Communication method, device and storage medium

Abstract

The present application discloses a communication method, device and storage medium, belonging to the field of communication. The method includes: when the satellite communication service is started, a calibrated reference heading angle is obtained. In the process of aligning the satellite, if the heading angle changes and the heading angle change is greater than the moving threshold value, it means that movement has occurred, and the current heading angle is adjusted to the sum of the target heading angle and the heading angle change. If the heading angle changes and the heading angle change is less than or equal to the moving threshold value, it means that magnetic interference has been caused, and the current heading angle is adjusted to the target heading angle. Among them, in the first round of determination, the target heading angle is the reference heading angle, and in the process that is not the first round of determination, the target heading angle is the heading angle determined in the previous round of determination. The heading angle change is not subject to magnetic interference, so the accuracy of the heading angle is improved, thereby improving the accuracy of the satellite angle, thereby improving the communication quality.

Description

Technical Field

[0001] The present application relates to the field of communications, and in particular to a communication method, device and storage medium. Background Art

[0002] Satellite communication is becoming increasingly popular in terminal devices. During satellite communication, pointer pointing (for example, compass pointing or north needle pointing) is required for star alignment. Usually, the heading angle (also called yaw angle or azimuth angle) is calculated using the nine-axis algorithm to provide pointer pointing. The nine-axis algorithm requires a gyroscope, which has temperature drift. The satellite communication scenario needs to remain stable for a long time, and the whole machine generates a lot of heat. Therefore, the nine-axis algorithm is not suitable for satellite communication.

[0003] Currently, in order to avoid the pointing offset problem caused by the temperature drift of the gyroscope, a six-axis algorithm based on the fusion of the acceleration sensor and the geomagnetic sensor is usually used to calculate the heading angle. However, the six-axis algorithm is sensitive to magnetic interference. For example, the proximity of other magnetic devices (for example, headphone boxes, other terminal devices, and magnetic stickers for mobile phones) may cause magnetic interference to the satellite alignment of the terminal device; the magnetic stickers on the terminal device may also cause magnetic interference to the satellite alignment of the terminal device; and in order to increase the suction force between the terminal device and the middle frame, the protective cover (also called a protective shell or leather case) on the terminal device is generally equipped with a magnet, and the magnetic field generated by the magnet will also have a greater interference with the pointer pointing.

[0004] In the above-mentioned scenarios with magnetic interference, since the heading angle calculated by the six-axis algorithm is not accurate, the pointing angle (i.e., the pointer pointing) may deviate, resulting in pointing failure and other problems, and poor communication quality. Summary of the invention

[0005] The present application provides a communication method, device and storage medium, which can improve the accuracy of heading angle, thereby improving the accuracy of satellite angle, so as to improve the communication quality. The technical solution is as follows:

[0006] In a first aspect, a communication method is provided, the method comprising: when a satellite communication service is started, obtaining a reference heading angle, the reference heading angle is a calibrated heading angle, the reference heading angle is obtained after calibration when the satellite communication service is started, and the influence of magnetic interference will be eliminated during calibration, so whether there is magnetic interference at the beginning, the reference heading angle is accurate. In the process of aligning the satellite, when the heading angle changes, it means that the terminal device moves (rotates and / or translates) with the user or is subject to magnetic interference, so it is also necessary to use the heading angle change amount (referring to the relative heading angle change amount) that is not subject to magnetic interference for auxiliary judgment, the heading angle change amount fluctuates within a certain range, indicating that the terminal device has not moved, and the fluctuation of the heading angle change amount exceeds a certain range, indicating that the terminal device has moved. Based on this, when it is detected that the heading angle has changed and the detected heading angle change amount is greater than the movement threshold value (that is, the fluctuation of the heading angle change amount exceeds a certain range), it means that the terminal device has moved, or it may have moved and been subject to magnetic interference, and the current heading angle is adjusted to the sum of the target heading angle and the heading angle change amount. In the first round of determination, the current heading angle is adjusted to the sum of the reference heading angle and the heading angle change. In the non-first round of determination, the current heading angle is adjusted to the sum of the heading angle determined in the previous round of determination and the heading angle change. In this way, in the scenario where the terminal device moves, the heading angle is determined based on the heading angle change that is not affected by magnetic interference and the calibrated reference heading angle, which can improve the accuracy of the heading angle.

[0007] Among them, whether the heading angle has changed can be judged in the following way: when the heading angle is inconsistent, it is judged that the heading angle has changed; or, when the heading angle is inconsistent and the change of the heading angle is greater than the change threshold value, it is judged that the heading angle has changed, and this embodiment of the present application does not limit this.

[0008] When it is detected that the heading angle changes, and the heading angle change is less than or equal to the moving threshold value (that is, the heading angle change fluctuates within a certain range), it indicates that the terminal device is subject to magnetic interference, and the current heading angle is adjusted to the target heading angle. In the first round of determination, the current heading angle is adjusted to the reference heading angle, and in the process that is not the first round of determination, the current heading angle is adjusted to the heading angle determined in the previous round of determination. In this way, in the scenario where the terminal device is subject to magnetic interference, the heading angle is determined based on the calibrated reference heading angle and the heading angle change that is not subject to magnetic interference, which can improve the accuracy of the heading angle. The process of determining the heading angle is a continuous process. Each round of determining the heading angle is based on the heading angle determined in the previous round of determination. When it is determined that the terminal device has moved, it is superimposed with the heading angle change detected in this round as the current heading angle of this round; when it is determined that the terminal device has not moved, it is directly used as the current heading angle in this round. In this way, the accuracy of the heading angle can be improved, thereby improving the accuracy of the satellite angle and improving the communication quality.

[0009] In a possible implementation, during the alignment process with the satellite, if it is detected that the heading angle has not changed, it means that the terminal device has not moved and has not been subject to magnetic interference, and the current heading angle is maintained. In the case where the process of determining the heading angle in this round is the first round of determination, the current heading angle is the reference heading angle. In the case where the process of determining the heading angle in this round is not the first round of determination, one scenario is that there is no magnetic interference in the entire process, and the heading angle detected by the geomagnetic sensor is accurate. At the beginning, the heading angle is the reference heading angle; if there has been no movement, the heading angle is the reference heading angle; if there is movement and then it stops, the heading angle continues to use the heading angle detected by the geomagnetic sensor. Another scenario is that there is magnetic interference at the beginning, and then the magnetic interference disappears. At the beginning, the heading angle is the reference heading angle; if there has been no movement, the heading angle is the reference heading angle; if there is movement and then it stops, the heading angle is the heading angle determined in the previous round of determination. Regardless of the above scenario, the communication method provided in the embodiment of the present application can be used to calculate the heading angle. In this way, the communication method provided in the embodiment of the present application is not only applicable to scenarios subject to magnetic interference, but also to scenarios not subject to magnetic interference, thereby improving the applicability of the scenarios.

[0010] In one possible implementation, when the change in the heading angle is greater than a change threshold value, it indicates that the heading angle has changed significantly, and it is determined that the heading angle has changed; when the change in the heading angle is less than or equal to the change threshold value, it indicates that the heading angle has changed slightly, and it is determined that the heading angle has not changed.

[0011] In an embodiment of the present application, a change threshold value is set to determine whether the heading angle has changed, thereby increasing redundant space and reducing the need to frequently execute subsequent judgments on whether the heading angle change is greater than the moving threshold value even when the change amplitude is small, thereby reducing resource usage and improving processing efficiency.

[0012] In a possible implementation, during the satellite alignment process, when it is detected that the change in the geomagnetic mode length is greater than the magnetic interference threshold, it means that other magnetic devices are close to the terminal device, and the rotation vector sensor is started; the heading angle change collected by the rotation vector sensor is obtained; the rotation vector sensor is not affected by magnetic interference.

[0013] In an embodiment of the present application, by setting the start-up conditions of the rotation vector sensor, when the terminal device is subject to magnetic interference, the rotation vector sensor is started to reduce the impact of the magnetic interference, improve the accuracy of the heading angle, and thus improve the accuracy of the satellite angle, thereby improving the communication quality.

[0014] In a possible implementation, during the satellite alignment process, if the change in the geomagnetic mode length is detected to be less than or equal to the magnetic interference threshold, it means that other magnetic devices are not close to the terminal device, and the rotation vector sensor is not started, and the heading angle detected by the geomagnetic sensor is used as the current heading angle. In other words, the normal heading angle detection scheme is executed, and the heading angle is calculated using a six-axis algorithm based on the fusion of the acceleration sensor and the geomagnetic sensor.

[0015] In the embodiment of the present application, by setting the start-up conditions of the rotation vector sensor, it is possible to reduce resource waste while ensuring the accuracy of the heading angle.

[0016] In a possible implementation, during the satellite alignment process, the geomagnetic sensor collects geomagnetic data, and the acceleration sensor collects acceleration data; the device attitude is determined according to the acceleration data, and the horizontal plane can be found according to the device attitude; the geomagnetic data is corrected according to the device attitude to obtain the magnetic field distribution data on the horizontal plane, and the magnetic field distribution data on the horizontal plane includes x H The magnetic field components on the y axis and H The magnetic field component on the axis; the heading angle is calculated based on the magnetic field distribution data on the horizontal plane.

[0017] In the embodiment of the present application, a six-axis algorithm is used to calculate the heading angle, which reduces the pointing offset problem caused by the temperature drift of the gyroscope and has long-term static stability. Compared with the solution of obtaining the heading angle using a gyroscope, the accuracy of the heading angle is improved.

