic device, so as to improve the problem that the existing wave position division method is uneven and causes large interference between beams.

[0006] In a first aspect, an embodiment of the present application provides a wave position division method, the method comprising:

[0007] Obtain ground position information of multiple wave positions within the satellite coverage area;

[0008] Determine, according to the ground position information of each wave position, the angle information of each wave position relative to the satellite, wherein the angle information is determined in a coordinate system constructed based on the flight direction of the satellite;

[0009] According to the angle information, each wave position is converted into a two-dimensional coordinate in a two-dimensional coordinate system;

[0010] The multiple beam positions are divided into beam position sets according to the two-dimensional coordinates, wherein each beam position set corresponds to a scanning beam of the satellite.

[0011] In the above implementation process, by obtaining the angle information of multiple wave positions within the satellite coverage area relative to the satellite, the angle information is determined in a coordinate system constructed based on the flight direction of the satellite. In this way, the angle information of each wave position under the satellite flight perspective can be obtained, and then the wave position can be converted into a two-dimensional coordinate in a two-dimensional coordinate system according to the angle information. In this way, the wave position can be converted into a two-dimensional coordinate under the satellite flight perspective, so that the wave position on the sphere can be converted to a plane for division, which is convenient for dividing the wave position on the plane and can improve the convenience of wave position division.

[0012] Optionally, determining angle information of each wave position relative to the satellite according to ground position information of each wave position includes:

[0013] Constructing a coordinate system with the satellite as the origin and the flight direction of the satellite as the X-axis;

[0014] According to the ground position information of each wave position, the azimuth and off-axis angle of each wave position relative to the satellite in the coordinate system are calculated, and the angle information includes the azimuth and the off-axis angle.

[0015] In the above implementation process, the coordinate system is constructed by considering the flight direction of the satellite, and then the ground position information of the wave position is converted into the azimuth and off-axis angle in the satellite coordinate system, so that the two-dimensional coordinate conversion of the wave position can be realized according to the angle, which is convenient for the satellite to divide the wave position in the two-dimensional plane coordinate.

[0016] Optionally, calculating the azimuth and off-axis angle of each wave position relative to the satellite in the coordinate system according to the ground position of each wave position includes:

[0017] Determine, according to the ground position information of each wave position and the position information of the satellite, a first projection component on the X-axis and a second projection component on the Y-axis of a line connecting each wave position and the satellite in the coordinate system;

[0018] Calculate the azimuth of each wave position relative to the satellite using an inverse tangent function according to the first projection component and the second projection component;

[0019] Determine, according to the ground position information of each wave position and the position information of the satellite, a third projection component of the line connecting each wave position and the satellite on the Z axis in the coordinate system;

[0020] The off-axis angle of each wave position relative to the satellite is calculated using an arc cosine function according to the third projection component and the distance between each wave position and the satellite.

[0021] In the above implementation process, by obtaining the projection vector of the line between the wave position and the satellite on each axis of the coordinate system, the angle information of each wave position relative to the satellite can be accurately calculated.

[0022] Optionally, the coordinate system is an orbital coordinate system, and / or the two-dimensional coordinate system is a UV coordinate system. The orbital coordinate system is established based on the flight direction of the satellite, so it can accurately describe the position of the satellite in space, so that the angle information of the wave position relative to the satellite can be calculated more accurately. The two-dimensional coordinate system is a UV coordinate system, which can facilitate the conversion of angle information into two-dimensional coordinates.

[0023] Optionally, dividing the plurality of wave positions into wave position sets according to the two-dimensional coordinates includes:

[0024] Determine the number M of the beam position sets according to the number of beams of the satellite;

[0025] According to the two-dimensional coordinates and the quantity M, the multiple wave positions are divided into M wave position sets.

[0026] In the above implementation process, the number of beam position sets is determined according to the number of satellite beams, so that the satellite beams can be effectively utilized and the efficiency of beam scanning can be improved.

[0027] Optionally, dividing the plurality of wave positions into M wave position sets according to the two-dimensional coordinates and the quantity M includes:

[0028] Determine a minimum value and a maximum value in the two-dimensional coordinates, wherein the minimum value and the maximum value refer to a minimum abscissa value and a maximum abscissa value in the two-dimensional coordinates, or refer to a minimum ordinate value and a maximum ordinate value in the two-dimensional coordinates;

[0029] According to the minimum value, the maximum value and the number M, the multiple wave positions are divided into M wave position sets.

[0030] In the above implementation process, the wave positions are divided according to the minimum and maximum values ​​in the two-dimensional coordinates, so that the wave position set can be flexibly divided based on the coordinate range.

[0031] Optionally, the principle of dividing the wave position set includes: minimizing the difference between the actual wave position number of each wave position set in the M wave position sets and the target wave position number, wherein the target wave position number refers to the wave position number in each wave position set divided according to the principle of equal division based on the total wave position number N and the number M. In this way, it can be ensured that the wave position number in each wave position set is not much different, and the wave position is evenly divided, so that when performing beam scanning, the wave position number of each beam scanning is almost the same, which can effectively reduce the scanning interference between the beams.

[0032] Optionally, dividing the multiple wavelets into M wavelet sets according to the minimum value, the maximum value and the number M includes:

[0033] Sorting the multiple wave positions in the order of their two-dimensional coordinates from the minimum value to the maximum value or from the maximum value to the minimum value to obtain a plurality of sorted wave positions;

[0034] According to the equal distribution principle, the number of target wave positions corresponding to each wave position set is obtained according to the total number of wave positions N of the plurality of wave positions and the number M;

[0035] According to the target wave position quantity corresponding to each wave position set, a corresponding number of wave positions are selected in turn from the sorted multiple wave positions and divided into the corresponding wave position set to obtain M wave position sets.

[0036] In the above implementation process, the wave position set is divided according to the theoretical number of target wave positions, so that the wave positions can be evenly divided, and then when the beam scanning is performed, the number of wave positions scanned by each beam is similar, which can effectively reduce the scanning interference between the beams.

[0037] Optionally, dividing the multiple wavelets into M wavelet sets according to the minimum value, the maximum value and the number M includes:

[0038] The range between the minimum value and the maximum value is taken as the wave position span range;

[0039] According to the principle of equal division, the wave position span range is divided according to the number M to obtain M coordinate ranges;

[0040] The wave position corresponding to each coordinate range in the M coordinate ranges is divided into a wave position set, and a total of M wave position sets are obtained.

[0041] In the above implementation process, the wave position span range is evenly divided according to the number M, so that the number of wave positions in each wave position set can be made as uniform as possible, thereby reducing interference during wave position scanning.

[0042] Optionally, after obtaining a total of M wave bit sets, the method further includes:

[0043] Obtaining a total number N of wave positions of the plurality of wave positions;

[0044] According to the equal distribution principle, the number of target wave positions corresponding to each wave position set is obtained according to the total number of wave positions N and the number M;

[0045] According to the actual number of wave positions of each wave position set in the M wave position sets and the target number of wave positions of each wave position set, the wave positions of the corresponding wave position set are adjusted to minimize the difference between the actual number of wave positions of each wave position set and the corresponding target number of wave positions.

[0046] In the above implementation process, since the distribution of each wave position is uneven, the number of wave positions in the wave position set divided according to the coordinate range is not completely uniform. Therefore, the wave position set is adjusted according to the actual number of wave positions and the target number of wave positions, so that the number of wave positions in each wave position set can be as uniform as possible. In this way, the number of wave positions scanned by each beam is almost the same, and the load of each beam is almost the same, so the interference during subsequent beam scanning can be effectively reduced.

[0047] Optionally, adjusting the beam positions of the corresponding beam position set according to the actual beam position number of each beam position set in the M beam position sets and the target beam position number of each beam position set includes:

[0048] If the actual number of wave positions in one of the M wave position sets is less than the target number of wave positions in the wave position set, wave positions are allocated from other wave position sets adjacent to the wave position set to the wave position set;

[0049] If the actual number of wave positions in one of the M wave position sets is greater than the target number of wave positions in the wave position set, the wave positions in the wave position set are divided into other adjacent wave position sets;

[0050] Among them, other adjacent wave position sets refer to adjacent wave position sets that have not been adjusted.

[0051] In the above implementation process, by moving out or drawing in the wave positions in the wave position set, the number of wave positions in each wave position set can be quickly adjusted.

[0052] Optionally, if the minimum value and the maximum value refer to the minimum horizontal coordinate value and the maximum horizontal coordinate value in the two-dimensional coordinate, then allocating the wavelet from other wavelet sets adjacent to the wavelet set to the wavelet set includes:

[0053] Selecting a corresponding number of wave positions from the next wave position set adjacent to the wave position set in the order of small to large horizontal coordinates and large to small vertical coordinates and dividing them into the wave position set, wherein the corresponding number is determined according to the difference between the actual number of wave positions in the wave position set and the corresponding target number of wave positions;

[0054] and / or, dividing the wavelets in the wavelet set into other adjacent wavelet sets, including:

[0055] A corresponding number of wave positions are selected from the wave position set in the order of the horizontal coordinate from large to small and the vertical coordinate from large to small and divided into the next adjacent wave position set, wherein the corresponding number is determined according to the difference between the actual number of wave positions in the wave position set and the corresponding target number of wave positions.

[0056] In the above implementation process, a corresponding number of wave positions are selected for movement in a corresponding order, thereby reducing the adjustment amount of the wave positions and quickly realizing the adjustment of the wave positions.

[0057] Optionally, if the minimum value and the maximum value refer to the minimum ordinate value and the maximum ordinate value in the two-dimensional coordinate, then the dividing of the wavelet from other wavelet sets adjacent to the wavelet set into the wavelet set includes:

[0058] Selecting a corresponding number of wave positions from the next wave position set adjacent to the wave position set in the order of small to large horizontal coordinates and large to small vertical coordinates and dividing them into the wave position set, wherein the corresponding number is determined according to the difference between the actual number of wave positions in the wave position set and the corresponding target number of wave positions;

[0059] and / or, dividing the wavelets in the wavelet set into other adjacent wavelet sets, including:

[0060] A corresponding number of wave positions are selected from the wave position set in the order of the horizontal coordinate from small to large and the vertical coordinate from small to large and divided into the next adjacent wave position set, wherein the corresponding number is determined according to the difference between the actual wave position number of the wave position set and the corresponding target wave position number.

[0061] In the above implementation process, a corresponding number of wave positions are selected for movement in a corresponding order, thereby reducing the adjustment amount of the wave positions and quickly realizing the adjustment of the wave positions.

[0062] Optionally, after obtaining a total of M wave bit sets, the method further includes:

[0063] Obtaining an off-axis angle of each coordinate range in the M coordinate ranges relative to the satellite;

[0064] According to the off-axis angle corresponding to each coordinate range, the coverage distance corresponding to each wave position set is obtained;

[0065] If the difference in coverage distances between the wavelet sets is greater than a set threshold, the M coordinate ranges are recalculated, and the wavelet sets are divided using the recalculated coordinate ranges.

[0066] In the above implementation process, the coverage distance is judged to determine whether the number of wave positions corresponding to the wave position set is uneven. If the coverage distance is greatly different, it is considered that the number of wave positions is unevenly divided. At this time, the coordinate range can be recalculated and then divided, which can reduce the amount of adjustment of subsequent wave position sets.

