Method for acquiring satellite position information, electronic device and readable storage medium

Abstract

The present application relates to the field of satellite communication technology, and in particular to a method for obtaining satellite position information, an electronic device, and a readable storage medium. In this method, during the communication between a ground terminal and a satellite, the ground terminal can determine multiple Doppler speeds of the satellite relative to the ground terminal based on multiple Doppler frequency deviations of multiple electromagnetic wave signals received, and then determine the position information of the satellite relative to the ground terminal based on the multiple Doppler speeds. In this way, the position information of the satellite relative to the ground terminal can be used to prompt the user to adjust the posture of the ground terminal so that the antenna terminal of the ground terminal is aligned with the satellite, thereby improving the communication quality between the ground terminal and the satellite.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a method for acquiring satellite position information, an electronic device, and a readable storage medium. Background Art

[0002] Satellite communication is the process of communication between ground-based terminals (such as mobile phones, tablets, and computers) and moving satellites. However, the long distances and high speeds of satellites make communication quality difficult to guarantee.

[0003] In the existing technology, the satellite's orientation relative to the ground terminal can be determined based on the satellite's ephemeris information (information describing the satellite's position and motion status, such as position, speed, direction of motion, etc.), and then the ground terminal's attitude is adjusted based on this orientation so that the receiving end of its internal antenna terminal is aligned with the satellite, thereby improving the stability of the ground terminal in receiving satellite signals.

[0004] However, the ephemeris information of some satellites is not public, and it is impossible to obtain the ephemeris information of such satellites, and thus it is impossible to determine the position of such satellites relative to the ground terminal, making it difficult to ensure the communication quality between the ground terminal and such satellites. Summary of the Invention

[0005] Some embodiments of the present application provide a method for obtaining satellite position information, an electronic device, and a storage medium. The present application is introduced below from multiple aspects, and the implementation methods and beneficial effects of the following aspects can be referenced with each other.

[0006] In a first aspect, an embodiment of the present application provides a method for acquiring satellite position information, the method comprising: receiving multiple first signals, wherein the multiple first signals are signals transmitted by the satellite at multiple different times to a ground terminal from multiple second signals, and the multiple first signals and the multiple second signals correspond one-to-one; determining the Doppler frequency deviation between each first signal and the corresponding second signal; determining multiple Doppler speeds of the satellite relative to the ground terminal based on the multiple Doppler frequency deviations corresponding to the multiple first signals; and obtaining the position information of the satellite relative to the ground terminal based on the multiple Doppler speeds.

[0007] Among them, the first signal may be the electromagnetic wave signal B1 mentioned in this application, and the second signal may be the electromagnetic wave signal A1 mentioned in this application.

[0008] During the relative motion of a satellite and a ground terminal, the relative motion between the satellite and the ground terminal produces the Doppler effect, causing a Doppler frequency shift in the electromagnetic wave signal transmitted by the satellite to the ground. The Doppler frequency shift between the electromagnetic wave signal transmitted by the satellite and the electromagnetic wave signal received by the ground terminal varies at different times. Furthermore, there is a one-to-one correspondence between Doppler velocity and Doppler frequency shift. The Doppler frequency shift between the electromagnetic wave signal transmitted by the satellite and the electromagnetic wave signal received by the ground terminal can be used to determine the Doppler velocity of the satellite relative to the ground terminal. Furthermore, the satellite's position relative to the ground terminal changes over time, and changes in the satellite's position relative to the ground terminal also cause changes in the Doppler velocity of the satellite relative to the ground terminal. Therefore, there is a corresponding relationship between the satellite's position relative to the ground terminal and its Doppler frequency shift. Therefore, the Doppler frequency shift between the electromagnetic wave signal A1 transmitted by the satellite and the electromagnetic wave signal B1 received by the ground terminal can be used to determine the Doppler frequency shift of the satellite relative to the ground terminal. The satellite's position relative to the ground terminal can then be determined based on this Doppler frequency shift. This orientation information can prompt the user to adjust the posture of the ground terminal so that the antenna terminal of the ground terminal is aligned with the satellite, thereby improving the communication quality between the ground terminal and the satellite.

[0009] It is understood that during communication between a ground terminal and a satellite, when the satellite is within the ground terminal's visible window, the satellite can communicate normally with the ground terminal. Therefore, in the embodiments of the present application, the position information of the satellite relative to the ground terminal obtained by the ground terminal is the position information of the satellite relative to the ground terminal when the satellite is within the ground terminal's visible window.