[0018] In a possible implementation, when it is determined that the terminal device carries foreign objects that generate magnetic interference, the rotation vector sensor is started when the satellite communication service is started; the heading angle change collected by the rotation vector sensor is obtained; and the rotation vector sensor is not affected by the magnetic interference.

[0019] In the embodiment of the present application, since the terminal device carries a foreign object that generates magnetic interference, the terminal device will be subject to magnetic interference during satellite communication, and the rotation vector sensor needs to be started when the satellite communication service is started, so as to reduce the impact of magnetic interference, improve the accuracy of the heading angle, thereby improving the accuracy of the satellite angle, and thus improving the communication quality.

[0020] In a possible implementation, taking the case where the external object that generates magnetic interference is a protective cover as an example, a Hall sensor can be set on the terminal device, and the output Hall state can determine whether the Hall sensor is triggered, indicating that the protective cover is opened and closed. Since the geomagnetic field is a vector, the modulus length of its magnetic field vector is fixed at a certain longitude and latitude, that is, the geomagnetic modulus length is constant; after superimposing magnetic interference, the geomagnetic modulus length will change. Based on this, the geomagnetic modulus length before and after the Hall sensor is triggered is obtained; when the absolute value of the difference between the geomagnetic modulus length before and after the Hall sensor is triggered is greater than the magnetic interference threshold, it means that the opening and closing of the protective cover will generate magnetic interference to the terminal device, and it is determined that the terminal device carries a foreign object that generates magnetic interference. When the absolute value of the difference between the geomagnetic modulus length before and after the Hall sensor is triggered is less than or equal to the magnetic interference threshold, it is determined that the terminal device does not carry a foreign object that generates magnetic interference.

[0021] The geomagnetic modulus and Hall sensor are used to determine whether the terminal device carries foreign objects that generate magnetic interference, thereby improving the accuracy of the judgment result.

[0022] In one possible implementation, when the absolute value of the difference between the geomagnetic mode lengths before and after the Hall sensor is triggered is greater than the magnetic interference threshold, it is determined that the trigger detection result is that the terminal device carries a foreign object that generates magnetic interference; when the Hall sensor is triggered more than a preset number of times and each trigger detection result is that the terminal device carries a foreign object that generates magnetic interference, it is determined that the terminal device carries a foreign object that generates magnetic interference.

[0023] In the embodiment of the present application, each trigger detection result is determined after the Hall sensor is triggered, that is, when the trigger detection results are multiple times (i.e., greater than the preset number of times) that the terminal device carries a foreign object that generates magnetic interference, it is determined that the terminal device carries a foreign object that generates magnetic interference. Through multiple consecutive judgment processes, the uncertainty interference of a single environment is reduced, misjudgment is reduced, and the accuracy of the judgment result is improved.

[0024] In one possible implementation, when the Hall sensor is triggered, the geomagnetic modulus length will have a small mutation, and a single geomagnetic modulus length cannot fully reflect the overall change trend before and after the trigger. Based on this, multiple geomagnetic modulus lengths in the first preset time period before the Hall sensor is triggered can be obtained, and their average is used as the geomagnetic modulus length before the Hall sensor is triggered. And obtain multiple geomagnetic modulus lengths in the second preset time period after the Hall sensor is triggered; use its average as the geomagnetic modulus length after the Hall sensor is triggered. By taking the average, the influence of extreme values ​​can be reduced, and the accuracy of the geomagnetic modulus length before and after the Hall sensor is triggered can be improved.

[0025] In a possible implementation, the geomagnetic data collected by the geomagnetic sensor is obtained. The geomagnetic data is a vector, which includes three-axis data in three-dimensional space. The three-axis data is squared and then squared to obtain the geomagnetic modulus. The geomagnetic modulus can then be used to determine whether there is magnetic interference, thereby improving the accuracy of the determination result.

[0026] In a second aspect, a terminal device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the communication method involved in the first aspect or any one of the implementations of the first aspect is implemented.

[0027] According to a third aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is executed on a computer, the computer executes the communication method involved in the first aspect or any one of the implementations of the first aspect.

[0028] In a fourth aspect, an embodiment of the present application provides a chip system, which can be applied to a terminal device. The chip system includes one or more processors, which are used to call computer instructions so that the terminal device executes the communication method described in the first aspect or any one of the implementation methods of the first aspect.

[0029] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the communication method described in the first aspect or any one of the implementations of the first aspect.

[0030] The technical effects obtained by the above-mentioned second, third, fourth and fifth aspects are similar to the technical effects obtained by the corresponding technical means in the above-mentioned first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic diagram of a satellite alignment scenario provided in an embodiment of the present application;

[0032] Figure 2 is a schematic diagram of a mobile phone protective cover provided in an embodiment of the present application;

[0033] Figure 3 This is a schematic diagram of interference of a mobile phone protective cover on the compass direction provided in an embodiment of the present application;

[0034] Figure 4 It is a structural diagram of a terminal device provided in an embodiment of the present application;

[0035] Figure 5 is a block diagram of a software system of a terminal device provided in an embodiment of the present application;

[0036] Figure 6 is a schematic diagram of a heading angle provided in an embodiment of the present application;

[0037] Figure 7 is a schematic diagram of a geomagnetic mode length provided in an embodiment of the present application;

[0038] Figure 8 is a schematic diagram of the change of geomagnetic modulus length before and after a Hall sensor is triggered provided by an embodiment of the present application;

[0039] Fig. 9 This is a schematic diagram of a process for determining whether a protective cover generates magnetic interference to a mobile phone, provided in an embodiment of the present application;

[0040] Fig.10 It is a flow chart of a communication method provided in an embodiment of the present application;

[0041] Fig.11 It is a flowchart of another communication method provided in an embodiment of the present application;

[0042] Fig.12 It is a flowchart of another communication method provided in an embodiment of the present application;

[0043] Fig.13 is a schematic diagram of heading angle compensation provided by an embodiment of the present application;

[0044] Fig.14 is another schematic diagram of heading angle compensation provided in an embodiment of the present application;

[0045] Fig.15 It is a flow chart of another communication method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0047] It should be understood that the "multiple" mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, the words "first" and "second" are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not limit them to be different.

[0048] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0049] The communication method provided in the embodiment of the present application can be applied to terminal devices, including but not limited to mobile phones, mobile phones, foldable phones, smart wearable devices, tablet computers (portable android devices, PADs), desktop computers, portable computers, handheld computers, wireless terminal devices, smart home devices, communication devices, digital broadcast receivers, personal digital assistants (personal digital assistants, PDAs), portable multimedia players (portable media players, PMPs) and other electronic devices with satellite communication functions. The embodiment of the present application does not limit the specific type of the terminal device.

[0050] The terminal device is installed with a satellite communication application, and the user can use the satellite communication application to enter the satellite alignment interface and conduct satellite communication. Figure 1 As shown, Figure 1 It is a schematic diagram of a satellite alignment scenario provided in an embodiment of the present application. Figure 1Taking the example of a mobile phone as the terminal device and the location of the mobile phone being "100°0'1'' north latitude, 100°2'3'' east longitude, 100 meters above sea level", this scenario shows that the user establishes a telephone connection or a voice connection with the satellite through the mobile phone. The user moves the mobile phone according to the pointer pointing in the satellite communication interface to change the pointer pointing in the satellite alignment interface of the mobile phone so that the satellite falls within a certain range pointed by the pointer, thereby achieving the operation of aligning the satellite. The heading angle directly affects the accuracy of the pointer pointing. Therefore, it is urgent to provide a communication method involving determining the heading angle, thereby improving the accuracy of the heading angle and thus the accuracy of the satellite alignment angle, and thus improving the quality of satellite communications.

[0051] Currently, users can put a protective cover on the terminal device to protect the entire terminal device, so as to increase the service life of the terminal device screen. Figure 2 As shown, Figure 2 Schematic diagram of a mobile phone protective cover provided in an embodiment of the present application. Mobile phone protective covers are generally equipped with magnets to increase the suction force between the mobile phone and the middle frame. The mobile phone protective cover can be opened or closed. When the mobile phone protective cover is closed, it can cover the mobile phone screen to protect the mobile phone screen from being accidentally touched or scratched.

[0052] The protective cover on the above terminal device will cause magnetic interference to the terminal device. For example, if the terminal device is a mobile phone and the pointer is the compass, Figure 3 As shown, Figure 3 This is a schematic diagram of the interference of a mobile phone protective cover on the compass direction provided by an embodiment of the present application. The position of the mobile phone remains unchanged, and the heading angles of multiple sampling points (corresponding to multiple acquisition times) are counted before and after the protective cover is put on the mobile phone. The heading angle can also be expressed as the compass direction. The acquisition time or sampling point is used as the horizontal coordinate, and the compass direction is used as the vertical coordinate. The change of the compass direction before and after the protective cover is put on is plotted into a curve. Figure 3 The horizontal axis represents the sampling points arranged in time order, and the horizontal axis can also be expressed as time. Figure 3 It can be seen that the compass direction changes after the phone is covered with a protective cover. Under normal circumstances, the position of the phone remains unchanged, and when there is no protective cover, its compass direction is correct, about 280°, but after the protective cover is put on, the compass direction of the phone drops to about 245°. In actual applications, after the phone is covered with a protective cover, even if the protective cover is opened, the protective cover will sway and other movements, which still have a certain impact on the compass direction of the phone. In other words, the opened protective cover is unstable and still produces magnetic interference. Figure 3The protective cover of the mobile phone was put on and taken off many times. The curve shows the compass pointing without the protective cover (about 280°) and the compass pointing under magnetic interference after the protective cover was put on (about 245°).