[0067] Optionally, the recalculating the M coordinate ranges includes:

[0068] According to the principle of equal division of coverage distance, the coverage distance corresponding to each wave position set is re-obtained;

[0069] According to the coverage distance corresponding to each wave position set, the coordinate range corresponding to each wave position set is calculated.

[0070] In the above implementation process, the coverage distance of each wave position set is calculated according to the principle of equal division of the coverage distance, so that when the wave positions are divided according to the coordinate range, the number of wave positions in each wave position set can be made as uniform as possible, thereby reducing the adjustment amount of subsequent wave position sets.

[0071] Optionally, determining the minimum value and the maximum value in the two-dimensional coordinates includes:

[0072] If the number of satellites in each orbit in the orbital environment is greater than the total number of orbits, determining that the minimum value and the maximum value in the two-dimensional coordinate system refer to the minimum abscissa value and the maximum abscissa value in the two-dimensional coordinate system;

[0073] If the number of satellites in each orbit in the orbital environment is less than the total number of orbits, determining the minimum value and the maximum value in the two-dimensional coordinate system refers to the minimum ordinate value and the maximum ordinate value in the two-dimensional coordinate system.

[0074] In the above implementation process, in the scenario where the number of satellites in each orbit is greater than the total number of orbits, the coverage between adjacent satellites in the same orbit is small, and the coverage between satellites in each orbit in the same direction of different orbits is large (i.e., the horizontal coverage is large and the vertical coverage is small). In this way, horizontal division can reduce the interference of scanning between satellites. In the scenario where the number of satellites in each orbit is less than the total number of orbits, the coverage of each satellite in the same orbit direction is large, and the coverage of each satellite in the adjacent orbit direction is small (i.e., the horizontal coverage is small and the vertical coverage is large). In this way, vertical division can reduce the interference of scanning between satellites.

[0075] In a second aspect, an embodiment of the present application provides a beam scanning method, the method comprising:

[0076] Determine a wave position set corresponding to a plurality of wave positions within the satellite coverage, wherein the wave position set is obtained by dividing the plurality of wave positions according to the method provided in the first aspect above;

[0077] Beam scanning is performed according to the scanning order of each beam position set.

[0078] In the above implementation process, after the wave position sets are divided according to the above wave position division method, each wave position set is a wave position set under the satellite's perspective, so when performing beam scanning, it can be more adapted to the scanning of the satellite's phased array beam and improve the scanning efficiency.

[0079] Optionally, performing beam scanning according to a scanning order of each beam position set includes:

[0080] Obtaining the two-dimensional coordinates of the wave positions in each wave position set;

[0081] In each wave position set, beam scanning is performed according to the scanning order of the horizontal coordinate and the vertical coordinate in the two-dimensional coordinate from small to large or from large to small.

[0082] In the above implementation process, the beams corresponding to the various beam sets are scanned in the same scanning order, which can effectively reduce interference when scanning adjacent beam positions between two beam sets.

[0083] In a third aspect, an embodiment of the present application provides a wave position division device, the device comprising:

[0084] A ground position acquisition module is used to acquire ground position information of multiple wave positions within the coverage of the satellite;

[0085] An angle acquisition module, used to determine the angle information of each wave position relative to the satellite according to the ground position information of each wave position, wherein the angle information is determined in a coordinate system constructed based on the flight direction of the satellite;

[0086] A coordinate acquisition module, used for converting each wave position into a two-dimensional coordinate in a two-dimensional coordinate system according to the angle information;

[0087] The beam position division module is used to divide the multiple beam positions into beam position sets according to the two-dimensional coordinates, wherein each beam position set corresponds to a scanning beam of the satellite.

[0088] In a fourth aspect, an embodiment of the present application provides a beam scanning device, the device comprising:

[0089] A wave position set determination module, used to determine a wave position set corresponding to a plurality of wave positions within the satellite coverage, wherein the wave position set is obtained by dividing the plurality of wave positions according to the method provided in the first aspect above;

[0090] The scanning module is used to perform beam scanning according to the scanning order of each beam position set.

[0091] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method provided in the first aspect or the second aspect are executed.

[0092] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method provided in the first aspect or the second aspect are performed.

[0093] In a seventh aspect, an embodiment of the present application provides a computer program product, comprising computer program instructions, which, when read and executed by a processor, execute the steps of the method provided in the first aspect or the second aspect above.

[0094] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the embodiments of the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0096] Figure 1 A flow chart of a wave position division method provided in an embodiment of the present application;

[0097] Figure 2 A schematic diagram of ground wave position distribution provided in an embodiment of the present application;

[0098] Figure 3 A schematic diagram of wave position distribution from a satellite perspective provided in an embodiment of the present application;

[0099] Figure 4 A schematic diagram of angle information in a coordinate system provided in an embodiment of the present application;

[0100] Figure 5 A coordinate schematic diagram provided for an embodiment of the present application;

[0101] Figure 6 A schematic diagram of a process of adjusting a wave position set provided in an embodiment of the present application;

[0102] Figure 7 A schematic diagram of off-axis angles corresponding to various coordinate ranges provided in an embodiment of the present application;

[0103] Figure 8 A first relationship diagram between a satellite and an orbit provided in an embodiment of the present application;

[0104] Fig. 9 A second relationship diagram between a satellite and an orbit provided in an embodiment of the present application;

[0105] Fig.10A flow chart of a beam scanning method provided in an embodiment of the present application;

[0106] Fig.11 A structural block diagram of a wave position division device provided in an embodiment of the present application;

[0107] Fig.12 A structural block diagram of a beam scanning device provided in an embodiment of the present application;

[0108] Fig.13 A schematic diagram of the structure of an electronic device for executing a wave position division method or a wave position scanning method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0109] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application.

[0110] It should be noted that the terms "system" and "network" in the embodiments of the present invention can be used interchangeably. "Multiple" means two or more. In view of this, in the embodiments of the present invention, "multiple" can also be understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the previously associated objects are in an "or" relationship.

[0111] An embodiment of the present application provides a wave position division method, which obtains the angle information of multiple wave positions within the satellite coverage area relative to the satellite, and the angle information is determined in a coordinate system constructed based on the flight direction of the satellite. In this way, the angle information of each wave position under the satellite flight perspective can be obtained, and then the wave position can be converted to a two-dimensional coordinate in a two-dimensional coordinate system according to the angle information. In this way, the wave position can be converted to a two-dimensional coordinate under the satellite flight perspective, so that the wave position on the sphere can be converted to a plane for division, thereby facilitating the division of the wave position on the plane and improving the convenience of wave position division.

[0112] Please refer to Figure 1 , Figure 1 A flow chart of a wave position division method provided in an embodiment of the present application, the method comprising the following steps:

[0113] Step S110: Acquire ground position information of multiple wave positions within the satellite coverage area.

[0114] Satellites fly along orbits, providing communications and other services to terminals on the ground. Wavelengths can be pre-divided according to communications and other plans. During the flight of the satellite, the ground station can send the ground position information of multiple wavelengths within its coverage area to the satellite in real time. For example, when a satellite flies to a certain location at a certain time, the satellite can request the ground station to obtain wavelength information. After receiving the request, the ground station determines the coverage range corresponding to the current satellite based on the position of the satellite (satellites have different coverage ranges at different locations, and the corresponding relationship can be pre-set and stored in the ground station), and then sends the ground position information of the wavelengths within the coverage range to the satellite.

[0115] It can be understood that the wave positions within the coverage range can be pre-divided during the wave position planning process, or they can be wave positions divided in real time by the ground station according to the currently determined coverage range. The wave position division can be determined according to the area of ​​the coverage range. For example, the area of ​​each wave position can be pre-set, and then the corresponding number of wave positions can be divided according to the area of ​​each wave position. In this way, the ground station can obtain the ground position information of each wave position, such as the longitude and latitude of the wave position, and then send the ground position information of each wave position to the satellite.

[0116] In some other embodiments, if multiple wave positions are pre-divided during the communication planning process, then after the wave positions are divided, the ground station can send the ground position information of the wave positions within the coverage range corresponding to different positions of the satellite to the satellite for storage. In this way, after the satellite arrives at the corresponding position, it can directly obtain the ground position information of multiple wave positions within the coverage range of the stored current position, thereby realizing the rapid acquisition of the ground position information of the wave positions.

[0117] Step S120: Determine the angle information of each wave position relative to the satellite according to the ground position information of each wave position.

[0118] Since the ground position information of the wave position refers to the position of the wave position on the ground, such as longitude and latitude, the distribution area formed by these wave positions is an irregular area when viewed from the ground. In order to adapt to the beam scanning of the satellite, the wave positions on the ground need to be divided into wave position sets, and each wave position set may include multiple wave positions. In order to reduce the co-channel interference during the scanning of each beam, when dividing the wave position set, the number of wave positions should be divided evenly as much as possible. In order to facilitate the uniform division of the number of wave positions, the ground position information of the wave position needs to be converted to the coordinates from the perspective of the satellite. In order to accurately convert the ground position information of the wave position into the coordinates from the perspective of the satellite, it is necessary to first obtain the angle information of the wave position relative to the satellite.

[0119] The angle information is determined in a coordinate system based on the satellite's flight direction. Since the satellite is flying, its flight direction may change all the time, so the coordinate system constructed at different locations is different. Figure 2 As shown, the wave positions are irregularly distributed. If the division is performed directly based on the ground position information of the wave positions, it is not convenient to quickly divide the wave positions evenly. Therefore, in this scheme, the wave positions are converted into coordinates under the satellite perspective and then the wave position sets are divided.

[0120] Step S130: Convert each wave position into a two-dimensional coordinate in a two-dimensional coordinate system according to the angle information.

[0121] After obtaining the angle information of the wave position relative to the satellite, the wave position can be converted to a two-dimensional coordinate in a two-dimensional coordinate system according to the angle information, so that the wave position can be converted to a plane coordinate under the current satellite viewing angle, such as Figure 3 As shown, from the perspective of the satellite's flight direction, the two-dimensional coordinates of each wave position form an approximately rectangular area, which can be used to quickly and evenly divide each wave position in the rectangular area.

[0122] Step S140: dividing the multiple wave positions into wave position sets according to the two-dimensional coordinates.

[0123] Each wave position set corresponds to a scanning beam of the satellite. It can be understood that the beam is emitted by the satellite's phased array antenna. The phased array antenna refers to an antenna that changes the shape of the radiation pattern by controlling the feeding phase of the radiating element in the array antenna. Controlling the phase can change the direction of the maximum value of the antenna radiation pattern to achieve the purpose of beam scanning.

[0124] After dividing multiple wave positions into multiple wave position sets, when the satellite transmits a beam for scanning, one beam scans each wave position in a wave position set.

[0125] In some embodiments, the number of beam sets is related to the number of beams that the satellite can transmit. For example, if the satellite can transmit 5 beams, multiple beams can be divided into 5 beam sets. In other embodiments, the number of beam sets can also be set according to actual experience. For example, the number of beam sets is less than or equal to the number of beams transmitted by the satellite. As in the above example, multiple beams can also be divided into 4 beam sets. If the number of beam sets is divided into fewer, the interval between the beam sets can be larger, which can reduce the interference of beams of two adjacent beam sets. However, if the number of beam sets is divided into too few, such as only divided into 2 beam sets, it may cause the scanning time of a beam to be prolonged, thereby causing communication delay, which is not suitable for some scenarios with high requirements for communication delay. Therefore, the number of beam sets can be set within a range, such as greater than the first number and less than or equal to the number of beams transmitted by the satellite. The first number can be determined according to the communication delay requirements in actual applications.