[0010] In some embodiments, obtaining the satellite's position information relative to the ground terminal based on multiple Doppler velocities includes: determining the satellite's ephemeris information and the ground terminal's position information based on the multiple Doppler velocities; and determining the position information based on the ephemeris information and the position information.

[0011] In some embodiments, a first relationship is satisfied between the satellite's ephemeris information, the ground terminal's position information, and the Doppler velocity; and the satellite's ephemeris information and the ground terminal's position information are characterized by multiple parameters; determining the satellite's ephemeris information and the ground terminal's position information based on the multiple Doppler velocities includes: establishing an equation between the multiple parameters and each of the multiple Doppler velocities based on the first relationship; and solving the equation to obtain values ​​of the multiple parameters to determine the satellite's ephemeris information and the ground terminal's position information.

[0012] Here, the equation can be the equation shown in the following formula (36).

[0013] After acquiring multiple Doppler velocities, the ground terminal can perform curve fitting on the Doppler points (points where Doppler velocity is plotted with respect to time) corresponding to these Doppler velocities to obtain a Doppler curve corresponding to these points. This Doppler curve represents the functional relationship between Doppler velocity and time, and its parameters include multiple parameters representing the satellite's ephemeris information and the ground terminal's position information. Thus, the values ​​of the multiple parameters representing the satellite's ephemeris information and the ground terminal's position information can be determined based on the values ​​of the various parameters in the Doppler curve.

[0014] In some embodiments, determining the orientation information based on the ephemeris information and the position information includes: determining the vector coordinates of the ground terminal pointing to the satellite based on the ephemeris information and the position information; and determining the orientation information of the satellite relative to the ground terminal based on the vector coordinates.

[0015] In some embodiments, the location information includes the latitude of the ground terminal;

[0016] The ephemeris information includes: the altitude, inclination and plane angle of the satellite's orbit; or the satellite's speed, the inclination and plane angle of the satellite's orbit.

[0017] In some embodiments, the position information includes an azimuth and / or elevation angle of the satellite relative to the ground terminal.

[0018] In some embodiments, determining the Doppler frequency offset between each first signal and the corresponding second signal includes: performing an autocorrelation operation on a sequence corresponding to each first signal to obtain an autocorrelation sequence corresponding to the first signal; determining a Doppler frequency offset coefficient between each first signal and the second signal based on the autocorrelation sequence; and determining the Doppler frequency offset between each first signal and the second signal based on the Doppler frequency offset coefficient.

[0019] The sequence corresponding to the first signal may be a sequence shown in the following formula (31), and the autocorrelation sequence corresponding to the first signal may be a sequence shown in the following formula (34).

[0020] The ground terminal can use the following autocorrelation method to estimate the Doppler frequency shift coefficient between each electromagnetic wave signal A1 and its corresponding electromagnetic wave signal B1, and then determine the Doppler frequency shift between each electromagnetic wave signal A1 and its corresponding electromagnetic wave signal B1 based on the Doppler frequency shift coefficient.

[0021] In some embodiments, the method further includes: displaying a first interface, the first interface including orientation information.

[0022] The first interface may be the display interface of the position information mentioned in this application.

[0023] The first interface includes an electronic compass and / or an elevation angle indicator bar.

[0024] The electronic compass is used to display the azimuth of the satellite relative to the ground terminal. The elevation indicator bar is used to display the elevation angle of the satellite relative to the ground terminal.

[0025] The ground terminal can display the azimuth and elevation of the satellite relative to the ground terminal through the electronic compass and the elevation indicator bar respectively, or can only display the azimuth of the satellite relative to the ground terminal through the electronic compass, or can only display the elevation of the satellite relative to the ground terminal through the elevation indicator bar.

[0026] In a second aspect, embodiments of the present application provide an electronic device, including a memory for storing instructions executed by one or more processors of the electronic device; and a processor, wherein when the processor executes the instructions in the memory, the electronic device can execute the method described in any embodiment of the first aspect of the present application. The beneficial effects achieved by the second aspect can be referenced to the beneficial effects of the method provided in any embodiment of the first aspect and are not further elaborated here.

[0027] In a third aspect, embodiments of the present application provide a computer-readable storage medium having instructions stored thereon. When executed on a computer, the instructions cause the computer to perform the method described in any embodiment of the first aspect. The beneficial effects achieved in the third aspect can be referenced to the beneficial effects of the method described in any embodiment of the first aspect and are not further elaborated here.