[0053] It is understandable that when the protective cover is put on instead of removed, the compass direction will change suddenly. For example, at sampling points around 375, 460, 580, 680, 750, and 840, the sampling data at these locations will be relatively sparse compared to other places. Figure 3 A smooth curve is used as an example for illustrative purposes only, and no special indication is given for this.

[0054] It should be noted that Figure 3 The curve shown in FIG. 1 can also indicate that the compass direction changes as the protective cover covering the mobile phone screen is repeatedly opened and closed. When the protective cover covering the mobile phone screen is opened, that is, there is no protective cover above the mobile phone screen, the compass direction is about 280°; when the protective cover is closed to cover the mobile phone screen, the compass direction drops to about 245°. Figure 3 The interference scenario of the mobile phone protective cover on the compass pointing shown in the figure is not specifically limited, and is only used to illustrate that the protective cover on the mobile phone has magnetic interference on the compass pointing.

[0055] Above Figure 3 It is shown in the figure that when a protective cover with a magnet is set on the mobile phone, the compass direction is affected. In the star alignment interface, the terminal device is superimposed with the magnet on the protective cover, which is subject to magnetic interference. The satellite communication star alignment scene will have pointing errors, which may easily lead to star alignment failure. In other scenarios, such as when a magnetic sticker is attached to the mobile phone, the magnetic sticker on the mobile phone will also affect the pointer direction. For another example, when other magnetic devices (for example, earphone boxes, other terminal devices, mobile phone magnetic stickers) are close to the mobile phone, the pointer direction of the mobile phone will also be affected.

[0056] Currently, in order to avoid the pointing offset problem caused by gyroscope temperature drift, terminal devices usually use a six-axis algorithm that integrates an acceleration sensor (also called an accelerometer) and a geomagnetic sensor (also called a magnetometer) to calculate the heading angle. The geomagnetic sensor is easily affected by magnetic interference, resulting in inaccurate pointer pointing.

[0057] Based on the magnetic interference problem mentioned above, an embodiment of the present application provides a communication method, when the heading angle collected by the geomagnetic sensor changes, it indicates that the terminal device has moved or been subjected to magnetic interference. The heading angle change amount collected by the rotating vector sensor is used to determine whether the terminal device has been subjected to magnetic interference or moved. In the process of determining the heading angle in the first round, if the heading angle changes and the heading angle change amount is large, it means that the terminal device has moved, and the heading angle change amount is used to compensate the reference heading angle as the current heading angle; if the heading angle changes and the heading angle change amount is small, it means that the terminal device is subjected to magnetic interference, the current heading angle remains unchanged, and the initial reference heading angle is used. In the process of determining the heading angle in the Nth round, N is an integer greater than or equal to 2. If the heading angle changes and the heading angle change amount is large, the heading angle change amount detected in the Nth round is used to compensate the heading angle determined in the N-1th round determination process as the current heading angle; if the heading angle changes and the heading angle change amount is small, the current heading angle is kept unchanged, that is, the heading angle determined in the N-1th round determination process is used. In this way, the influence of magnetic interference on the pointer pointing of the terminal device is eliminated, the accuracy of the star angle is improved, and the communication quality is improved.

[0058] Among them, the rotation vector sensor can be a fusion of an accelerometer and a gyroscope. After the acceleration collected by the accelerometer and the angular velocity collected by the gyroscope are fused by Kalman filtering, the relative rotation (including the heading angle change) can be obtained. The heading angle change refers to the relative change of the heading angle. Compared with a single gyroscope, its temperature drift will be relatively small. In addition, it does not use a magnetic field and is not affected by magnetic interference. Therefore, the relative rotation will be more accurate, that is, the heading angle change is not affected by magnetic interference and temperature drift, and is more accurate.

[0059] It should be noted that the rotation vector sensor can be a game rotation vector sensor (game rotation vector) or other sensors that are a fusion of an accelerometer and a gyroscope. As long as it can detect the rotation of the device without relying on the magnetic north pole, that is, it is not affected by magnetic interference, this embodiment of the application does not limit this.

[0060] Before explaining in detail the communication method provided in the embodiment of the present application, the terminal device involved in the embodiment of the present application is first explained.

[0061] Figure 4 is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application. Figure 4The terminal device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. Among them, the sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0062] It is understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the terminal device 100. In other embodiments of the present application, the terminal device 100 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0063] The processor 110 may include one or more processing units, for example, the processor 110 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0064] The controller may be the nerve center and command center of the terminal device 100. The controller may generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0065] The processor 110 may also be provided with a memory for storing instructions and data.

[0066] In some embodiments, the processor 110 may include one or more interfaces, such as an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0067] It is understandable that the interface connection relationship between the modules illustrated in the embodiment of the present application is only a schematic illustration and does not constitute a structural limitation on the terminal device 100. In other embodiments of the present application, the terminal device 100 may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0068] The wireless communication function of the terminal device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

[0069] In some embodiments, antenna 1 of terminal device 100 is coupled to mobile communication module 150, and antenna 2 is coupled to wireless communication module 160, so that terminal device 100 can communicate with the network and other devices through wireless communication technology.

[0070] The terminal device 100 implements the display function through a GPU, a display screen 194, and an application processor. The GPU is a microprocessor for image processing, which connects the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs, which execute program instructions to generate or change display information.

[0071] The terminal device 100 can realize the shooting function through ISP, camera 193, video codec, GPU, display screen 194 and application processor.

[0072] The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the terminal device 100. The external memory card communicates with the processor 110 through the external memory interface 120 to implement a data storage function, such as storing music, video and other files in the external memory card.

[0073] The internal memory 121 can be used to store computer executable program codes, which include instructions. The processor 110 executes various functional applications and data processing of the terminal device 100 by running the instructions stored in the internal memory 121. The internal memory 121 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area may store data created by the terminal device 100 during use (such as audio data, a phone book, etc.), etc. In addition, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0074] The terminal device 100 can implement audio functions, such as music playback, recording, etc., through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone interface 170D and the application processor.

[0075] The SIM card interface 195 is used to connect a SIM card. The SIM card can be connected to and separated from the terminal device 100 by inserting it into the SIM card interface 195 or pulling it out from the SIM card interface 195. The terminal device 100 can support 1 or N SIM card interfaces, where N is an integer greater than 1. The SIM card interface 195 can support Nano SIM cards, Micro SIM cards, SIM cards, and the like. Multiple cards can be inserted into the same SIM card interface 195 at the same time. The types of the multiple cards can be the same or different. The SIM card interface 195 can also be compatible with different types of SIM cards. The SIM card interface 195 can also be compatible with external memory cards. The terminal device 100 interacts with the network through the SIM card to implement functions such as calls and data communications. In some embodiments, the terminal device 100 uses an eSIM, i.e., an embedded SIM card. The eSIM card can be embedded in the terminal device 100 and cannot be separated from the terminal device 100.

[0076] Next, the software system of the terminal device 100 will be described.

[0077] The software system of the terminal device 100 may adopt a layered architecture, an event-driven architecture, a micro-kernel architecture, a micro-service architecture, or a cloud architecture. The embodiment of the present application takes the Android system of the layered architecture as an example to exemplify the software system of the terminal device 100.

[0078] Figure 5 1 is a block diagram of a software system of a terminal device 100 provided in an embodiment of the present application. Figure 5 The layered architecture divides the software into several layers, each with clear roles and division of labor. The layers communicate with each other through software interfaces. In some embodiments, the Android system is divided into four layers, from top to bottom, namely the application layer, the application framework layer, the Android runtime (Android Runtime) and the system layer, and the kernel layer.

[0079] The application layer can include a series of application packages. Figure 5 As shown, the application package may include applications such as camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, short message, etc. The application layer also includes a satellite communication application. The user can click or touch the satellite communication application, and the satellite communication application displays the satellite communication interface and performs satellite alignment operations to achieve satellite communication.

[0080] The application framework layer provides application programming interface (API) and programming framework for the applications in the application layer. The application framework layer includes some predefined functions. Figure 5As shown, the application framework layer may include a window manager, a content provider, a view system, a phone manager, a resource manager, a notification manager, etc. The window manager is used to manage window programs. The window manager can obtain the size of the display screen, determine whether there is a status bar, lock the screen, capture the screen, etc. The content provider is used to store and obtain data and make these data accessible to applications. These data may include videos, images, audio, calls made and received, browsing history and bookmarks, phone books, etc. The view system includes visual controls, such as controls for displaying text, controls for displaying pictures, etc. The view system can be used to build the display interface of the application, and the display interface can be composed of one or more views, for example, including a view for displaying a text message notification icon, including a view for displaying text, and including a view for displaying pictures. The phone manager is used to provide communication functions of the terminal device 100, such as management of call status (including connecting, hanging up, etc.). The resource manager provides various resources for the application, such as localized strings, icons, pictures, layout files, video files, etc. The notification manager enables the application to display notification information in the status bar, which can be used to convey notification-type messages and can disappear automatically after a short stay without user interaction. For example, the notification manager is used to notify download completion, message reminders, etc. The notification manager can also be a notification that appears in the system top status bar in the form of an icon or scroll bar text, such as a notification of an application running in the background. The notification manager can also be a notification that appears on the screen in the form of a dialog window, such as a text message in the status bar, a reminder sound, an electronic device vibrating, an indicator light flashing, etc.