[0126] After dividing the wave position sets, the satellite can allocate corresponding wave position sets to corresponding beams, and then control the beams to scan the wave positions in the wave position sets.

[0127] In the above implementation process, by obtaining the angle information of multiple wave positions within the satellite coverage area relative to the satellite, the angle information is determined in a coordinate system constructed based on the flight direction of the satellite, so that the angle information of each wave position under the satellite flight perspective can be obtained, and then the wave position can be converted into a two-dimensional coordinate in a two-dimensional coordinate system according to the angle information. In this way, the wave position can be converted to a two-dimensional coordinate under the satellite flight perspective, so that the wave position on the sphere can be converted to a plane for division, which is convenient for uniformly dividing the wave position on the plane, thereby reducing the interference between beams.

[0128] On the basis of the above embodiments, in a method of determining the angle information of each wave position equivalent to the satellite based on the ground position information of each wave position, a coordinate system with the satellite as the origin and the flight direction of the satellite as the X-axis can be constructed first, and then the azimuth and off-axis angle of each wave position relative to the satellite in the coordinate system can be calculated based on the ground position information of each wave position, and the angle information includes the azimuth and off-axis angle.

[0129] Among them, the beam pointing of the phased array antenna is determined by a group of angle combinations, namely the azimuth angle and the off-axis angle. The azimuth angle refers to the horizontal angle of the antenna pointing to the wave position, that is, the angle deviating counterclockwise from the X-axis on the YOZ plane. The adjustment of the azimuth angle can allow the beam to be quickly and accurately aligned with the wave position in the horizontal direction. The off-axis angle refers to the vertical angle of the antenna pointing to the wave position. The adjustment of the off-axis angle can allow the beam to be quickly and accurately aligned with the wave position in the vertical direction.

[0130] Therefore, by obtaining the azimuth and off-axis angle of the wave position relative to the satellite, it is convenient to convert the wave position into coordinates in the coordinate system constructed by the satellite, so that it can be more suitable for the scanning of the beam emitted by the phased array antenna.

[0131] In some embodiments, the coordinate system is a spherical coordinate system constructed with the satellite as the origin and the flight direction of the satellite as the X-axis. In other embodiments, the coordinate system may also be an orbital coordinate system, and if it is an orbital coordinate system, the Y-axis in the coordinate system is perpendicular to the orbital plane (the direction is determined by the orbital normal vector), and the Z-axis is determined by the right-hand rule.

[0132] It can be understood that in other embodiments, when establishing a coordinate system, the flight direction of the satellite can be used as the coordinate axis. The coordinate axis is not necessarily the X-axis, but can also be the Y-axis or the Z-axis. It is only necessary to adaptively change the meaning of the relevant parameters in the calculation formula when calculating the azimuth angle and the off-axis angle.

[0133] The azimuth angle and off-axis angle can be used to describe the coordinates in the orbital coordinate system constructed with the satellite as the origin. The coordinates at this time can be considered as spherical coordinates, and then the spherical coordinates can be converted to two-dimensional coordinates in the two-dimensional coordinate system. In this way, the ground position information of the wave position can be converted into two-dimensional coordinates from the satellite's perspective.

[0134] In the above implementation process, the coordinate system is constructed by considering the flight direction of the satellite, and then the ground position information of the wave position is converted into the azimuth and off-axis angle in the satellite coordinate system, so that the two-dimensional coordinate conversion of the wave position can be realized according to the angle, which is convenient for the satellite to divide the wave position in the two-dimensional plane coordinate.

[0135] On the basis of the above embodiment, if the flight direction of the satellite is taken as the X-axis, in the method of calculating the azimuth and the off-axis angle, the first projection component on the X-axis and the second projection component on the Y-axis of the line connecting each wave position and the satellite in the coordinate system can be determined according to the ground position information of each wave position and the position information of the satellite, and then the azimuth of each wave position relative to the satellite is calculated using the inverse tangent function according to the first projection component and the second projection component. For the calculation of the off-axis angle, the third projection component on the Z-axis of the line connecting each wave position and the satellite in the coordinate system can be determined according to the ground position information of each wave position and the position information of the satellite, and then the off-axis angle of each wave position relative to the satellite is calculated using the inverse pre-function according to the third projection component and the distance between each wave position and the satellite.

[0136] like Figure 4 The coordinate system shown in the figure, the satellite position information is known, the ground position information of the wave position is also known, and the ground position information can be such as longitude and latitude information, so that the connection between the satellite and the wave position can be obtained through the vector U from the satellite to the wave position. orbTherefore, the off-axis angle is calculated as follows:

[0137] Among them, |U orb | represents the distance between the satellite and the wave position, z orb Represents vector U orb The third projection component on the Z axis.

[0138] The azimuth angle is calculated as follows:

[0139]

[0140] Among them, y orb Represents the second projection component of the vector on the Y axis, x orb Represents the first projection component of the vector on the X axis. Since the atan2 function is used, φ∈[-π,π], when φ<0, φ=φ+2π, and the final azimuth range is [0,2π].

[0141] In the above implementation process, by obtaining the projection vector of the line between the wave position and the satellite on each axis of the coordinate system, the angle information of each wave position relative to the satellite can be accurately calculated.

[0142] On the basis of the above embodiment, if the two-dimensional coordinate system is a UV coordinate system, that is, the wave position can be projected onto a two-dimensional plane according to the angle information, one implementation method is to convert it into a UV coordinate under the UV coordinate system.

[0143] like Figure 5 As shown, the calculation formula of its two-dimensional coordinates is as follows:

[0144]

[0145] In this way, the two-dimensional coordinates of the wave position in the two-dimensional coordinate system, namely the UV coordinates, can be obtained.

[0146] The above-mentioned azimuth angle and off-axis angle can be used to control the beam pointing of the phased array antenna, so that after dividing the wave position set, it is convenient to accurately control the directivity of the beam emitted by the satellite phased array antenna and facilitate the scanning of the beam to the wave position.

[0147] In other implementations, the two-dimensional coordinate system may also be other coordinate systems, such as an XY coordinate system or a conic projection coordinate system. Regardless of the two-dimensional coordinate system, the method for calculating the two-dimensional coordinates is similar to that described above and will not be described in detail herein.

[0148] On the basis of the above embodiment, by converting the beam position into a two-dimensional coordinate system, the distribution of each beam position is approximately a rectangular area from the perspective of the satellite, which can facilitate the division of the beam position set. When dividing the beam position set, in order to minimize interference during beam scanning, the number M of the beam position sets can be determined according to the number of beams of the satellite, and then the multiple beam positions are divided into M beam position sets according to the two-dimensional coordinates and the number M.

[0149] The number M of the wave-position sets may be equal to the number of satellite beams to achieve effective resource utilization of satellite beams, and the number M of the wave-position sets may also be less than the number of satellite beams to reduce interference between beams.

[0150] Of course, initially, the number of wave position sets M may be set equal to the number of satellite beams, and may be adjusted later based on the actual division of wave positions.

[0151] After determining the number of wave position sets M, the wave positions can be divided. For example, if M is 4, multiple wave positions can be divided into 4 wave position sets. When dividing, the wave positions can be divided according to the rectangular area distribution of the wave positions, such as from left to right, according to the two-dimensional coordinates, such as evenly dividing according to the value of the horizontal coordinate V, or evenly dividing according to the value of the vertical coordinate U. For example, sort the wave positions from small to large according to the horizontal coordinate, according to the principle of equal division, for example, the total number of wave positions is N, then the number of wave positions in each wave position set is N / M. If it cannot be divided evenly, the excess can be allocated to the last wave position set or one of the wave position sets, and then the wave positions are selected in order from small to large in the order of the horizontal coordinate to be added to each wave position set, so as to realize the division of the wave position set. For example, the total number of wave positions N is 120, and the number of wave position sets M is 4, then the number of wave positions in each wave position set is 30. When dividing the wave positions, 30 wave positions can be selected in the order of the horizontal coordinate from small to large to be divided into the first wave position set, and then 30 wave positions can be selected to be divided into the second wave position set, and then 30 wave positions can be selected to be divided into the third wave position set, and finally the remaining 30 wave positions form the fourth wave position set.

[0152] It is understandable that in some scenarios, if there is no need to evenly divide the number of wave positions, the corresponding wave positions can be selected according to the two-dimensional coordinates and divided into corresponding wave position sets. For example, if there are M wave position sets, the number of wave positions in each wave position set can be determined in advance based on the total number of wave positions N. For example, M is 4, and the total number of wave positions N is 120. If the number of wave positions in each wave position set is set to 20, 30, 40, and 30 respectively according to the requirements, then when dividing the wave positions, for example, the wave positions can be sorted in the order of the horizontal coordinate in the two-dimensional coordinate from small to large (or they can also be sorted from large to small, or they can also be sorted according to the vertical coordinate). For the first wave position set, 20 wave positions are selected from the horizontal coordinate from small to large to be divided into the first wave position set. For the second wave position set, 30 wave positions are selected from the remaining wave positions from the horizontal coordinate from small to large to be divided into the second wave position set. Then, 40 wave positions are selected from the remaining wave positions from the horizontal coordinate from small to large to be divided into the third wave position set, and the remaining wave positions are divided into the fourth wave position set. For the sake of brevity, detailed descriptions are not given one by one.

[0153] In the above implementation process, the number of beam position sets is determined according to the number of satellite beams, so that the satellite beams can be effectively utilized and the efficiency of beam scanning can be improved.

[0154] On the basis of the above embodiments, in the specific method of dividing the wave position sets, the minimum value and the maximum value in the two-dimensional coordinates can be determined first, wherein the minimum value and the maximum value refer to the minimum horizontal coordinate value and the maximum horizontal coordinate value in the two-dimensional coordinates, or refer to the minimum vertical coordinate value and the maximum vertical coordinate value in the two-dimensional coordinates, and then the multiple wave positions are divided into M wave position sets according to the minimum value, the maximum value and the number M.

[0155] For example, if the two-dimensional coordinate system is a UV coordinate system, the distribution of the wave position is approximately a rectangular area, so the wave position set can be divided horizontally or vertically. For example, if it is divided horizontally, the minimum horizontal coordinate value and the maximum horizontal coordinate value in the two-dimensional coordinates of multiple wave positions can be determined first, that is, the minimum V value and the maximum V value. At this time, when dividing, it can be divided according to the range of the minimum V value and the maximum V value, for example, the wave position with a horizontal coordinate between [Vmin-v1) is divided into the first wave position set, the wave position with a horizontal coordinate between [v1-v2 value) is divided into the second wave position set, the wave position with a horizontal coordinate between [v2-v3) is divided into the third wave position set, and the wave position with a horizontal coordinate between [v3-Vmax] is divided into the fourth wave position set, where the values ​​of v1 / v2 / v3 can be flexibly determined according to actual experience.

[0156] If the division is performed in the vertical direction, the minimum and maximum ordinate values ​​in the two-dimensional coordinates of multiple wave positions, i.e., the minimum U value and the maximum U value, can be determined first. At this time, the division can be performed according to the range of the minimum U value and the maximum U value, for example, the wave positions with ordinates between [Umin-u1) are divided into the first wave position set, the wave positions with ordinates between [u1-u2) are divided into the second wave position set, the wave positions with ordinates between [u2-u3) are divided into the third wave position set, and the wave positions with ordinates between [u3-Umax] are divided into the fourth wave position set, wherein the values ​​of u1 / u2 / u3 can be flexibly determined according to actual experience.