[0028] In a fourth aspect, embodiments of the present application provide a computer program product, comprising computer program code. When the computer program code is executed on a computer, the computer implements the method described in any embodiment of the first aspect. The beneficial effects achieved in the fourth aspect can be referenced to the beneficial effects of the method provided in any embodiment of the first aspect and are not further elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A diagram of a scene of communication between a ground terminal and a satellite provided in an embodiment of the present application;

[0030] Figure 2A A diagram of a relative motion model of a satellite and a ground terminal provided in an embodiment of the present application;

[0031] Figure 2B Another relative motion model diagram of a satellite and a ground terminal provided in an embodiment of the present application;

[0032] Figure 3A A scene diagram of mobile phone and satellite communication provided in an embodiment of the present application;

[0033] Figure 3B Another scenario diagram of mobile phone and satellite communication provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of a visual window provided in an embodiment of the present application;

[0035] Figure 5A Another relative motion model diagram of a satellite and a ground terminal provided in an embodiment of the present application;

[0036] Figure 5B Another relative motion model diagram of a satellite and a ground terminal provided in an embodiment of the present application;

[0037] Figure 6A Another relative motion model diagram of a satellite and a ground terminal provided in an embodiment of the present application;

[0038] Figure 6B A schematic diagram of the azimuth and elevation angles of a satellite relative to a ground terminal provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of a Doppler curve fitting provided in an embodiment of the present application;

[0040] Figure 8 A graph showing changes in the azimuth and elevation angles of a satellite relative to a ground terminal over time, provided in an embodiment of the present application;

[0041] Figure 9 A diagram showing an interface for displaying position information provided in an embodiment of the present application;

[0042] Figure 10 A flowchart of a method for obtaining satellite position information provided in an embodiment of the present application;

[0043] Figure 11 A flowchart of a method for obtaining satellite position information provided in an embodiment of the present application;

[0044] Figure 12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The embodiment of the present application is used to provide a method for obtaining satellite position information. The following describes the method for obtaining satellite position information provided in the embodiment of the present application in conjunction with specific examples.

[0046] Figure 1 A diagram of a scenario of communication between a ground terminal and a satellite provided in an embodiment of the present application.

[0047] refer to Figure 1, the distance between ground terminal 1 and ground terminal 2 is far. When ground terminal 1 communicates with ground terminal 2, ground terminal 1 can use the satellite as a message transfer station to communicate with ground terminal 2 to realize long-distance communication between ground terminal 1 and ground terminal 2, such as sending and receiving text messages, making and receiving calls, etc.

[0048] It is understood that the ground terminal can be a mobile phone, computer, tablet, smart wearable device (such as a smart watch, smart bracelet, etc.), etc., which is located on the ground and supports satellite communication. The following description uses a mobile phone as an example of a ground terminal.

[0049] Figure 2A A relative motion model of a satellite and a ground terminal is provided in an embodiment of the present application.

[0050] refer to Figure 2A In this model, the Earth is approximately spherical. Since the orbit of the satellite 200 (hereinafter referred to as the "satellite orbit") is a low-Earth orbit with a small eccentricity, the orbit of the satellite 200 is approximately circular. Figure 2A As shown, a static three-dimensional coordinate system XYZ can be established with the center of the earth O (the center of the earth) as the origin. Plane XOY is located on the equatorial plane, the Z axis is the earth's axis, and the positive direction of the Z axis points to the north pole of the earth's axis. Among them, point P is the location of the mobile phone 100. Point S is the location of the satellite 200. The satellite 200 moves counterclockwise on the orbit L1. The Earth moves around the Z axis in a counterclockwise direction at a linear velocity of Since the mobile phone 100 is on the surface of the earth, during the rotation of the earth, the mobile phone 100 will move in the counterclockwise direction around the Z axis on the track L2 on the ground surface at a linear velocity of v1.

[0051] During communication between satellite 200 and mobile phone 100, because both mobile phone 100 and satellite 200 are in motion, the electromagnetic wave signal transmitted by satellite 200 to mobile phone 100 experiences a Doppler effect, resulting in a certain frequency deviation between the electromagnetic wave signal transmitted by satellite 200 to mobile phone 100 (hereinafter referred to as the transmitted signal) and the electromagnetic wave signal received by mobile phone 100 (hereinafter referred to as the received signal). The Doppler effect is a physical phenomenon in which the frequency of the wave received by the observer changes when there is relative motion between the wave source (such as satellite 200) and the observer (such as mobile phone 100).