[0081] Android Runtime includes core libraries and virtual machines. Android Runtime is responsible for scheduling and management of the Android system. The core library consists of two parts: one is the function that the Java language needs to call, and the other is the Android core library. The application layer and the application framework layer run in the virtual machine. The virtual machine executes the Java files of the application layer and the application framework layer as binary files. The virtual machine is used to perform object life cycle management, stack management, thread management, security and exception management, and garbage collection.

[0082] The system library can include multiple functional modules, such as: surface manager, media library, 3D graphics processing library (such as: OpenGL ES), 2D graphics engine (such as: SGL), etc. The surface manager is used to manage the display subsystem and provide fusion of 2D and 3D layers for multiple applications. The media library supports playback and recording of a variety of commonly used audio and video formats, as well as static image files, etc. The media library can support a variety of audio and video encoding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc. The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, synthesis, and layer processing, etc. The 2D graphics engine is a drawing engine for 2D drawing.

[0083] The system library also includes an algorithm engine, which is used to obtain the Hall state (indicating whether it is triggered) output by the Hall sensor, the geomagnetic data collected by the geomagnetic sensor, the heading angle change collected by the rotation vector sensor, and the acceleration data collected by the acceleration sensor; and execute the communication method provided in the embodiment of the present application based on the above-mentioned acquired data.

[0084] The kernel layer is the layer between hardware and software. The kernel layer contains at least display driver, camera driver, audio driver, and sensor driver.

[0085] The hardware layer includes hardware modules that can be driven, such as geomagnetic sensors, rotation vector sensors, Hall sensors, and acceleration sensors.

[0086] In this application, by calling the hardware interface in the application framework layer, the connection between the application layer above the application framework layer, the system library below the application framework layer, the kernel layer and the hardware layer can be realized to realize sensor data collection and processing.

[0087] The following is an illustrative description of the software and hardware workflow of the terminal device 100 in conjunction with a satellite communication scenario.

[0088] The satellite communication application in the application layer can be displayed on the screen of the terminal device 100 in the form of an icon. When the icon of the satellite communication application is clicked by the user to be triggered, the terminal device 100 starts to run the satellite communication application. When the satellite communication application runs on the terminal device 100, the sensor in the hardware layer of the terminal device 100 is turned on by calling the sensor driver of the kernel layer. The geomagnetic data is collected by the geomagnetic sensor, the heading angle change is collected by the rotation vector sensor, the acceleration data is collected by the acceleration sensor, and the Hall sensor is used to trigger the Hall detection to output the Hall state. And when the satellite communication application runs on the terminal device 100, the satellite communication application calls the algorithm engine in the system layer through the application programming interface in the application framework layer to determine the heading angle according to the above sensor data, thereby realizing satellite communication.

[0089] Combine the following Figure 6 The six-axis algorithm provided in the embodiment of the present application is described.

[0090] like Figure 6 As shown, Figure 6 It is a schematic diagram of a heading angle provided in an embodiment of the present application. The geomagnetic data collected by the geomagnetic sensor includes three-axis data in three-dimensional space, that is, data on the x-axis, y-axis and z-axis, and the z-axis is not shown. Among them, the x-axis and y-axis are not in the horizontal plane H, and the z-axis is not in the horizontal plane H. The magnetic field in the horizontal direction is the projection of the x-axis magnetic field on the horizontal plane H, the projection of the y-axis magnetic field on the horizontal plane H, and the projection of the z-axis magnetic field on the horizontal plane H. The pitch angle needs to be corrected. The error introduced by the pitch angle and the roll angle θ (roll). That is, the data on the x-axis, y-axis, and z-axis are projected onto the horizontal plane (local horizontal plane, H). The horizontal axis on the horizontal plane is x H , the vertical axis is y H , the gravity vector is perpendicular to the horizontal plane. The six-axis algorithm determines the device attitude based on the acceleration data collected by the acceleration sensor; the horizontal plane can be found based on the device attitude, and the geomagnetic data collected by the geomagnetic sensor is corrected based on the device attitude to obtain the magnetic field distribution data on the horizontal plane, as shown in formula (1) and formula (2). That is, the data on the x-axis and y-axis in the geomagnetic data are projected onto the horizontal plane, and combined with the data on the z-axis to obtain the magnetic field distribution data on the horizontal plane. Then, the heading angle detected by the geomagnetic sensor is determined based on the magnetic field distribution data on the horizontal plane, as shown in formula (3).

[0091] (1)

[0092] (2)

[0093] In the above formulas (1) and (2), X represents the magnetic field on the x-axis, Y represents the magnetic field on the y-axis, and Z represents the magnetic field on the z-axis. represents the pitch angle, and θ represents the roll angle. In formula (1), X H represents x on the horizontal plane H The magnetic field component of the axis, Y in formula (2) H represents the horizontal plane y H The six-axis algorithm transforms the three-axis data of the geomagnetic sensor to the horizontal plane with the help of the acceleration sensor, and obtains the magnetic field component on the horizontal plane after the coordinate system transformation.

[0094] (3)

[0095] As shown in the above formula (3), the heading angle, that is, the azimuth, is calculated according to the above formulas (1) and (2), which can represent the direction of the pointer.

[0096] Satellite communication scenarios need to remain stable for a long time, and the whole device generates a lot of heat, so it is not suitable to use the nine-axis algorithm to calculate the heading angle. The six-axis algorithm relies on the accelerometer and the geomagnetic sensor. The accelerometer is used to correct the device posture, thereby compensating the geomagnetic data collected by the geomagnetic sensor to obtain the heading angle. The heading angle is determined by the geomagnetic data, and there is no gyroscope involved in the calculation. It is not affected by the static temperature drift of the gyroscope and has long-term static stability. This feature makes the six-axis algorithm suitable for satellite communication scenarios.

[0097] Based on the heading angle calculated by the above formula (1), formula (2) and formula (3), the change of the heading angle can be further calculated according to the heading angle detected by the geomagnetic sensor, and then it can be determined whether the heading angle has changed. Exemplarily, the change of the heading angle indicates the degree of change of the heading angle and describes the change of the heading angle over time. The change of the heading angle can be expressed as the absolute value of the difference between the heading angle at the current collection time and the previous collection time, or the absolute value of the difference between the current collection time and the average of the heading angles in a preset time period before the current collection time.

[0098] In the above six-axis algorithm, the acceleration sensor only plays a role in posture correction, and the magnetic field data detected by the magnetic field sensor contributes to the heading angle. Therefore, since the six-axis algorithm only uses the magnetic field sensor to calculate the heading angle, it is easily interfered by the external magnetic environment, such as magnets in the protective case of the terminal device, magnetic stickers, headphone boxes, and other magnetic devices.

[0099] Next, whether the terminal device is subject to magnetic interference is described.

[0100] The embodiment of the present application relies on the geomagnetic modulus to determine whether the terminal device is subject to magnetic interference. Since the geomagnetic field is a vector, the modulus of its magnetic field vector is fixed at a certain longitude and latitude. Therefore, when there is no superimposed magnetic field data (caused by magnetic interference), the three-axis data fitting of the geomagnetic sensor is a sphere, and the radius of the sphere is the geomagnetic modulus, which is constant.

[0101] The calculation method of the geomagnetic mode length is shown in formula (4).

[0102] (4)

[0103] In formula (4), X, Y, and Z are the three-axis data of the geomagnetic sensor. M represents the geomagnetic modulus length.

[0104] like Figure 7 As shown, Figure 7 is a schematic diagram of a geomagnetic mode length provided in an embodiment of the present application, Figure 7 shows the magnetic field in three planes, Figure 7 Figure A shows the magnetic field data on the XOY plane; Figure 7 Figure B shows the magnetic field data on the YOZ plane; Figure 7 Figure C shows the magnetic field data on the XOZ plane. Figure 7 It can be seen that the magnetic field values ​​on each plane at the same longitude and latitude are the same.

[0105] When magnetic interference is superimposed in the satellite communication scenario, the geomagnetic modulus length will change. Therefore, the change in the geomagnetic modulus length can be used to determine whether there is magnetic interference. Determine whether the change in the geomagnetic modulus length is greater than the magnetic interference threshold. If so, it means that the terminal device is subject to magnetic interference. If not, it means that the terminal device is not subject to magnetic interference. Among them, the geomagnetic sensor collects geomagnetic data in a continuous process. Under certain longitude and latitude, the geomagnetic modulus length will fluctuate normally within a small range, that is, the absolute value of the change in the geomagnetic modulus length is less than or equal to the magnetic interference threshold. When the change in the geomagnetic modulus length is greater than the magnetic interference threshold, it means that the terminal device is subject to magnetic interference.

[0106] The change in geomagnetic modulus can be expressed as the absolute value of the difference between the geomagnetic modulus at the current acquisition time and the geomagnetic modulus at the previous acquisition time, or the absolute value of the difference between the current acquisition time and the mean value of the geomagnetic modulus in a preset time period before the current acquisition time. This embodiment of the present application is not limited to this.

[0107] The unit of magnetic field data is micro-Tesla, which is represented by uT. The magnetic interference threshold can be appropriately set by those skilled in the art according to the actual situation. It can be determined based on a large amount of experimental data on the change in geomagnetic modulus before and after the terminal device is subjected to magnetic interference, for example, 5uT, 4 uT, 6 uT, etc. As long as it can indicate that the fluctuation of geomagnetic modulus is large and exceeds the normal fluctuation range, the embodiments of the present application are not limited to this. Under normal circumstances, when the change in geomagnetic modulus exceeds 5uT, it is believed that the impact on the pointer pointing accuracy will exceed 5°, and it can be considered that the terminal device is affected by magnetic interference at this time.