[0157] In the above implementation process, the wave positions are divided according to the minimum and maximum values ​​in the two-dimensional coordinates, so that the wave position set can be flexibly divided based on the coordinate range.

[0158] On the basis of the above embodiment, in order to minimize the interference between beams, each wave position is evenly divided. Therefore, in the method of dividing the wave position set, the wave position set division principle includes: minimizing the difference between the actual wave position number of each wave position set in the M wave position sets and the target wave position number, wherein the target wave position number refers to the wave position number in each wave position set divided according to the principle of equal division based on the total wave position number N and the number M.

[0159] The target number of wave positions can be understood as the theoretical number of wave positions in each wave position set, and minimizing the difference can be understood as the actual number of wave positions in the wave position set after division should be the same as the target number of wave positions or the difference should be the smallest. For example, if the total number of wave positions N is 120 and the number of wave position sets M is 4, the target number of wave positions in each wave position set is 30. If the total number of wave positions N is 121, it cannot be strictly divided equally at this time. Then, when dividing, the target number of wave positions in three wave position sets is 30, and the target number of wave positions in the other wave position set is 31.

[0160] This ensures that the number of wave positions in each wave position set is not much different, achieving uniform division of the wave positions. As a result, when performing beam scanning, the number of wave positions scanned by each beam is similar, which can effectively reduce scanning interference between beams.

[0161] In some embodiments, during the specific division, multiple wave positions can be sorted in order of their two-dimensional coordinates from the minimum to the maximum or from the maximum to the minimum, and then according to the principle of equal distribution, based on the total number of wave positions N and the number M of the multiple wave positions, the target wave position number corresponding to each wave position set is obtained, and according to the target wave position number corresponding to each wave position set, a corresponding number of wave positions are selected in turn from the sorted multiple wave positions and divided into the corresponding wave position set to obtain M wave position sets.

[0162] The target number of wave positions here refers to the theoretical number of wave positions in each wave position set mentioned above. For example, if the total number of wave positions N is 120 and the number of wave position sets M is 4, then the target number of wave positions in each wave position set is 30.

[0163] When dividing, the multiple wave positions can be sorted according to the coordinates first, and then the wave positions can be selected in sequence according to the number in each wave position set. For example, 30 wave positions can be selected from the sorted wave positions to be divided into the first wave position set, and then 30 wave positions can be selected to be divided into the second wave position set, and so on, until the last 30 wave positions are selected to be divided into the fourth wave position set, so that the number of wave positions can be evenly divided.

[0164] In the above implementation process, the wave position set is divided according to the theoretical number of target wave positions, so that the wave positions can be evenly divided, and then when the beam scanning is performed, the number of wave positions scanned by each beam is similar, which can effectively reduce the scanning interference between the beams.

[0165] In some other implementations, the range between the minimum value and the maximum value can be first used as the wave position span range, and then the wave position span range can be divided into M quantities according to the equal division principle to obtain M coordinate ranges, and then the wave position corresponding to each coordinate range in the M coordinate ranges can be divided into a wave position set to obtain a total of M wave position sets.

[0166] For example, the minimum value (Vmin) and maximum value (Vmax) of the V value in the two-dimensional coordinates of all wave positions are determined, that is, a span range VSpan = Vmax-Vmin from the left (minimum value) to the right (maximum value) of the UV plane. According to the principle of equal distribution, the M wave position sets are divided as follows:

[0167] The wave positions corresponding to the coordinate range [Vmin, Vmin+VSpan / M) are divided into the first wave position set BeamSet1;

[0168] The wave positions corresponding to the coordinate range of [Vmin+VSpan / M, Vmin+2×VSpan / M) are divided into the second wave position set BeamSet2;

[0169] The wave positions corresponding to the coordinate range of [Vmin+2×VSpan / M, Vmin+3×VSpan / M) are divided into the third wave position set BeamSet3;

[0170] The wave positions corresponding to the coordinate range of [Vmin+3×VSpan / M, Vmax] are divided into the fourth wave position set BeamSet4.

[0171] The following are some examples:

[0172] If the two-dimensional coordinate system is a UV coordinate system, the distribution of the wave position is approximately a rectangular area. If it is divided horizontally, assuming that the minimum V value is -7 and the maximum V value is 7, the range between the minimum V value and the maximum V value is [-7, 7]. This range is used as the wave position span range. According to the principle of equal division, if M is equal to 4, the M coordinate ranges obtained include [-7, -3.5), [-3, 5, 0), [0, 3.5), [3.5, 7]. Then obtain the wave position of the V coordinate in each coordinate range, and divide these wave positions into the wave position set corresponding to each coordinate range, for example, select the wave position with the horizontal coordinate V value in the range of [-7, -3.5) to be divided into the first wave position set, select the wave position with the horizontal coordinate V value in the range of [-3, 5, 0) to be divided into the second wave position set, select the wave position with the horizontal coordinate V value in the range of [0, 3.5) to be divided into the third wave position set, and select the wave position with the horizontal coordinate V value in the range of [3.5, 7] to be divided into the fourth wave position set.

[0173] Similarly, if divided according to the vertical coordinate, assuming that the minimum U value is -8 and the maximum U value is 8, the range between the minimum 8 value and the maximum 8 value is [-8,8]. This range is used as the wave position span range. According to the principle of equal division, if M is equal to 4, the M coordinate ranges obtained include [-8, -4), [-4, 0), [0, 4), [4, 8]. Then obtain the wave positions with U coordinates in each coordinate range, and divide these wave positions into the wave position set corresponding to each coordinate range. For example, the wave positions with vertical coordinate U values ​​in the range of [-8, -4) are selected to be divided into the first wave position set, the wave positions with vertical coordinate U values ​​in the range of [-4, 0) are selected to be divided into the second wave position set, the wave positions with vertical coordinate U values ​​in the range of [0, 4) are selected to be divided into the third wave position set, and the wave positions with vertical coordinate U values ​​in the range of [4, 8] are selected to be divided into the fourth wave position set.

[0174] In the above implementation process, the wave position span range is evenly divided according to the number M, so that the number of wave positions in each wave position set can be made as uniform as possible, thereby reducing interference during wave position scanning.

[0175] On the basis of the above embodiments, in order to make the amount of each beam scanning task basically the same during each beam scanning, ideally, each wave position is evenly divided according to the quantity, that is, the quantity in each wave position set is as same as possible. In some scenarios, for example, the distribution of each wave position is not uniform, so after the wave positions are divided into M coordinate ranges according to the above horizontal or vertical coordinates, the number of wave positions in each wave position set may not be uniform. In view of this situation, the divided wave position set can also be adaptively adjusted.

[0176] The specific implementation method is: obtain the total number of wave positions N of multiple wave positions, and according to the equal distribution principle, obtain the target number of wave positions corresponding to each wave position set based on the total number of wave positions N and the number of wave position sets M, and then adjust the wave positions of the corresponding wave position set according to the actual number of wave positions of each wave position set in the M wave position sets and the target number of wave positions of each wave position set, so as to minimize the difference between the actual number of wave positions of each wave position set and the corresponding target number of wave positions.

[0177] The target number of beam positions refers to the theoretical number of beam positions in each beam position set. For example, assuming that M is equal to 4, the beam position set is represented by BeamSetxNum, where x∈[0,M]. According to the principle of equal distribution of the number of beam positions, one implementation method of dividing the target number of beam positions in each beam position set is as follows: IF N mod M=0(M=1 / 2 / 3 / 4)

[0178] BeamSet1Num=BeamSet2Num=BeamSet3Num=BeamSet4Num=N / M;

[0179] Else if N mod M=1(M=2 / 3 / 4)

[0180] BeamSet1Num=rounddown(N / M)+1;

[0181] BeamSet2Num=BeamSet3Num=BeamSet4Num=rounddown(N / M);

[0182] Else if N mod M = 2 (M = 3 / 4)

[0183] BeamSet1Num=BeamSet2Num=rounddown(N / M)+1;

[0184] BeamSet3Num=BeamSet4Num=rounddown(N / M);

[0185] Else if N mod M=3(M=4)

[0186] BeamSet1Num=BeamSet2Num=BeamSet3Num=rounddown(N / M)+1;

[0187] BeamSet4Num=rounddown(N / M);

[0188] End

[0189] Roundup means rounding up, and rounddown means rounding down.

[0190] According to the above, the target number of wave positions corresponding to each wave position set can be obtained. The target number of wave positions is a theoretical number. After dividing the wave positions according to the above coordinate range, there may be a large gap between the target number of wave positions in the wave position set and the actual number of wave positions, so the wave positions of the wave position set can also be adjusted. For example, if the target number of wave positions in a wave position set is 10, and the actual number of wave positions is 7, then the wave positions can be divided from the adjacent wave position set to the wave position set, thereby adjusting the number of wave positions in the wave position set. It can be understood that the actual number of wave positions in the adjacent wave position set may be greater than the target number of wave positions. Of course, the actual number of wave positions may also be less than or equal to the target number of wave positions. If the wave positions in the adjacent wave position set are moved, resulting in the actual number of wave positions in the adjacent wave position set not matching the target number of wave positions, the number of wave positions in the adjacent wave position set will continue to be adjusted.

[0191] In the above implementation process, since the distribution of each wave position is uneven, the number of wave positions in the wave position set divided according to the coordinate range is not completely uniform. Therefore, the wave position set is adjusted according to the actual number of wave positions and the target number of wave positions, so that the number of wave positions in each wave position set can be as uniform as possible. In this way, the number of wave positions scanned by each beam is almost the same, and the load of each beam is almost the same, so the interference during subsequent beam scanning can be effectively reduced.

[0192] On the basis of the above embodiment, during adjustment, it is possible to detect in turn for each wave position set whether its actual wave position number is inconsistent with the target wave position number. If so, the wave position number of the wave position set is adjusted. During adjustment, if the actual wave position number of one of the M wave position sets is less than the target wave position number of the wave position set, wave positions are allocated from other wave position sets adjacent to the wave position set to the wave position set; if the actual wave position number of one of the M wave position sets is greater than the target wave position number of the wave position set, the wave positions in the wave position set are allocated to other adjacent wave position sets, wherein the other adjacent wave position sets refer to adjacent wave position sets that have not been adjusted.

[0193] For example, if the actual number of wave positions in the second wave position set is greater than the target number of wave positions, some of the wave positions in the wave position set can be divided into an adjacent wave position set (such as the third wave position set); if the actual number of wave positions in the wave position set is less than the target number of wave positions, wave positions are divided from an adjacent wave position set (such as the third wave position set) into the wave position set; if the actual number of wave positions in the wave position set is equal to the target number of wave positions, the wave positions of the wave position set are not adjusted.

[0194] In the above implementation process, by moving out or drawing in the wave positions in the wave position set, the number of wave positions in each wave position set can be quickly adjusted.

[0195] Based on the above embodiments, if the minimum value and the maximum value refer to the minimum abscissa value and the maximum abscissa value in the two-dimensional coordinates, it means a horizontal division. In this implementation manner, in the way of dividing wave positions from adjacent other wave position sets into this wave position set, corresponding numbers of wave positions can be selected from the next adjacent wave position set in ascending order of abscissa and descending order of ordinate and divided into this wave position set, where the corresponding numbers are determined according to the difference between the actual number of wave positions in this wave position set and the corresponding target number of wave positions.