[0052] The following formula (1) shows the frequency deviation caused by the Doppler effect, that is, the frequency deviation between the transmitted signal of the satellite 200 and the received signal of the mobile phone 100 (hereinafter referred to as Doppler frequency deviation).

[0053] (1)

[0054] in, is the Doppler frequency deviation between the transmitted signal of the satellite 200 and the received signal of the mobile phone 100, is the radial speed of the satellite 200 relative to the mobile phone 100 (the direction in which the satellite 200 points to the mobile phone 100), is the speed of electromagnetic waves in a vacuum, is the frequency of the signal transmitted by the satellite 200 (such as the carrier frequency, also called the center frequency). 3×10 8 It can be understood that the radial velocity of the satellite 200 relative to the mobile phone 100 is the velocity of the satellite 200 in the direction pointing to the mobile phone 100, that is, the Doppler velocity of the satellite 200 relative to the mobile phone 100.

[0055] It can be understood that since the satellite 200 and the mobile phone 100 are constantly moving, the orientation of the satellite 200 relative to the mobile phone 100 is different at different times, and the radial velocity of the satellite 200 relative to the mobile phone 100 is also different.

[0056] refer to Figure 2B , although the linear velocity of the mobile phone 100 and the linear velocity of the satellite 200 However, when the mobile phone 100 moves from point P to point P' and the satellite 200 moves from point S to point S', the position of the satellite 200 relative to the mobile phone 100 changes. In this case, the linear velocity of the mobile phone 100 is and the linear velocity of the satellite 200 , the velocity components in the direction of the satellite 200 pointing to the mobile phone 100 have changed, resulting in the radial velocity of the satellite 200 relative to the mobile phone 100 changing from becomes ,and, The size of is related to the orientation of the satellite 200 relative to the mobile phone 100.

[0057] In summary, the Doppler frequency offset between the transmitted signal from satellite 200 and the received signal from mobile phone 100 is related to the radial velocity of satellite 200 relative to mobile phone 100. The radial velocity of satellite 200 relative to mobile phone 100 is related to the orientation of satellite 200 relative to mobile phone 100.

[0058] Figure 3A An example diagram of communication between a mobile phone 100 and a satellite 200 is shown.

[0059] refer to Figure 3A, the ephemeris information of satellite 200 has been made public. In this case, during the communication between mobile phone 100 and satellite 200, the user can query the ephemeris information of satellite 200 on the Internet through mobile phone 100, and then determine the position of satellite 200 in real time based on the ephemeris information. Then, the user can adjust the posture of mobile phone 100 based on the position so that its antenna terminal 11 is aligned with satellite 200, thereby ensuring the communication quality between mobile phone 100 and satellite 200.

[0060] However, in some cases, the ephemeris information of satellite 200 is non-public information and is not disclosed. In such cases, mobile phone 100 cannot obtain the ephemeris information of satellite 200 and therefore cannot determine the position of satellite 200. This may cause a significant deviation between the direction of the signal received by antenna terminal 11 of mobile phone 100 and the direction of the signal transmitted by satellite 200, resulting in poor communication quality between mobile phone 100 and satellite 200.

[0061] For example, Figure 3B As shown, the antenna terminal 11 on the mobile phone 100 is not aligned with the direction of the satellite 200, and there is a large deviation between the direction in which the antenna terminal 11 receives signals and the direction in which the satellite 200 transmits signals. In this case, the antenna terminal 11 on the mobile phone 100 is less capable of receiving signals transmitted by the satellite 200, resulting in poor communication quality between the mobile phone 100 and the satellite 200.

[0062] In view of this, an embodiment of the present application provides a method for obtaining satellite position information. In this method, the radial velocity of the satellite relative to the ground terminal (hereinafter referred to as "Doppler velocity") can be determined based on the Doppler frequency deviation between the satellite's transmitted signal and the ground terminal's received signal. Then, the position information of the satellite relative to the ground terminal, such as the elevation angle (or "lift angle") and azimuth angle of the satellite relative to the ground terminal, can be determined based on the radial velocity. This allows the user to adjust the attitude of the ground terminal based on the position information so that the antenna terminal of the ground terminal is aligned with the satellite, thereby improving the communication quality between the ground terminal and the satellite.