[0108] The method of judging whether there is magnetic interference based on the geomagnetic mode length can be applied to different forms of magnetic interference. They are introduced below.

[0109] Example 1: During the satellite alignment process, the proximity of magnetic objects such as headphone boxes and other terminal devices will cause magnetic interference, and magnetic stickers attached to the terminal devices will also cause magnetic interference. In this way, during the satellite alignment process, you can pay attention to the change in the geomagnetic modulus length, and when it is detected that the change in the geomagnetic modulus length is greater than the magnetic interference threshold, start the rotation vector sensor; obtain the heading angle change collected by the rotation vector sensor, and the heading angle change indicates the heading angle difference between adjacent detection moments. And based on the heading angle change, execute the communication method provided in the embodiment of the present application to improve the accuracy of the heading angle, thereby improving the accuracy of the alignment angle and improving the communication quality.

[0110] Example 2: The terminal device is provided with a protective cover, which includes a magnet and causes magnetic interference to the terminal device. Since the protective cover is always on the terminal device, it is possible to determine whether the protective cover generates magnetic interference during normal use of the terminal device before satellite communication. The Hall sensor can be provided on the terminal device, and the Hall state output can indicate whether the protective cover is open. For example, when the Hall sensor is not triggered, the output is "0", indicating that the protective cover is open; when the Hall sensor is triggered, the output is "1", indicating that the protective cover is closed. The geomagnetic modulus before and after the Hall sensor is triggered is obtained. The geomagnetic modulus can be obtained by taking the square root of the square sum of the three-axis data collected by the geomagnetic sensor. Please refer to the description of the above formula (4).

[0111] In the above example 1, the rotation vector sensor is started when the change in the geomagnetic mode length is detected to be greater than the magnetic interference threshold; in the above example 2, the rotation vector sensor is started when the satellite communication service is started. The trigger conditions of the two are different, and the timing of starting the rotation vector sensor is different. Example 1 is suitable for the scenario where other magnetic devices are close to the terminal device, and Example 2 is suitable for the scenario where the terminal device itself carries foreign objects that generate magnetic interference.

[0112] In the embodiment of the present application, before and after the Hall sensor is triggered refers to that the Hall state output by the Hall sensor changes, for example, from "0" to "1", or from "1" to "0".

[0113] In the above example 2, before satellite communication, the Hall state output by the Hall sensor can be used to obtain the geomagnetic mode length before and after the Hall sensor is triggered to determine whether the difference between the two is too large. When the difference between the geomagnetic mode lengths before and after the Hall sensor is triggered is greater than the magnetic interference threshold, it is determined that the terminal device carries a foreign object that generates magnetic interference. Here, the foreign object that generates magnetic interference refers to a magnetic object that has been attached to the terminal device, such as a protective cover.

[0114] In some embodiments, before satellite communication is started, if it is determined that the terminal device carries a foreign object that generates magnetic interference, the rotation vector sensor is directly started when the satellite communication service is started to obtain the heading angle change collected by the rotation vector sensor. The communication method provided in the embodiment of the present application is executed based on the heading angle change to improve the accuracy of the heading angle, thereby improving the accuracy of the relative angle and improving the communication quality.

[0115] When obtaining the geomagnetic modulus before and after the Hall sensor is triggered, since the closing of the protective sleeve is not instantaneous, the change of the geomagnetic modulus is not instantaneous. Based on this, the geomagnetic modulus of the first preset time before the Hall sensor is triggered can be obtained, and it is used as the geomagnetic modulus before the Hall sensor is triggered. The geomagnetic modulus of the second preset time after the Hall sensor is triggered is obtained, and it is used as the geomagnetic modulus after the Hall sensor is triggered. In this way, the accuracy of the geomagnetic modulus can be improved. Among them, the first preset time and the second preset time can be set by a technician in this field according to actual conditions, for example, 1 second (s), 2s, 0.5s, etc. The first preset time and the second preset time can be the same or different. This embodiment of the present application is not limited.

[0116] In some embodiments, when the Hall sensor is triggered, the geomagnetic modulus length will have a small mutation, and a single geomagnetic modulus length cannot fully reflect the overall change trend before and after the trigger. Based on this, multiple geomagnetic modulus lengths in the first preset time period before the Hall sensor is triggered can be obtained, and their average value is used as the geomagnetic modulus length before the Hall sensor is triggered. And multiple geomagnetic modulus lengths in the second preset time period after the Hall sensor is triggered are obtained; and their average value is used as the geomagnetic modulus length after the Hall sensor is triggered.

[0117] Among them, the first preset time period and the second preset time period can be set by those skilled in the art according to actual conditions, for example, 1s, 2s, 0.5s, 3s, etc. The first preset time period and the second preset time period can be the same or different. This embodiment of the present application is not limited to this. By taking the average, the influence of extreme values ​​can be reduced, and the accuracy of the geomagnetic module length before and after the Hall sensor is triggered can be improved.

[0118] According to the geomagnetic modulus before and after the Hall sensor is triggered, the absolute value of the difference between the two is determined, and it is judged whether the absolute value of the difference between the two is greater than the change in magnetic interference. If so, it is determined that the device carries a foreign object that generates magnetic interference. If not, it is determined that the device does not carry a foreign object that generates magnetic interference.

[0119] In some embodiments, the above-mentioned trigger detection results can also be counted, and the trigger detection result is that the terminal device carries a foreign object that generates magnetic interference or the device does not carry a foreign object that generates magnetic interference. When the number of times the Hall sensor is triggered is greater than the preset number of times, and each trigger detection result is that the terminal device carries a foreign object that generates magnetic interference, it is determined that the terminal device carries a foreign object that generates magnetic interference. Each trigger detection result is determined after the Hall sensor is triggered, that is, when the trigger detection result is that the terminal device carries a foreign object that generates magnetic interference for multiple consecutive times (i.e., greater than the preset number of times), it is determined that the terminal device carries a foreign object that generates magnetic interference. Through multiple consecutive judgment processes, the uncertainty interference of a single environment is reduced, misjudgment is reduced, and the accuracy of the judgment result is improved.

[0120] Among them, the Hall sensor is triggered once, and the trigger detection result is counted. The Hall sensor can be triggered multiple times at different times, and there is no limit on the interval between two adjacent triggers. The triggering time and the triggering interval depend on the user's usage habits, and the embodiment of the present application does not limit this. The preset number of times can be set by those skilled in the art according to actual conditions, for example, 3 times, 4 times, 5 times, etc.

[0121] For example, taking the terminal device as a mobile phone, Figure 8 As shown, Figure 8 is a schematic diagram of the change of geomagnetic mode length before and after a Hall sensor is triggered provided by an embodiment of the present application, Figure 8 The horizontal axis represents the sampling points arranged in chronological order. Of course, the horizontal axis can also be expressed as time; the vertical axis represents the geomagnetic mode length.

[0122] Please refer to Fig. 9 , Fig. 9This is a flow chart of determining whether a protective cover generates magnetic interference to a mobile phone provided by an embodiment of the present application. The present application embodiment takes the preset number of times as 3, the first preset time period and the second preset time period as 1s, and the magnetic interference threshold as 5 uT as an example to determine whether a protective cover generates magnetic interference to a mobile phone.

[0123] S101, record the magnetic mode length within 1 second before and after the Hall sensor is triggered three times in succession.

[0124] The geomagnetic sensor is used to collect multiple geomagnetic data within 1 second before the Hall sensor is triggered, and multiple geomagnetic data within 1 second after the Hall sensor is triggered. For each geomagnetic data, the geomagnetic modulus is calculated according to the three-axis data included in the geomagnetic data.

[0125] S102, calculating the mean value M1 of the geomagnetic modulus length 1 second before the Hall sensor is triggered, and the mean value M2 of the geomagnetic modulus length 1 second after the Hall sensor is triggered, and calculating the absolute value of the difference between M1 and M2 as the change in geomagnetic modulus length ΔM = |M2-M1|.

[0126] Above Figure 8 In the figure, the mean value of the geomagnetic mode length M1 = 53.80461 1s before the Hall sensor is triggered. The mean value of the geomagnetic mode length M2 = 29.76747 1s after the Hall sensor is triggered. The change in geomagnetic mode length ΔM = |M2-M1| = 24.03714.

[0127] S103, determine whether ΔM>5uT for three consecutive times.

[0128] If so, it means that the phone will be affected by the protective case, as mentioned above Figure 8 If not, then S101 is executed, that is, the method for determining whether the protective cover generates magnetic interference to the mobile phone is executed again.

[0129] S104. Determine whether the protective cover causes magnetic interference to the mobile phone.

[0130] If ΔM>5uT for three consecutive times, it is determined that the mobile phone is carrying a protective case that generates magnetic interference.

[0131] Above Figure 8 In the test, the change in geomagnetic modulus (i.e., the absolute value of the difference in geomagnetic modulus before and after the Hall sensor is triggered) exceeds 5uT. In this case, the protective cover affects the accuracy of the pointer pointing by more than 5°. It can be considered that the mobile phone is affected by the magnetic interference of the protective cover.

[0132] In this example, by judging the change in the magnetic mode length before and after the Hall sensor is triggered (i.e., when the protective cover is opened and closed), it is judged whether there is magnetic interference, and multiple consecutive judgments are performed to reduce the uncertainty interference of a single environment and improve the accuracy of the judgment result.