[0196] And / or, in the way of dividing the wave positions in this wave position set into adjacent other wave position sets, corresponding numbers of wave positions can be selected from this wave position set in descending order of abscissa and descending order of ordinate and divided into the next adjacent wave position set, where the corresponding numbers are determined according to the difference between the actual number of wave positions in this wave position set and the corresponding target number of wave positions.

[0197] For example, when adjusting the wave position sets, the wave position sets are adjusted in ascending order of abscissa. For instance, Step1: First, adjust the first wave position set BeamSet1:

[0198] When the actual number of wave positions in BeamSet1 < BeamSet1Num (the target number of wave positions in the first wave position set);

[0199] Select wave positions from the wave positions in BeamSet2 with ascending V values and descending U values and place them into BeamSet1;

[0200] When the actual number of wave positions in BeamSet1 > BeamSet1Num;

[0201] Select wave positions from the wave positions in BeamSet1 with descending V values and descending U values and place them into BeamSet2.

[0202] Step2: Adjust the second wave position set BeamSet2:

[0203] When the actual number of wave positions in BeamSet2 < BeamSet2Num (the target number of wave positions in the second wave position set);

[0204] Select wave positions from the wave positions in BeamSet3 with ascending V values and descending U values and place them into BeamSet2;

[0205] When the actual number of wave positions in BeamSet2 > BeamSet2Num;

[0206] Select wave positions from the wave positions in BeamSet2 with descending V values and descending U values and place them into BeamSet3.

[0207] Step 3: Adjust the third beam set BeamSet3:

[0208] When the actual number of beam positions in BeamSet3 < BeamSet3Num (the target number of beam positions in the third beam set);

[0209] Select beam positions from the beam positions in BeamSet4 with V values in ascending order and U values in descending order and place them in BeamSet3;

[0210] When the actual number of beam positions in BeamSet3 > BeamSet3Num;

[0211] Select beam positions from the beam positions in BeamSet3 with V values in descending order and U values in descending order and place them in BeamSet4.

[0212] As an example, if the total number of beam positions N = 87, according to the above principle of equal distribution of the number of beam positions, the target number of beam positions for each beam set is BeamSet1Num = BeamSet2Num = BeamSet3Num = 22, BeamSet4Num = 21 (of course, here it can also be that the target number of beam positions in any one of the beam sets is 21, and the target number of beam positions in the remaining beam sets is 22). If the beam sets obtained by dividing according to the coordinate range are as shown in Figure 6 Step 1 in Figure 6 (the yellow in Figure 6 represents the beam positions in the first beam set, the blue represents the beam positions in the second beam set, the red represents the beam positions in the third beam set, the black represents the beam positions in the fourth beam set, and the numbers in the figure represent the numbers of each beam position), at this time after dividing according to the coordinate range, the actual number of beam positions in the first beam set BeamSet1 is 24, which is 2 more than the target number of beam positions. At this time, the beam positions 50 / 75 can be divided from the first beam set to the second beam set (as shown in Figure 6 Step 2 in Figure 6 ). At this time, the actual number of beam positions in the second beam set is 20, which is 2 less. Then divide the beam positions 53 / 78 from the third beam set to the second beam set (as shown in

[0213] Figure 6 Step 3 in Figure 6 ) so that the actual number of beam positions in the second beam set reaches 22. Finally, adjust the third beam set. The actual number of beam positions in the third beam set is 19, which is still 3 short. Then divide the beam positions 56 / 81 / 106 from the fourth beam set to the third beam set, and finally reach the result of BeamSet1Num = BeamSet2Num = BeamSet3Num = 22, BeamSet4Num = 21 (as shown in Figure 6 Step 4 in

[0213] In this way, the adjustment of the number of wave positions in the four wave positions concentration is completed, so that the difference between the adjusted number of wave positions in the four wave positions concentration and the corresponding target number of wave positions can be minimized.

[0214] It can be understood that during the above adjustment, the wave position set is adjusted in the order of the horizontal coordinate from small to large (i.e., from left to right). It can also be vice versa, that is, the wave position set is adjusted in the order of the horizontal coordinate from large to small (i.e., from right to left), that is, the fourth wave position set is adjusted first, and then the third wave position set is adjusted, until the first wave position set. The adjustment method is the same as in the above example, and will not be repeated here.

[0215] In addition, when the wave position is selected from the i+1 wave position set and divided into the i-th wave position set, the wave position is selected according to the horizontal coordinate from small to large and the vertical coordinate from large to small. This is because the wave position with a smaller horizontal coordinate is closer to the i-th wave position set. In this way, the selection of the vertical coordinate from large to small is related to the beam scanning order. For example, if the beam scanning order is set to scan in the order of the horizontal coordinate of the wave position from small to large and the vertical coordinate from large to small, then the position span during beam scanning can be reduced, thereby improving the beam scanning efficiency. Of course, if the beam scanning sequence is scanned in the order of the vertical coordinate from small to large, for example, when selecting the wave position from the i-th wave position set to be divided into the i+1-th wave position set, the wave position can be selected in the order of the horizontal coordinate from large to small and the vertical coordinate from small to large.

[0216] In some embodiments, after the wavelet sets are divided, the beam scanning order of each wavelet set can be pre-configured during beam scanning. For example, the beams of each wavelet set are scanned in the order of UV value from small to large, as described above. Figure 6 In Step 4, the order of the beam scanning wave positions of the first wave position set is: 97->72->47->110->85->60->35->98->73->48->111->86->61->36->99->74->49->112->87->62->37->100.

[0217] The order of the beam scanning wave positions of the second wave position set is:

[0218] 75>50->113->88->63->38->101->76->51->114->89->64->39->102->77->52->115->90->65->40->78->53.

[0219] The scanning order of the third and fourth beam position sets is similar. By performing beam position scanning in the above order, the relative distance between each co-frequency beam can be made larger, and co-frequency interference can be avoided as much as possible.

[0220] It can be understood that if the beam scanning order is from the smallest to the largest abscissa and from the smallest to the largest ordinate of the beam positions (i.e., from bottom to top, from left to right), then when selecting beam positions as described above, the beam positions can be selected in ascending order of the ordinate. It can be understood that for different beam scanning orders, the order of selecting beam positions can be adaptively adjusted.

[0221] In the above implementation process, corresponding beam positions are selected and moved in the corresponding order, so as to reduce the adjustment amount of beam positions and quickly realize the adjustment of beam positions.

[0222] In some other embodiments, if the minimum value and the maximum value refer to the minimum ordinate value and the maximum ordinate value in the two-dimensional coordinates, that is, when longitudinally dividing the beam position set, in the way of dividing beam positions from adjacent other beam position sets into this beam position set, in order to reduce the adjustment of the beam position set, corresponding beam positions can be selected from the next adjacent beam position set in ascending order of abscissa and descending order of ordinate and divided into this beam position set, where the corresponding number is determined according to the difference between the actual number of beam positions in this beam position set and the corresponding target number of beam positions.

[0223] And / or, in the way of dividing the beam positions of this beam position set into adjacent other beam position sets, corresponding beam positions can be selected from this beam position set in ascending order of abscissa and ascending order of ordinate and divided into the next adjacent beam position set, where the corresponding number is determined according to the difference between the actual number of beam positions in this beam position set and the corresponding target number of beam positions.

[0224] For example, when adjusting the beam position set, the beam position sets are adjusted in descending order of ordinate. For example, Step1: First, adjust the first beam position set BeamSet1:

[0225] When the actual number of beam positions in BeamSet1 < BeamSet1Num (the target number of beam positions in the first beam position set);

[0226] Select beam positions from the beam positions in BeamSet2 with the V value from small to large and the U value from large to small and place them in BeamSet1;

[0227] When the actual number of beam positions in BeamSet1 > BeamSet1Num;

[0228] Select beam positions from the beam positions in BeamSet1 with the V value from small to large and the U value from small to large and place them in BeamSet2.

[0229] Step 2: Adjust the second beam set BeamSet2:

[0230] When the actual number of beam positions in BeamSet2 < BeamSet2Num (the target number of beam positions in the second beam set);

[0231] Select beam positions from the beam positions in BeamSet3 with V values from small to large and U values from large to small and place them in BeamSet2;

[0232] When the actual number of beam positions in BeamSet2 > BeamSet2Num;

[0233] Select beam positions from the beam positions in BeamSet2 with V values from small to large and U values from small to large and place them in BeamSet3.

[0234] Step 3: Adjust the third beam set BeamSet3:

[0235] When the actual number of beam positions in BeamSet3 < BeamSet3Num (the target number of beam positions in the third beam set);

[0236] Select beam positions from the beam positions in BeamSet4 with V values from small to large and U values from large to small and place them in BeamSet3;

[0237] When the actual number of beam positions in BeamSet3 > BeamSet3Num;

[0238] Select beam positions from the beam positions in BeamSet3 with V values from small to large and U values from small to large and place them in BeamSet4.

[0239] It can be understood that during the above adjustments, the beam sets are adjusted in the order of the ordinate from large to small (i.e., from top to bottom), or conversely, in the order of the ordinate from small to large (i.e., from bottom to top). That is, first adjust the fourth beam set, and then adjust the third beam set until the first beam set. The adjustment method is the same as that in the above example and will not be repeated here.

[0240] In addition, when the wave position is selected from the i+1 wave position set and divided into the i-th wave position set, the wave position is selected according to the horizontal coordinate from small to large and the vertical coordinate from large to small. This is because the wave position with a smaller horizontal coordinate is closer to the i-th wave position set. When the wave position is selected from the i-th wave position set and divided into the i+1 wave position set, the wave position is selected according to the horizontal coordinate from small to large and the vertical coordinate from small to large. This is because the wave position with a larger horizontal coordinate is closer to the i+1 wave position set. In these two methods, the selection of the horizontal coordinate from small to large is related to the beam scanning order. For example, if the beam scanning order is set to scan in the order of the horizontal coordinate of the wave position from small to large and the vertical coordinate from large to small, then the position span during beam scanning can be reduced, thereby improving the beam scanning efficiency.

[0241] It is understandable that if the beam scanning sequence is to scan in the order of the horizontal coordinate of the wave position from large to small and the vertical coordinate from large to small (i.e., the order of right->left, top->bottom), then when selecting the wave position, the horizontal coordinate of the wave position can be selected from large to small. It is understandable that different beam scanning sequences can adaptively adjust the order of selecting the wave position when selecting the wave position.

[0242] In the above implementation process, a corresponding number of wave positions are selected for movement in a corresponding order, thereby reducing the adjustment amount of the wave positions and quickly realizing the adjustment of the wave positions.

[0243] After initially dividing the M wave position sets according to the coordinate range, if the division of the wave positions is not uniform, the wave position sets can be directly adjusted by the above-mentioned wave position quantity adjustment method so that the number of wave positions in each wave position set is balanced. In other embodiments, the coordinate range can also be directly adjusted. For example, if the actual number of wave positions in a wave position set is less than the target number of wave positions after initially dividing the M wave position sets according to the coordinate range, the coordinate range corresponding to the wave position set can be increased. If the actual number of wave positions in a wave position set is greater than the target number of wave positions, the coordinate range corresponding to the wave position set can be reduced. Then, the wave positions can be re-divided according to the adjusted coordinate range. If the number of divided wave positions is still uneven, it can be adjusted according to the above-mentioned wave position quantity adjustment method.