[0133] In the embodiment of the present application, using the geomagnetic modulus length to determine whether the protective cover brings magnetic interference is only an example. In actual applications, there is not only magnetic interference caused by the magnet of the protective cover, but also other magnetic interferences, such as magnetic stickers, headphone boxes, mobile phones, etc., and the geomagnetic modulus length can be used to determine whether there is magnetic interference. The embodiment of the present application does not limit this.

[0134] Based on the above Figure 6-Figure 9 , the communication method provided in the embodiment of the present application is described.

[0135] like Fig.10 As shown, Fig.10 1 is a flow chart of a communication method provided in an embodiment of the present application. The method is applicable to a scenario where a protective cover is provided on a terminal device.

[0136] S201. Acquire the Hall state of the Hall sensor of the terminal device.

[0137] The Hall state output by the Hall sensor can indicate whether the protective cover on the terminal device is closed or open. For example, "0" indicates that the protective cover is open, and "1" indicates that the protective cover is closed.

[0138] S202: Determine whether the Hall sensor is triggered.

[0139] If yes, execute S203, if no, continue to execute S201.

[0140] Whether the Hall sensor is triggered is determined based on the Hall state of the Hall sensor. For example, the protective cover changes from opening to closing, which is reflected in the Hall state changing from "0" to "1". The Hall state of the Hall sensor changes, indicating that the Hall sensor is triggered.

[0141] S203, obtaining geomagnetic data collected by the geomagnetic sensor before and after the Hall sensor is triggered.

[0142] The geomagnetic data collected by the geomagnetic sensor includes three-axis data in three-dimensional space, and the geomagnetic modulus is calculated based on the three-axis data, thereby obtaining the geomagnetic modulus before and after the Hall sensor is triggered.

[0143] S204: Determine whether magnetic interference exists.

[0144] If yes, execute S205, if no, execute S206.

[0145] By judging whether the difference between the geomagnetic mode lengths before and after the Hall sensor is triggered (i.e., the change in the geomagnetic mode length) is greater than the magnetic interference threshold, it is judged whether there is magnetic interference (i.e., the magnetic interference caused by the protective cover).

[0146] The method for judging whether the protective cover brings magnetic interference can be found in the above Figure 7-Figure 9 The description in will not be repeated here.

[0147] S205. Activate the magnetic interference avoidance scheme when starting the satellite communication service.

[0148] When the satellite communication application is started to implement the satellite communication service, the communication method provided in the embodiment of the present application is executed. The communication method is also a magnetic interference avoidance solution to improve the accuracy of the heading angle, thereby improving the accuracy of the alignment angle and improving the communication quality.

[0149] The implementation process of the magnetic interference avoidance solution is as follows: Fig.11 As shown, Fig.11 It is a flow chart of another communication method provided in an embodiment of the present application.

[0150] S2051. Determine whether the terminal device carries foreign objects that generate magnetic interference.

[0151] Exemplarily, the terminal device is provided with a protective cover, which, as an external object generating magnetic interference, may have an impact on the satellite communication service of the terminal device.

[0152] S2052: Obtain reference heading angle Y and start the rotation vector sensor.

[0153] The algorithm engine in the terminal device will calibrate the heading angle when the satellite communication service is turned on to eliminate the influence of magnetic interference. The heading angle detected by the geomagnetic sensor is the reference heading angle Y. For example, the calculation method of the reference heading angle Y can be referred to above. Figure 6 The difference is that when the satellite communication service is turned on, the terminal device will H and Y H Calibration is performed to eliminate the influence of magnetic interference. In this way, the heading angle calculated by the above formula (3) is the reference heading angle. The reference heading angle Y is the heading angle after calibration. Regardless of whether there is magnetic interference at the beginning, the reference heading angle is accurate. After the satellite communication service is turned on, the heading angle detected by the geomagnetic sensor will be affected by magnetic interference and become inaccurate.

[0154] In a scenario where the terminal device carries a foreign object that generates magnetic interference, when the satellite communication service is started, the rotation vector sensor is registered, that is, the rotation vector sensor is started.

[0155] S2053: The heading angle detected by the geomagnetic sensor changes, and the heading angle change ΔY detected by the rotation vector sensor is obtained.

[0156] The geomagnetic sensor detects a change in the heading angle, for example, the heading angle is inconsistent, or the heading angle is inconsistent and the change in the heading angle is greater than the change threshold value, indicating that the terminal device is subject to magnetic interference from the protective cover, or the terminal device moves, or the terminal device is subject to magnetic interference and moves. Therefore, it is also necessary to use the heading angle change ΔY that is not subject to magnetic interference for auxiliary judgment.

[0157] S2054: Determine whether ΔY is less than or equal to the moving threshold.

[0158] If yes, execute S2055; if no, execute S2056.

[0159] If the heading angle variation ΔY fluctuates within a certain range, for example, ΔY is less than or equal to the movement threshold, it indicates that the terminal device has not moved, and S2055 is executed. If the heading angle variation ΔY fluctuates beyond a certain range, for example, ΔY is greater than the movement threshold, it indicates that the terminal device has moved, and S2056 is executed.

[0160] S2055. Maintain the current heading angle.

[0161] In the first round of determination, the current heading angle is maintained as the reference heading angle. In the non-first round of determination, the current heading angle is maintained as the heading angle determined in the previous round of determination.

[0162] S2056. Update the current heading angle to Y1=Y+ΔY.

[0163] In the first round of determination, the current heading angle is updated to the reference heading angle plus the heading angle change, that is, Y1=Y+ΔY. In the non-first round of determination, the current heading angle is updated to the heading angle determined in the previous round of determination plus the heading angle change detected in this round.

[0164] It should be noted that the magnetic interference avoidance solution is not only applicable to scenarios where the terminal device is provided with a protective cover, but also applicable to other magnetic interference scenarios, such as magnetic stickers, terminal device storage boxes, etc., and this application embodiment does not impose any restrictions on this.

[0165] In an embodiment of the present application, after determining that the protective cover has magnetic interference with the pointer pointing (that is, the terminal device carries a foreign object that generates magnetic interference), the magnetic interference avoidance scheme is started when the satellite communication service is started. In the magnetic interference scenario, the reliability of the six-axis algorithm is low, while the rotation vector sensor does not use the magnetic field and is not affected by the change of the magnetic field. Its relative rotation is more accurate, and the detected heading angle change is not affected by magnetic interference. After the reference heading angle (also referred to as the initial azimuth, initial pointing or initial angle) is calculated through calibration on the star interface, the rotation vector sensor is registered to obtain the heading angle change. When the pointer pointing of the geomagnetic sensor changes (that is, the geomagnetic sensor detects a change in the heading angle), the heading angle change detected by the rotation vector sensor is used to determine whether it is magnetic interference. If it is magnetic interference, the reported heading angle does not change, that is, the current heading angle is the reference heading angle. If it is not magnetic interference, it means that the terminal device has moved, and the current heading angle is calculated by the reference heading angle and the heading angle change. In this way, the accuracy of the heading angle can be improved, thereby improving the accuracy of the satellite angle and improving the communication quality.

[0166] S206. When the satellite communication service is started, the heading angle is detected according to a normal algorithm.

[0167] When the satellite communication application is started to implement satellite communication services, the normal heading angle detection scheme is executed, and the heading angle is calculated using a six-axis algorithm based on the fusion of the acceleration sensor and the geomagnetic sensor. The six-axis algorithm can be found in the above Figure 6 The description in will not be repeated here.

[0168] In the embodiment of the present application, before the satellite communication service is started, it is detected whether there is a protective cover on the terminal device. If there is a protective cover, it is detected whether the magnet on the protective cover causes magnetic interference to the terminal device. The presence of magnetic interference is determined by obtaining the geomagnetic data of the geomagnetic sensor before and after the Hall sensor is triggered. After determining that there is magnetic interference, the magnetic interference avoidance scheme is started when the satellite communication service is started. Otherwise, the heading angle is detected according to the normal algorithm.

[0169] In the embodiment of the present application, since the magnetic interference effect of the protective cover on the terminal device is judged before the satellite communication process, if the judgment result indicates that the protective cover installed on the terminal device will cause magnetic interference, then the rotation vector sensor has been started when the satellite communication service is turned on. During the satellite communication process, the current heading angle is updated based on the heading angle change detected by the rotation vector sensor. The current heading angle is not only not affected by the magnetic interference caused by the protective cover, but also not by the magnetic interference caused by the approach of other magnetic devices. In other words, even if other magnetic devices are close to the terminal device during the satellite communication process, it will not affect the accuracy of the heading angle. In other words, Fig.11 The same applies to scenarios where magnetic interference is caused by the proximity of other magnetic devices.

[0170] Based on the above Figure 6-Figure 9 , the communication method provided in the embodiment of the present application is described. Fig.12 As shown, Fig.12 1 is a flow chart of another communication method provided in an embodiment of the present application. The method is applicable to the scenario where other magnetic devices are close to the terminal device.

[0171] S301. Obtain a reference heading angle Y.

[0172] When the satellite communication service is started, the reference heading angle Y is obtained.

[0173] S302: Determine whether the change in the geomagnetic mode length detected by the geomagnetic sensor is greater than a magnetic interference threshold.

[0174] If yes, execute S303, if no, execute S308.

[0175] The geomagnetic data collected by the geomagnetic sensor includes three-axis data in three-dimensional space, and the geomagnetic modulus is calculated based on the three-axis data. It is determined whether the change in the geomagnetic modulus is greater than the magnetic interference threshold to determine whether there is magnetic interference (i.e., magnetic interference caused by the proximity of other magnetic devices).

[0176] When other magnetic devices are detected approaching the terminal device, the rotation vector sensor is registered, that is, the rotation vector sensor is started. When other magnetic devices are not detected approaching the terminal device, there is no need to start the rotation vector sensor, and the normal heading angle detection scheme is executed, and the heading angle is calculated using a six-axis algorithm based on the fusion of the acceleration sensor and the geomagnetic sensor. In this way, by setting the conditions for starting the rotation vector sensor, resource waste can be reduced while ensuring the accuracy of the heading angle.

[0177] S303, start the rotation vector sensor.

[0178] S304: The heading angle detected by the geomagnetic sensor changes, and a heading angle change ΔY detected by the rotation vector sensor is obtained.

[0179] S305: Determine whether ΔY is less than or equal to the moving threshold.

[0180] If yes, execute S306, if no, execute S307.

[0181] S306: Maintain the current heading angle.

[0182] S307. The current heading angle is updated to Y1=Y+ΔY.

[0183] The implementation process of the above S304-S307 and the technical effects achieved can be found in the description of the above S2053-S2056, which will not be repeated here.

[0184] S308: Detect the heading angle according to a normal algorithm.

[0185] In an embodiment of the present application, when the satellite communication service is started, a reference heading angle (also referred to as an initial azimuth, initial pointing or initial angle) is calculated through calibration in the satellite alignment interface. During the satellite alignment process, if it is determined that other magnetic devices are close to the terminal device (i.e., the change in the geomagnetic modulus is greater than the magnetic interference threshold), the magnetic interference avoidance scheme is started, and the rotating vector sensor is registered to obtain the change in heading angle. When the pointer direction of the geomagnetic sensor changes, the change in heading angle of the rotating vector sensor is used to determine whether it is magnetic interference. If it is magnetic interference, the reported heading angle does not change, that is, the current heading angle is the reference heading angle. If it is not magnetic interference, it means that the terminal device has moved, and the current heading angle is calculated by the reference heading angle and the change in heading angle. In this way, the accuracy of the heading angle can be improved, thereby improving the accuracy of the satellite alignment angle to improve the communication quality.

[0186] In the embodiment of the present application, the magnetic interference effect of the protective cover on the terminal device can also be judged during the satellite communication process, that is, it does not distinguish whether the magnetic interference is caused by the protective cover or other magnetic devices approaching. For all magnetic interferences, during the satellite communication process, it is determined whether the terminal device has been subjected to magnetic interference by judging whether the change in the geomagnetic mode length detected by the geomagnetic sensor is greater than the magnetic interference threshold. In this way, after determining that the terminal device has been subjected to magnetic interference, the rotation vector sensor is started to update the current heading angle based on the change in heading angle detected by it. In other words, Fig.12 The same applies to scenarios where a protective case is placed on the terminal device.

[0187] Based on the above Fig.10 and Fig.11 The communication methods provided, and Fig.12 The communication method provided, the embodiment of the present application provides a schematic diagram of a heading angle compensation, such as Fig.13 and Fig.14 shown. Fig.13 Neutralization Fig.14 The horizontal axis represents the sampling points arranged in time order. Of course, the horizontal axis can also be expressed as time; the vertical axis represents the heading angle. Of course, the vertical axis can also represent the pointer pointing. The original heading angle represents the heading angle calculated by the six-axis algorithm, that is, the heading angle is detected according to the normal algorithm; the compensated heading angle represents the heading angle determined by the communication method provided in the embodiment of the present application, that is, the magnetic interference avoidance scheme is turned on.

[0188] Fig.13The figure shows a scenario in which the terminal device has not moved and is subject to magnetic interference. The magnetic interference may be caused by closing the protective cover, by swinging the protective cover after it is opened, by the approach of other magnetic devices, or by a combination of any two or more of the above, which is not limited to the embodiments of the present application.

[0189] The terminal device has not moved, and theoretically the heading angle does not change, to about 300°. However, since the terminal device is subject to magnetic interference, the original heading angle drops from 300° to about 266° from about sampling point 237 to sampling point 709, and from sampling point 1358 to sampling point 1830. By turning on the magnetic interference avoidance scheme, executing the communication method provided in the embodiment of the present application, and using the heading angle change detected by the rotating vector sensor for compensation, it can be seen that the compensated heading angle can be maintained at about 300°, reducing the impact of magnetic interference, thus improving the accuracy of the heading angle, thereby improving the accuracy of the star angle, and improving the communication quality.

[0190] Fig.14 The figure shows a scenario where the terminal device is moving and is subject to magnetic interference. The terminal device is moving. Theoretically, the heading angle is about 300° to 320° and then to 338°. However, due to the magnetic interference, the original heading angle does not change accordingly from sampling point 237 to sampling point 709 and from sampling point 1122 to sampling point 1889. By starting the magnetic interference avoidance scheme, executing the communication method provided in the embodiment of the present application, and using the heading angle change detected by the rotating vector sensor for compensation, it can be seen that the compensated heading angle can change accordingly according to the movement law, reducing the impact of magnetic interference. In this way, the accuracy of the heading angle is improved, thereby improving the accuracy of the star angle and improving the communication quality.

[0191] Based on the above Figure 6-Figure 14 , the embodiment of the present application provides a communication method to reduce the impact of magnetic interference on the heading angle in a satellite communication scenario. Fig.15 As shown, Fig.15 It is a flow chart of another communication method provided by an embodiment of the present application. In practical applications, the communication method provided by an embodiment of the present application can be used regardless of whether there is magnetic interference. For scenarios where the terminal device carries foreign objects that generate magnetic interference, the rotation vector sensor is started when the satellite communication service is started. For scenarios where a magnetic device approaches the terminal device during satellite communication, the rotation vector sensor can be started when it is detected that the change in the geomagnetic mode length is less than or equal to the magnetic interference threshold. Regardless of the magnetic interference scenario, the change in heading angle can be detected by the rotation vector sensor.

[0192] S401. When a satellite communication service is started, a reference heading angle is obtained.

[0193] The algorithm engine in the terminal device will calibrate the heading angle when the satellite communication service is turned on to eliminate the influence of magnetic interference. The heading angle detected by the geomagnetic sensor is the reference heading angle. The reference heading angle is the calibrated heading angle, and it is accurate regardless of whether there is magnetic interference at the beginning. After the satellite communication service is turned on, the heading angle detected by the geomagnetic sensor will be affected by magnetic interference and become inaccurate.

[0194] S402: During the satellite alignment process, determine whether the change in the heading angle detected by the geomagnetic sensor is greater than a change threshold.

[0195] If yes, then execute S404, if no, then execute S403. The first round of determining the heading angle is completed.

[0196] During the satellite alignment process, the geomagnetic sensor collects geomagnetic data and the acceleration sensor collects acceleration data. The device attitude is determined based on the acceleration data, and the horizontal plane can be found based on the device attitude. The geomagnetic data is corrected based on the device attitude to obtain the magnetic field distribution data on the horizontal plane, as shown in the above formulas (1) and (2). The magnetic field distribution data on the horizontal plane includes x H The magnetic field components on the y axis and H The magnetic field component on the axis; the heading angle is calculated based on the magnetic field distribution data on the horizontal plane and combined with the above formula (3). The change of the heading angle is determined based on the heading angle detected by the geomagnetic sensor.

[0197] Among them, the change threshold value can be appropriately set by technical personnel in this field according to actual conditions, and can be determined based on the magnitude of the change in the heading angle in a large amount of experimental data, for example, 1°, 2°, 0.8°, 1.2°, etc., as long as it can indicate that the heading angle has changed significantly, and the embodiments of the present application are not limited to this.

[0198] S403: Maintain the current heading angle as the reference heading angle.

[0199] When the change in the heading angle detected by the geomagnetic sensor is less than or equal to the change threshold value, it means that the terminal device has not moved and has not been affected by magnetic interference. On the one hand, the magnetic interference avoidance scheme provided in the embodiment of the present application may not be adopted when there is no magnetic interference. The heading angle detected by the geomagnetic sensor is accurate. At this time, the heading angle is still the reference heading angle. On the other hand, the magnetic interference avoidance scheme provided in the embodiment of the present application may also be adopted. Since the condition that the change in the heading angle detected by the geomagnetic sensor is greater than the change threshold value is not met, the current heading angle, that is, the reference heading angle, is still maintained, which is consistent with the actual situation.

[0200] The magnetic interference avoidance solution provided in the embodiment of the present application can also be applied to scenarios that are not subject to magnetic interference, thereby improving the applicability of the scenarios.

[0201] S404: Determine whether the heading angle change detected by the rotation vector sensor is greater than a movement threshold value.

[0202] If yes, then execute S405. If no, then execute S406. The first round of determining the heading angle is completed.

[0203] When the change in the heading angle detected by the geomagnetic sensor is greater than the change threshold, it means that the terminal device moves with the user or is subject to magnetic interference. Therefore, it is necessary to use the heading angle change that is not subject to magnetic interference for auxiliary judgment.

[0204] In the embodiment of the present application, the rotation vector sensor can be a fusion of an acceleration sensor and a gyroscope. The heading angle change detected by the rotation vector sensor may still be affected by the temperature drift of the gyroscope, but the temperature drift will be relatively small compared to a single gyroscope. Based on this, the temperature drift is eliminated by setting a moving threshold value. The moving threshold value can be appropriately set by a person skilled in the art according to actual conditions, for example, 1°, 2°, 0.8°, 1.2°, etc., as long as the temperature drift can be eliminated, and the embodiment of the present application is not limited to this.