[0244] In other implementations, in the manner of adjusting the M coordinate ranges, it is also possible to determine whether the number of wave positions is evenly distributed according to the coverage distance of each wave position set. For example, the off-axis angle of each coordinate range in the M coordinate ranges relative to the satellite is first obtained, and then the coverage distance corresponding to each wave position set is obtained according to the off-axis angle corresponding to each coordinate range. If the difference in the coverage distance between each wave position set is greater than a set threshold, the M coordinate ranges are recalculated, and the wave position sets are divided using the recalculated coordinate ranges.

[0245] like Figure 7As shown, when the off-axis angle is 45°, the minimum V value is -0.707 and the maximum V value is 0.707. If the wave position span is evenly divided, the number of wave position sets M is equal to 4, which is divided into 4 coordinate ranges, including [-0.707, -0.3535), [-0.3535, 0), [0, 0.3535), [0.3535, 0.707].

[0246] In fact, the coverage distance of the wave position sets corresponding to the two middle coordinate ranges in the V axis direction is only 215km (assuming the orbital altitude is 570km), which is much smaller than the coverage distance of 355km of the wave position sets on both sides. Here, when calculating the coverage distance, the off-axis angle is calculated first. For example, the off-axis angle corresponding to the two middle coordinate ranges is atan(0.3535)=20.7°, and the off-axis angle corresponding to the two coordinate ranges on both sides is atan(0.707)=24.3°. Then, according to the orbital altitude of 570km, the coverage distance corresponding to the two middle wave position sets is calculated to be 570*tan20.7°=215km, and the coverage distance corresponding to the two wave position sets on both sides is 570*tan24.3°=355km. Therefore, according to the above method, after obtaining M coordinate ranges, the coverage distance corresponding to each coordinate range can be obtained, that is, the coverage distance corresponding to each wave position set can be obtained.

[0247] At this time, the coverage distances between the various wave position sets are uneven, which may cause the actual number of wave positions in the divided wave position sets to vary greatly, and the wave position sets will need to be adjusted significantly later. Therefore, in order to reduce the workload of subsequent wave position set adjustments, the difference in coverage distances between the various wave position sets can be determined. For example, the difference between the above wave position sets is 0 and 140 km. If a difference is greater than a set threshold (the set threshold can be set according to actual conditions, such as 10 km), it is considered that the coverage distances between the various wave position sets differ greatly. At this time, the M coordinate ranges can be recalculated. Conversely, if the difference in coverage distances between the various wave position sets is less than or equal to the set threshold, the M coordinate ranges are not calculated.

[0248] The M coordinate ranges are recalculated. In one implementation, the obtained M coordinate ranges may be adjusted. For example, if the coverage ranges corresponding to the two middle coordinate ranges are smaller, the coordinate range corresponding to the middle position may be increased and the coordinate range corresponding to the edge position may be reduced. The specific increase or decrease may be set based on actual experience, so that the number of wave positions can be divided as evenly as possible using the adjusted M coordinate ranges.

[0249] For example, when adjusting the coordinate range, the coordinate range corresponding to the middle position can be increased and the coordinate range corresponding to the edge position can be reduced, wherein the coordinate range corresponding to the middle position includes the Mith to M-i+jth coordinate ranges, and the coordinate range corresponding to the edge position includes the 1st to Mi-1th coordinate ranges and the M-i+j+1th to Mth coordinate ranges, and i and j are values ​​between 1 and M.

[0250] For example, M=4, i is 2, j is 1, then the coordinate range corresponding to the middle position is the 2nd to 3rd coordinate range, and the coordinate range corresponding to the edge position is the 1st and 4th coordinate range. Since the coverage distance of the wave position set corresponding to the coordinate range of the middle position is small, the 2nd and 3rd coordinate ranges can be increased, and the 1st and 4th coordinate ranges can be reduced.

[0251] In the above implementation process, the coverage distance is judged to determine whether the number of wave positions corresponding to the wave position set is uneven. If the coverage distance is greatly different, it is considered that the number of wave positions is unevenly divided. At this time, the coordinate range can be recalculated and then divided, which can reduce the amount of adjustment of subsequent wave position sets.

[0252] Based on the above embodiment, when recalculating the M coordinate ranges, the coverage distance corresponding to each wave position set can be re-obtained according to the principle of equal division of the coverage distance, and then the coordinate range corresponding to each wave position set can be calculated according to the coverage distance corresponding to each wave position set.

[0253] For example, assuming that the wave position span has been divided into M coordinate ranges, the off-axis angle corresponding to each coordinate range can be calculated first, and then the coverage distance corresponding to the M coordinate ranges can be obtained. For example, the sum of the corresponding coverage distances in the above example is 215*2+355*2=1140km, and then 1140 is evenly divided into 4 coverage distances, each of which is 285km (this coverage distance is the coverage distance corresponding to each wave position set in theory), and then the calculation formula can be used. The off-axis angle corresponding to the two middle coordinate ranges is calculated to be 26.565°. Then, according to the inverse tangent function calculation formula atan(v)=26.565°, the corresponding v (i.e., v coordinate) is calculated to be 0.4472. Therefore, the four coordinate ranges can be readjusted to [-0.707, -0.4472), [-0.4472, 0), [0, 0.4472), [0.4472, 0.707]. In this way, the coverage distance of the two middle wave position sets in the V axis direction is 285km, and the coverage distance of the wave position sets on both sides in the V axis direction is also 285km. After dividing the wave position sets according to the calculated coordinate ranges, the amount of calculation for subsequent wave position set adjustment can be reduced. It can be understood that if the waveposition sets are divided according to the coordinate range calculated in this way, if the actual number of wavepositions in each waveposition set is significantly different from the target number of wavepositions, the number of wavepositions in each waveposition set can also be adjusted according to the waveposition number adjustment method in the above embodiment, so that the actual number of wavepositions in each waveposition set is as consistent as possible with the corresponding target number of wavepositions.

[0254] In the above implementation process, the coverage distance of each wave position set is calculated according to the principle of equal division of the coverage distance, so that when the wave positions are divided according to the coordinate range, the number of wave positions in each wave position set can be made as uniform as possible, thereby reducing the adjustment amount of subsequent wave position sets.

[0255] In some other embodiments, in the above-mentioned method of dividing the waveposition sets into M coordinate ranges according to the waveposition span range, there may be other implementation methods of obtaining M coordinate ranges, such as it is not necessary to evenly divide the waveposition span range to obtain M coordinate ranges, but to first calculate the corresponding off-axis angle according to the waveposition span range (the calculation method is similar to obtaining the off-axis angle corresponding to each coordinate range), and then the total coverage distance can be obtained according to the off-axis angle. At this time, the total coverage distance is evenly divided according to the number of waveposition sets M, and the coverage distance corresponding to each waveposition set can be obtained. At this time, the coordinate range corresponding to each waveposition set can be obtained according to the coverage distance in the same way as the above method. At this time, M coordinate ranges can be directly obtained, and then the wavepositions can be divided according to the M coordinate ranges.

[0256] In this case, after the waveposition sets are divided according to the coordinate range obtained in this way, if the actual number of wavepositions in each waveposition set is significantly different from the target number of wavepositions, the number of wavepositions in each waveposition set can also be adjusted according to the waveposition number adjustment method in the above embodiment, so that the actual number of wavepositions in each waveposition set is as consistent as possible with its corresponding target number of wavepositions.

[0257] The wave position division method of this scheme can also be applied to the orbital environment scenario where the number of satellites is greater than the number of satellite orbits. In this orbital environment, the number of satellites in each orbit is greater than the total number of orbits, such as Figure 8As shown, if the number of satellites in each orbit is greater than the number of satellite orbits, the coverage range between adjacent satellites in the same orbit is small, and the coverage range of each satellite in each orbit in the same direction of different orbits is large. According to the size of the coverage range, different numbers of wave positions can be determined, and then the wave position set can be divided in the same way as above. In this scenario, the horizontal coverage range is large and the vertical coverage range is small. In order to reduce the interference of subsequent scanning between satellites, when determining the above minimum and maximum values, the minimum and maximum values ​​in the two-dimensional coordinate system are determined to refer to the minimum horizontal coordinate value and the maximum horizontal coordinate value in the above two-dimensional coordinates. That is to say, in this scenario, the wave positions can be divided horizontally according to the horizontal coordinates.

[0258] If the number of satellites in each orbit is less than the number of satellite orbits, then on the contrary, in this orbital environment, the number of satellites in each orbit is less than the total number of orbits, such as Fig. 9 As shown, in this case, the coverage range of each satellite in the same track direction is larger, and the coverage range of each satellite in the adjacent track direction is smaller. According to the size of the coverage range, different numbers of wave positions can be determined, and then the wave position set can be divided in the same way as above. In this scenario, the horizontal coverage range is small and the vertical coverage range is large. In order to reduce the interference of subsequent scanning between satellites, when determining the above minimum and maximum values, the minimum and maximum values ​​in the two-dimensional coordinate system are determined to refer to the minimum ordinate value and the maximum ordinate value in the above two-dimensional coordinates. That is to say, in this scenario, the wave positions can be divided vertically according to the ordinate.

[0259] Therefore, the coordinate transformation in the above-mentioned wave position division method can flexibly adapt to the scenario where the coverage range changes due to different numbers of orbits in the satellite constellation and different numbers of satellites in a single orbit.

[0260] Please refer to Fig.10 , Fig.10 A flow chart of a beam scanning method provided in an embodiment of the present application, the method comprising the following steps:

[0261] Step S210: Acquire a wave position set corresponding to multiple wave positions within the satellite coverage area.

[0262] The wave position set is obtained according to the wave position division method provided in the above embodiment, and for the sake of brevity of description, it will not be repeated here.

[0263] Step S220: performing beam scanning according to the scanning order of each beam position set.

[0264] After obtaining the wave position set, each beam scans a corresponding wave position set. For example, if there are 4 wave position sets, the satellite can transmit 4 beams for scanning.

[0265] During scanning, scanning can be performed in a certain scanning order. In some embodiments, for example, the two-dimensional coordinates of the wave positions in each wave position set are obtained, and then in each wave position set, beam scanning is performed in a scanning order from small to large or from large to small in the horizontal coordinate and the vertical coordinate in the two-dimensional coordinate.

[0266] For example, the wave position set is divided horizontally according to the horizontal axis. At this time, the scanning order of the beam can be from small to large horizontal coordinate and from large to small vertical coordinate (i.e., from left to right, from top to bottom), or from small to large horizontal coordinate and from small to large vertical coordinate (i.e., from left to right, from bottom to top), or from large to small horizontal coordinate and from small to large vertical coordinate (i.e., from right to left, from top to bottom), or from large to small horizontal coordinate and from large to small vertical coordinate (i.e., from right to left, from top to bottom).

[0267] If the wave position set is divided vertically according to the ordinate, the scanning order of the beam can be from large to small in the ordinate and from small to large in the abscissa (i.e., in order from top to bottom and from left to right), or from large to small in the ordinate and from large to small in the abscissa (i.e., in order from top to bottom and from right to left), or from small to large in the ordinate and from small to large in the abscissa (i.e., in order from bottom to top and from left to right), or from small to large in the ordinate and from large to small in the abscissa (i.e., in order from bottom to top and from left to right).

[0268] The beams corresponding to each wave position set can scan the wave positions in their respective wave position sets in the same scanning order, so that there are intervals between the wave positions during scanning, which can reduce the co-frequency interference of the beams. Of course, the beams corresponding to each wave position set can also scan the wave positions in their respective wave position sets in different scanning orders. For example, the scanning order of the beam corresponding to the first wave position set can be from small to small in the horizontal coordinate and from large to small in the vertical coordinate, and the scanning order of the fourth wave position set can be from large to small in the horizontal coordinate and from large to small in the vertical coordinate. Overall, it scans from both sides to the middle.

[0269] The scanning order of the beams corresponding to the specific wave position sets can be flexibly set according to the situation, and examples are not given here one by one.

[0270] In the above implementation process, after the wave position sets are divided according to the above wave position division method, each wave position set is a wave position set under the satellite's perspective, so when performing beam scanning, it can be more adapted to the scanning of the satellite's phased array beam and improve the scanning efficiency.

[0271] Please refer to Fig.11 , Fig.11 This is a structural block diagram of a wave position division device 300 provided in an embodiment of the present application. The device 300 may be a module, program segment or code on an electronic device. It should be understood that the device 300 is similar to the above Figure 1 The method embodiment corresponds to and can be executed Figure 1 The various steps involved in the method embodiment and the specific functions of the device 300 can be found in the above description. To avoid repetition, the detailed description is appropriately omitted here.

[0272] Optionally, the device 300 includes:

[0273] The ground position acquisition module 310 is used to acquire the ground position information of multiple wave positions within the coverage of the satellite;

[0274] An angle acquisition module 320, used to determine the angle information of each wave position relative to the satellite according to the ground position information of each wave position, wherein the angle information is determined in a coordinate system constructed based on the flight direction of the satellite;

[0275] A coordinate acquisition module 330, configured to convert each wave position into a two-dimensional coordinate in a two-dimensional coordinate system according to the angle information;

[0276] The beam position division module 340 is used to divide the multiple beam positions into beam position sets according to the two-dimensional coordinates, wherein each beam position set corresponds to a scanning beam of the satellite.

[0277] Optionally, the angle acquisition module 320 is used to construct a coordinate system with the satellite as the origin and the flight direction of the satellite as the X-axis; based on the ground position information of each wave position, the azimuth and off-axis angle of each wave position relative to the satellite in the coordinate system are calculated, and the angle information includes the azimuth and the off-axis angle.

[0278] Optionally, the angle acquisition module 320 is used to determine a first projection component on the X-axis and a second projection component on the Y-axis of a line connecting each wave position and the satellite in the coordinate system based on the ground position information of each wave position and the position information of the satellite; calculate the azimuth of each wave position relative to the satellite using an inverse tangent function based on the first projection component and the second projection component; determine a third projection component on the Z-axis of a line connecting each wave position and the satellite in the coordinate system based on the ground position information of each wave position and the position information of the satellite; and calculate the off-axis angle of each wave position relative to the satellite using an inverse cosine function based on the third projection component and the distance between each wave position and the satellite.

[0279] Optionally, the coordinate system is an orbital coordinate system, and / or the two-dimensional coordinate system is a UV coordinate system.

[0280] Optionally, the beam position division module 340 is used to determine the number M of the beam position sets according to the number of beams of the satellite; and divide the multiple beam positions into M beam position sets according to the two-dimensional coordinates and the number M.

[0281] Optionally, the wave position division module 340 is used to determine the minimum value and the maximum value in the two-dimensional coordinates, wherein the minimum value and the maximum value refer to the minimum horizontal coordinate value and the maximum horizontal coordinate value in the two-dimensional coordinates, or refer to the minimum vertical coordinate value and the maximum vertical coordinate value in the two-dimensional coordinates; according to the minimum value, the maximum value and the number M, the multiple wave positions are divided into M wave position sets.

[0282] Optionally, the division principle of the waveposition sets includes: minimizing the difference between the actual number of wavepositions in each waveposition set of the M waveposition sets and the target number of wavepositions, wherein the target number of wavepositions refers to the number of wavepositions in each waveposition set divided according to the principle of equal division based on the total number of wavepositions N and the number M.

[0283] Optionally, the wave position division module 340 is used to sort the multiple wave positions in the order of their two-dimensional coordinates from the minimum value to the maximum value or from the maximum value to the minimum value to obtain a plurality of sorted wave positions; according to the equal distribution principle, according to the total number of wave positions N of the multiple wave positions and the number M, obtain the number of target wave positions corresponding to each wave position set; according to the number of target wave positions corresponding to each wave position set, select a corresponding number of wave positions from the sorted multiple wave positions in turn and divide them into the corresponding wave position set to obtain M wave position sets.

[0284] Optionally, the wave position division module 340 is used to use the range between the minimum value and the maximum value as the wave position span range; according to the equal division principle, the wave position span range is divided according to the number M to obtain M coordinate ranges; the wave position corresponding to each coordinate range in the M coordinate ranges is divided into a wave position set, and a total of M wave position sets are obtained.

[0285] Optionally, the wave position division module 340 is further used to obtain a total wave position number N of the multiple wave positions; according to the equal division principle, obtain a target wave position number corresponding to each wave position set according to the total wave position number N and the number M; and adjust the wave positions of the corresponding wave position set according to the actual wave position number of each wave position set in the M wave position sets and the target wave position number of each wave position set to minimize the difference between the actual wave position number of each wave position set and the corresponding target wave position number.

[0286] Optionally, the wave position division module 340 is configured to divide the wave positions from other wave position sets adjacent to the wave position set into the wave position set if the actual wave position number of the wave position set of the M wave position sets is less than the target wave position number of the wave position set; and divide the wave positions in the wave position set into other adjacent wave position sets if the actual wave position number of the wave position set of the M wave position sets is greater than the target wave position number of the wave position set; wherein the other adjacent wave position sets refer to adjacent wave position sets that have not been adjusted.

[0287] Optionally, if the minimum value and the maximum value refer to the minimum horizontal coordinate value and the maximum horizontal coordinate value in the two-dimensional coordinate, the wave position division module 340 is used to select a corresponding number of wave positions from the next wave position set adjacent to the wave position set in the order of horizontal coordinate from small to large and vertical coordinate from large to small, and divide them into the wave position set, wherein the corresponding number is determined according to the difference between the actual number of wave positions in the wave position set and the corresponding target number of wave positions; and / or, select a corresponding number of wave positions from the wave position set in the order of horizontal coordinate from large to small and vertical coordinate from large to small, and divide them into the next adjacent wave position set, wherein the corresponding number is determined according to the difference between the actual number of wave positions in the wave position set and the corresponding target number of wave positions.

[0288] Optionally, if the minimum value and the maximum value refer to the minimum ordinate value and the maximum ordinate value in the two-dimensional coordinates, the wave position division module 340 is used to select a corresponding number of wave positions from the next wave position set adjacent to the wave position set in the order of the horizontal coordinate from small to large and the vertical coordinate from large to small, and divide them into the wave position set, wherein the corresponding number is determined according to the difference between the actual number of wave positions in the wave position set and the corresponding target number of wave positions; and / or, select a corresponding number of wave positions from the wave position set in the order of the horizontal coordinate from small to large and the vertical coordinate from small to large, and divide them into the next adjacent wave position set, wherein the corresponding number is determined according to the difference between the actual number of wave positions in the wave position set and the corresponding target number of wave positions.

[0289] Optionally, the waveposition division module 340 is also used to obtain the off-axis angle of each coordinate range in the M coordinate ranges relative to the satellite; obtain the coverage distance corresponding to each waveposition set according to the off-axis angle corresponding to each coordinate range; if the difference in coverage distances between the waveposition sets is greater than a set threshold, recalculate the M coordinate ranges, and use the recalculated coordinate ranges to perform waveposition set division.

[0290] Optionally, the wave position division module 340 is used to re-acquire the coverage distance corresponding to each wave position set according to the principle of equal division of the coverage distance; and calculate the coordinate range corresponding to each wave position set according to the coverage distance corresponding to each wave position set.

[0291] Optionally, the wave position division module 340 is used to determine that the minimum value and the maximum value in the two-dimensional coordinate system refer to the minimum horizontal coordinate value and the maximum horizontal coordinate value in the two-dimensional coordinate if the number of satellites in each orbit in the orbital environment is greater than the total number of orbits; if the number of satellites in each orbit in the orbital environment is less than the total number of orbits, then determine that the minimum value and the maximum value in the two-dimensional coordinate system refer to the minimum vertical coordinate value and the maximum vertical coordinate value in the two-dimensional coordinate.

[0292] Please refer to Fig.12 , Fig.12 This is a structural block diagram of a beam scanning device 400 provided in an embodiment of the present application. The device 400 may be a module, program segment or code on an electronic device. It should be understood that the device 400 is similar to the above Figure 1 The method embodiment corresponds to and can be executed Figure 1 The various steps involved in the method embodiment and the specific functions of the device 400 can be found in the above description. To avoid repetition, the detailed description is appropriately omitted here.

[0293] Optionally, the device 400 includes:

[0294] A beam position set determination module 410 is used to determine a beam position set corresponding to a plurality of beam positions within a satellite coverage area, wherein the beam position set is obtained by dividing the plurality of beam positions according to the beam position division method of the above embodiment;

[0295] The scanning module 420 is used to perform beam scanning according to the scanning order of each beam position set.

[0296] Optionally, the scanning module 420 is used to obtain the two-dimensional coordinates of the wave position in each wave position set; in each wave position set, beam scanning is performed according to the scanning order of the horizontal coordinate and the vertical coordinate in the two-dimensional coordinate from small to large or from large to small.

[0297] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0298] Please refer to Fig.13 , Fig.13 A schematic diagram of the structure of an electronic device for executing a wave position division method or a wave position scanning method provided in an embodiment of the present application, the electronic device may include: at least one processor 510, such as a CPU, at least one communication interface 520, at least one memory 530 and at least one communication bus 540. Among them, the communication bus 540 is used to realize the connection communication between these components. Among them, the communication interface 520 of the device in the embodiment of the present application is used to communicate signaling or data with other node devices. The memory 530 can be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one disk storage. The memory 530 can optionally also be at least one storage device located away from the aforementioned processor. Computer-readable instructions are stored in the memory 530. When the computer-readable instructions are executed by the processor 510, the electronic device executes the above-mentioned Figure 1 or Fig.10 The method process is shown.

[0299] Understandably, Fig.13 The structure shown is for illustration only, and the electronic device may also include Fig.13 More or fewer components as shown, or with Fig.13 Different configurations are shown. Fig.13 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0300] The present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the following is performed: Figure 1 or Fig.10 The method process in the method embodiment shown is executed by the electronic device.

[0301] This embodiment discloses a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can perform the methods provided by the above method embodiments, for example, including:

[0302] Obtain ground position information of multiple wave positions within the satellite coverage area;

[0303] Determine, according to the ground position information of each wave position, the angle information of each wave position relative to the satellite, wherein the angle information is determined in a coordinate system constructed based on the flight direction of the satellite;

[0304] According to the angle information, each wave position is converted into a two-dimensional coordinate in a two-dimensional coordinate system;

[0305] The multiple beam positions are divided into beam position sets according to the two-dimensional coordinates, wherein each beam position set corresponds to a scanning beam of the satellite.