[0205] S405: Adjust the current heading angle to the sum of the reference heading angle and the heading angle change.

[0206] When the heading angle change is greater than the moving threshold, it indicates that the terminal device has moved. The current heading angle is updated or changed to the sum of the reference heading angle and the heading angle change.

[0207] S406: Adjust the current heading angle to the reference heading angle.

[0208] When the heading angle change is less than or equal to the moving threshold value, it means that the terminal device has not moved, but is subject to magnetic interference. Therefore, the current heading angle is updated or changed to the reference heading angle.

[0209] The process of determining the heading angle is a continuous process, and the above S402-S406 are repeatedly executed. Each round of determining the heading angle is based on the heading angle determined in the previous round. When it is determined that the terminal device has moved, it is superimposed with the heading angle change detected in this round as the current heading angle of this round; when it is determined that the terminal device has not moved, it is directly used as the current heading angle in this round.

[0210] S407: During the process of determining the heading angle in the Nth round, determine whether the change of the heading angle in the Nth round is greater than the change threshold.

[0211] If yes, execute S409, if no, execute S408.

[0212] S408: Maintain the current heading angle as the heading angle detected by the geomagnetic sensor or the heading angle determined in the N-1th round of determination process.

[0213] The geomagnetic heading angle has not changed, indicating that the terminal device has not moved and has not been subject to magnetic interference. One scenario is that there is no magnetic interference throughout the entire process, and the heading angle detected by the geomagnetic sensor is accurate. The heading angle is the reference heading angle at the beginning; if there has been no movement, the heading angle is the reference heading angle; if there is movement and then it stops, the heading angle continues to use the heading angle detected by the geomagnetic sensor. Another scenario is that there is magnetic interference at the beginning and then the magnetic interference disappears. The heading angle is the reference heading angle at the beginning; if there has been no movement, the heading angle is the reference heading angle; if there is movement and then it stops, the heading angle is the heading angle determined by the N-1th round of determination process. In this way, the communication method provided in the embodiments of the present application is not only applicable to scenarios subject to magnetic interference, but also to scenarios not subject to magnetic interference, thereby improving the applicability of the scenarios.

[0214] S409: Determine whether the Nth round heading angle change is greater than the movement threshold value.

[0215] If yes, execute S410, if no, execute S411.

[0216] S410: Adjust the current heading angle to the sum of the heading angle determined in the N-1th round of determination process and the Nth round of heading angle change.

[0217] S411. Adjust the current heading angle to the heading angle determined in the N-1th round of determination process.

[0218] Among them, N is a positive integer greater than or equal to 2. The process of determining the heading angle in the Nth round is similar to the process of determining the heading angle in the first round mentioned above. The process of determining the heading angle in the Nth round is based on the heading angle determined in the N-1th round determination process. When it is determined that the terminal device has moved, it is superimposed with the heading angle change detected in the Nth round as the current heading angle of the Nth round; when it is determined that the terminal device has not moved, it is directly used as the current heading angle in the Nth round.

[0219] In the embodiment of the present application, during the satellite communication process, it is determined whether magnetic interference exists during the satellite communication process according to the geomagnetic mode length. If it is determined that magnetic interference exists, the rotation vector sensor is started to obtain the heading angle change collected by the rotation vector sensor. This solution can be applied to the scenario where other magnetic devices are close to the terminal device during the satellite communication process.

[0220] In the embodiment of the present application, it is possible to determine whether the terminal device carries any foreign object that generates magnetic interference before satellite communication. If the terminal device carries any foreign object that generates magnetic interference, the rotation vector sensor is started when the satellite communication service is started; and the heading angle change amount collected by the rotation vector sensor is obtained. This solution can be applicable to the scenario where the terminal device is provided with a protective cover.

[0221] In both scenarios, magnetic interference avoidance is achieved based on the heading angle change detected by the rotating vector sensor. Since the rotating vector sensor is not affected by magnetic interference, the heading angle change detected is accurate and can provide accurate heading angle change information, thus improving the accuracy of the satellite alignment angle, ensuring communication quality and improving user experience.

[0222] It should be noted that the communication method provided in the embodiment of the present application can keep the position of the terminal device unchanged in a satellite communication scenario (for example, a satellite call), put a protective cover on the terminal device or bring other magnetic devices close to the terminal device, thereby performing a test, observing the pointer pointing, and checking the sensor type registered by the terminal device. If the pointer pointing of the terminal device does not change after putting on the protective cover or bringing other magnetic devices close, it means that the device uses the communication method provided by this solution. Alternatively, if the terminal device registers a rotation vector sensor or a gyroscope, it means that the device uses the communication method provided by this solution.

[0223] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (such as: coaxial cable, optical fiber, data subscriber line (Digital Subscriber Line, DSL)) or wireless (such as: infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital versatile disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)).

[0224] The above are optional embodiments provided for the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the technical scope disclosed in the present application shall be included in the protection scope of the present application.

Claims

1. A communication method, characterized in that: Applied in a terminal device, the method comprises: When the satellite communication service is started, a reference heading angle is obtained, where the reference heading angle is a calibrated heading angle; During the satellite alignment process, when the geomagnetic sensor detects that the heading angle has changed, and the rotation vector sensor detects that the heading angle change is greater than the moving threshold value, the current heading angle is adjusted to the sum of the target heading angle and the heading angle change; the heading angle change indicates the heading angle difference between adjacent detection moments; When it is detected that the heading angle changes and the amount of change of the heading angle is less than or equal to the movement threshold value, adjusting the current heading angle to the target heading angle; Among them, when the process of determining the heading angle in this round is the first round of determination process, the target heading angle is the reference heading angle; when the process of determining the heading angle in this round is not the first round of determination process, the target heading angle is the heading angle determined in the previous round of determination process.

2. The method according to claim 1, characterized in that The method further comprises: During the process of aligning the satellite, when it is detected that the heading angle has not changed, the current heading angle is maintained; wherein, when the process of determining the heading angle in this round is the first round of determination, the current heading angle is the reference heading angle; when the process of determining the heading angle in this round is not the first round of determination, the current heading angle is the heading angle detected by the geomagnetic sensor or the heading angle determined in the previous round of determination.

3. The method according to claim 1, characterized in that The method further comprises: When it is detected that the change of the heading angle is greater than the change threshold value, it is determined that the heading angle has changed.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: During the satellite alignment process, when it is detected that the change in the geomagnetic mode length is greater than the magnetic interference threshold, the rotation vector sensor is started; The heading angle change amount collected by the rotation vector sensor is obtained; the rotation vector sensor is not affected by magnetic interference.

5. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: During the satellite alignment process, when it is detected that the change in the geomagnetic mode length is less than or equal to the magnetic interference threshold, the rotation vector sensor is not started, and the heading angle detected by the geomagnetic sensor is used as the current heading angle.

6. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Acquiring acceleration data collected by the acceleration sensor and geomagnetic data collected by the geomagnetic sensor; Determining a device posture based on the acceleration data; Correcting the geomagnetic data according to the device posture to obtain magnetic field distribution data on a horizontal plane; The heading angle detected by the geomagnetic sensor is determined according to the magnetic field distribution data on the horizontal plane.

7. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: When the terminal device carries a foreign object that generates magnetic interference and the satellite communication service is started, starting the rotation vector sensor; The heading angle change amount collected by the rotation vector sensor is obtained; the rotation vector sensor is not affected by magnetic interference.

8. The method according to claim 7, characterized in that Before the satellite communication business starts, it also includes: Get the geomagnetic modulus length before and after the Hall sensor is triggered; When the absolute value of the difference between the geomagnetic mode lengths before and after the Hall sensor is triggered is greater than the magnetic interference threshold, it is determined that the terminal device carries a foreign object that generates magnetic interference.

9. The method according to claim 8, characterized in that When the absolute value of the difference between the geomagnetic mode lengths before and after the Hall sensor is triggered is greater than the magnetic interference threshold, determining that the terminal device carries a foreign object that generates magnetic interference includes: When the absolute value of the difference between the geomagnetic mode lengths before and after the Hall sensor is triggered is greater than the magnetic interference threshold, it is determined that the trigger detection result is that the terminal device carries a foreign object that generates magnetic interference; When the number of times the Hall sensor is triggered is greater than a preset number and each trigger detection result is that the terminal device carries a foreign object that generates magnetic interference, it is determined that the terminal device carries a foreign object that generates magnetic interference.

10. The method according to claim 8 or 9, characterized in that The method further comprises: Acquire a plurality of geomagnetic mode lengths within a first preset time period before the Hall sensor is triggered, and a plurality of geomagnetic mode lengths within a second preset time period after the Hall sensor is triggered; Taking the average of multiple geomagnetic modulus lengths within the first preset time period as the geomagnetic modulus length before the Hall sensor is triggered; An average value of multiple geomagnetic mode lengths within the second preset time period is used as the geomagnetic mode length after the Hall sensor is triggered.

11. The method according to claim 8 or 9, characterized in that: The method further comprises: Acquire geomagnetic data collected by the geomagnetic sensor, wherein the geomagnetic data includes three-axis data in three-dimensional space; The geomagnetic mode length is determined based on the three-axis data.

12. A terminal device, characterized in that: The terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the method according to any one of claims 1 to 11 when executed by the processor.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the method according to any one of claims 1 to 11.

14. A computer program product comprising instructions, characterized in that When the method is executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 11.

Images