[0306] In summary, the embodiments of the present application provide a wave position division method, a beam scanning method, a device and an electronic device. The wave position division method obtains the angle information of multiple wave positions within the satellite coverage area relative to the satellite. The angle information is determined in a coordinate system constructed based on the flight direction of the satellite. In this way, the angle information of each wave position under the satellite flight perspective can be obtained, and then the wave position can be converted into a two-dimensional coordinate in a two-dimensional coordinate system according to the angle information. In this way, the wave position can be converted into a two-dimensional coordinate under the satellite flight perspective, so that the wave position on the sphere can be converted to a plane for division, so as to facilitate the uniform division of the wave position on the plane, thereby reducing the interference between beams.

[0307] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0308] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0309] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0310] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0311] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wave position division method, characterized in that: The method comprises: Obtain ground position information of multiple wave positions within the satellite coverage area; Determine, according to the ground position information of each wave position, the angle information of each wave position relative to the satellite, wherein the angle information is determined in a coordinate system constructed based on the flight direction of the satellite; According to the angle information, each wave position is converted into a two-dimensional coordinate in a two-dimensional coordinate system; Divide the multiple beam positions into beam position sets according to the two-dimensional coordinates, wherein each beam position set corresponds to a scanning beam of the satellite; The dividing the plurality of wave positions into wave position sets according to the two-dimensional coordinates includes: Determine the number M of the beam position sets according to the number of beams of the satellite; According to the two-dimensional coordinates and the quantity M, the plurality of wave positions are divided into M wave position sets; The dividing the plurality of wave positions into M wave position sets according to the two-dimensional coordinates and the quantity M includes: Determine a minimum value and a maximum value in the two-dimensional coordinates, wherein the minimum value and the maximum value refer to a minimum abscissa value and a maximum abscissa value in the two-dimensional coordinates, or refer to a minimum ordinate value and a maximum ordinate value in the two-dimensional coordinates; According to the minimum value, the maximum value and the number M, the multiple wave positions are divided into M wave position sets.

2. The method according to claim 1, characterized in that Determining the angle information of each wave position relative to the satellite according to the ground position information of each wave position includes: Constructing a coordinate system with the satellite as the origin and the flight direction of the satellite as the X-axis; According to the ground position information of each wave position, the azimuth and off-axis angle of each wave position relative to the satellite in the coordinate system are calculated, and the angle information includes the azimuth and the off-axis angle.

3. The method according to claim 2, characterized in that The step of calculating the azimuth and off-axis angle of each wave position relative to the satellite in the coordinate system according to the ground position of each wave position comprises: Determine, according to the ground position information of each wave position and the position information of the satellite, a first projection component on the X-axis and a second projection component on the Y-axis of a line connecting each wave position and the satellite in the coordinate system; Calculate the azimuth of each wave position relative to the satellite using an inverse tangent function according to the first projection component and the second projection component; Determine, according to the ground position information of each wave position and the position information of the satellite, a third projection component of the line connecting each wave position and the satellite on the Z axis in the coordinate system; The off-axis angle of each wave position relative to the satellite is calculated using an arc cosine function according to the third projection component and the distance between each wave position and the satellite.

4. The method according to claim 1, characterized in that The coordinate system is an orbital coordinate system, and / or the two-dimensional coordinate system is a UV coordinate system.

5. The method according to claim 1, characterized in that The principle of dividing the wave position sets includes: minimizing the difference between the actual number of wave positions in each wave position set in the M wave position sets and the target number of wave positions, wherein the target number of wave positions refers to the number of wave positions in each wave position set divided according to the principle of equal division based on the total number of wave positions N and the number M.

6. The method according to claim 5, characterized in that The dividing the plurality of wave positions into M wave position sets according to the minimum value, the maximum value and the number M comprises: Sorting the multiple wave positions in the order of their two-dimensional coordinates from the minimum value to the maximum value or from the maximum value to the minimum value to obtain a plurality of sorted wave positions; According to the equal distribution principle, the number of target wave positions corresponding to each wave position set is obtained according to the total number of wave positions N of the plurality of wave positions and the number M; According to the target wave position quantity corresponding to each wave position set, a corresponding number of wave positions are selected in turn from the sorted multiple wave positions and divided into the corresponding wave position set to obtain M wave position sets.

7. The method according to claim 5, characterized in that The dividing the plurality of wave positions into M wave position sets according to the minimum value, the maximum value and the number M comprises: The range between the minimum value and the maximum value is taken as the wave position span range; According to the principle of equal division, the wave position span range is divided according to the number M to obtain M coordinate ranges; The wave position corresponding to each coordinate range in the M coordinate ranges is divided into a wave position set, and a total of M wave position sets are obtained.

8. The method according to claim 7, characterized in that After obtaining a total of M wave bit sets, the method further includes: Obtaining a total number N of wave positions of the plurality of wave positions; According to the equal distribution principle, the number of target wave positions corresponding to each wave position set is obtained according to the total number of wave positions N and the number M; According to the actual number of wave positions of each wave position set in the M wave position sets and the target number of wave positions of each wave position set, the wave positions of the corresponding wave position set are adjusted to minimize the difference between the actual number of wave positions of each wave position set and the corresponding target number of wave positions.

9. The method according to claim 8, characterized in that The adjusting the beam positions of the corresponding beam position set according to the actual beam position number of each beam position set in the M beam position sets and the target beam position number of each beam position set includes: If the actual number of wave positions in one of the M wave position sets is less than the target number of wave positions in the wave position set, wave positions are allocated from other wave position sets adjacent to the wave position set to the wave position set; If the actual number of wave positions in one of the M wave position sets is greater than the target number of wave positions in the wave position set, the wave positions in the wave position set are divided into other adjacent wave position sets; Among them, other adjacent wave position sets refer to adjacent wave position sets that have not been adjusted.

10. The method according to claim 9, characterized in that If the minimum value and the maximum value refer to the minimum horizontal coordinate value and the maximum horizontal coordinate value in the two-dimensional coordinate, then allocating the wavelet from other wavelet sets adjacent to the wavelet set to the wavelet set includes: Selecting a corresponding number of wave positions from the next wave position set adjacent to the wave position set in the order of small to large horizontal coordinates and large to small vertical coordinates and dividing them into the wave position set, wherein the corresponding number is determined according to the difference between the actual number of wave positions in the wave position set and the corresponding target number of wave positions; and / or, dividing the wavelets in the wavelet set into other adjacent wavelet sets, including: A corresponding number of wave positions are selected from the wave position set in the order of the horizontal coordinate from large to small and the vertical coordinate from large to small and divided into the next adjacent wave position set, wherein the corresponding number is determined according to the difference between the actual number of wave positions in the wave position set and the corresponding target number of wave positions.

11. The method according to claim 9, characterized in that If the minimum value and the maximum value refer to the minimum ordinate value and the maximum ordinate value in the two-dimensional coordinates, then allocating the wavelet from other wavelet sets adjacent to the wavelet set to the wavelet set includes: Selecting a corresponding number of wave positions from the next wave position set adjacent to the wave position set in the order of small to large horizontal coordinates and large to small vertical coordinates and dividing them into the wave position set, wherein the corresponding number is determined according to the difference between the actual number of wave positions in the wave position set and the corresponding target number of wave positions; and / or, dividing the wavelets in the wavelet set into other adjacent wavelet sets, including: A corresponding number of wave positions are selected from the wave position set in the order of the horizontal coordinate from small to large and the vertical coordinate from small to large and divided into the next adjacent wave position set, wherein the corresponding number is determined according to the difference between the actual wave position number of the wave position set and the corresponding target wave position number.

12. The method according to claim 7, characterized in that After obtaining a total of M wave bit sets, the method further includes: Obtaining an off-axis angle of each coordinate range in the M coordinate ranges relative to the satellite; According to the off-axis angle corresponding to each coordinate range, the coverage distance corresponding to each wave position set is obtained; If the difference in coverage distances between the wavelet sets is greater than a set threshold, the M coordinate ranges are recalculated, and the wavelet sets are divided using the recalculated coordinate ranges.

13. The method according to claim 12, characterized in that The recalculating the M coordinate ranges includes: According to the principle of equal division of coverage distance, the coverage distance corresponding to each wave position set is re-obtained; According to the coverage distance corresponding to each wave position set, the coordinate range corresponding to each wave position set is calculated.

14. The method according to any one of claims 1 to 13, characterized in that: Determining the minimum value and the maximum value in the two-dimensional coordinates includes: If the number of satellites in each orbit in the orbital environment is greater than the total number of orbits, determining that the minimum value and the maximum value in the two-dimensional coordinate system refer to the minimum abscissa value and the maximum abscissa value in the two-dimensional coordinate system; If the number of satellites in each orbit in the orbital environment is less than the total number of orbits, determining the minimum value and the maximum value in the two-dimensional coordinate system refers to the minimum ordinate value and the maximum ordinate value in the two-dimensional coordinate system.

15. A beam scanning method, characterized in that: The method comprises: Determine a wave position set corresponding to a plurality of wave positions within a satellite coverage area, wherein the wave position set is obtained by dividing the plurality of wave positions according to the method described in any one of claims 1 to 14; Beam scanning is performed according to the scanning order of each beam position set.

16. The method according to claim 15, characterized in that The beam scanning is performed according to the scanning order of each beam position set, including: Obtaining the two-dimensional coordinates of the wave positions in each wave position set; In each wave position set, beam scanning is performed according to the scanning order of the horizontal coordinate and the vertical coordinate in the two-dimensional coordinate from small to large or from large to small.

17. A wave position division device, characterized in that: The device comprises: A ground position acquisition module is used to acquire ground position information of multiple wave positions within the coverage of the satellite; An angle acquisition module, used to determine the angle information of each wave position relative to the satellite according to the ground position information of each wave position, wherein the angle information is determined in a coordinate system constructed based on the flight direction of the satellite; A coordinate acquisition module, used for converting each wave position into a two-dimensional coordinate in a two-dimensional coordinate system according to the angle information; A beam position division module, used for dividing the multiple beam positions into beam position sets according to the two-dimensional coordinates, wherein each beam position set corresponds to a scanning beam of the satellite; The beam position division module is specifically used to determine the number M of the beam position sets according to the number of beams of the satellite; and divide the multiple beam positions into M beam position sets according to the two-dimensional coordinates and the number M; Among them, the wave position division module according to the two-dimensional coordinates and the number M is specifically used to determine the minimum value and the maximum value in the two-dimensional coordinates, wherein the minimum value and the maximum value refer to the minimum horizontal coordinate value and the maximum horizontal coordinate value in the two-dimensional coordinates, or refer to the minimum vertical coordinate value and the maximum vertical coordinate value in the two-dimensional coordinates; according to the minimum value, the maximum value and the number M, the multiple wave positions are divided into M wave position sets.

18. A beam scanning device, characterized in that: The device comprises: A wave position set determination module, used to determine a wave position set corresponding to a plurality of wave positions within a satellite coverage area, wherein the wave position set is obtained by dividing the plurality of wave positions according to the method described in any one of claims 1 to 14; The scanning module is used to perform beam scanning according to the scanning sequence of each beam position set.

19. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 16 is executed.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 16 is performed.

21. A computer program product, characterized in that The method comprises computer program instructions, and when the computer program instructions are read and executed by a processor, the method according to any one of claims 1 to 16 is executed.

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