[0063] In some embodiments, based on the radial velocity of the satellite relative to the ground terminal, the satellite's ephemeris information (such as parameters such as the plane angle of the satellite orbit, the inclination of the satellite orbit, etc.) and the position information of the ground terminal (such as the latitude of the ground terminal, etc.) related to the satellite's orientation information relative to the ground terminal are determined, and then based on the ephemeris information and position information, the satellite's orientation information relative to the ground terminal is determined, such as parameters such as the azimuth and elevation angle of the satellite relative to the ground terminal.

[0064] It is understood that during communication between a ground terminal and a satellite, when the satellite is within the visual window of the ground terminal, the satellite can communicate normally with the ground terminal. Therefore, the position information of the satellite relative to the ground terminal that needs to be obtained in this application is the position information of the satellite relative to the ground terminal when the satellite is within the visual window of the ground terminal.

[0065] The visible window refers to the period of time when a ground terminal can see a satellite. During this period, the satellite is within the ground terminal's line of sight and data transmission or other types of communication can be carried out.

[0066] Figure 4 A schematic diagram of the visible window of a satellite to a ground terminal provided in an embodiment of the present application.

[0067] refer to Figure 4 When ∠OPS>90°, the satellite is within the visual range of the ground terminal, that is, within the visual window of the ground terminal, and the ground terminal and the satellite can communicate normally.

[0068] In some embodiments, the visible window condition of the ground terminal can be expressed as:

[0069]

[0070] in, is the vector from point P where the ground terminal is located to the center of the earth O, is the vector from point P where the ground terminal is located to point S where the satellite is located, Represents a vector and vector The inner product of .

[0071] In some embodiments, the ground terminal may obtain the ephemeris information of the satellite, and then obtain the azimuth information of the satellite relative to the ground terminal within the visible window based on the ephemeris information and the above-mentioned visible window condition.

[0072] The following introduces the ephemeris information and azimuth information involved in this application.

[0073] (1) Ephemeris information

[0074] Figure 5A Another motion model of a satellite relative to a ground terminal is provided for the embodiment of the present application.

[0075] refer to Figure 5A , the earth The angular velocity of the Earth rotates counterclockwise around the Z axis. The radius of the Earth is (known quantity). The ground terminal is currently at point P, and the latitude of point P is The satellite is currently at point S. The satellite's altitude is (unknown quantity), the angular velocity of the motion is (Unknown quantity), the plane angle of its orbit (the angle between the vector of the satellite's orbital plane normal mapped onto the XOY plane and the X-axis) is (Unknown quantity), the inclination (the angle between the normal vector of the satellite's orbital plane and the plane XOY) is (Unknown quantity).

[0076] In some embodiments, the three-dimensional coordinates XYZ can be established with the center of the earth O as the origin. Among them, point P is located on the plane XOZ, and its coordinates are .

[0077] refer to Figure 5B , from the initial moment when the ground terminal is located at point P, after a period of time t, the ground terminal moves from point P to point P', then at time t, the vector for:

[0078] (2)

[0079] in, is the vector from the center of the earth O to point P'. Since the coordinates of the center of the earth O are (0, 0, 0), It can represent the coordinates of point P'.

[0080] Normal vector of satellite orbit for:

[0081] (3)

[0082] At time t, the satellite moves from point S to point S'. In some embodiments, the vector can be calculated by the following formula (4) :

[0083] (4)

[0084] in, is the vector from the center of the earth O to point S'. Since the coordinates of the center of the earth O are (0, 0, 0), It can represent the coordinates of point S', (Unknown quantity) is the time when the satellite moves from the starting time (the time when the satellite starts moving on orbit L1) to point S.

[0085] In some embodiments, a new three-dimensional coordinate system may be established with the location of the ground terminal as the origin, so as to represent the position of the satellite relative to the ground terminal in the three-dimensional coordinate system.

[0086] For example, reference Figure 6AAt time t, the ground terminal is at point P' and the satellite is at point S'. A three-dimensional coordinate system X'Y'Z' can be established with point P' as the origin. The X' axis is tangent to the meridian of point P', and the positive direction of the X' axis points to the south of point P'. The Y' axis is tangent to the latitude of point P', and the positive direction of the Y' axis points to the east of point P'. The Z' axis is located on the straight line between the center of the earth O and point P', and the positive direction of the Z' axis is the direction from the center of the earth O to point P'.

[0087] In some embodiments, the coordinates of point S' in the three-dimensional coordinate system XYZ can be represented as .in, is the X'-axis coordinate of point S', is the Y'-axis coordinate of point S', is the Z' axis coordinate of point S'. As you can understand, The coordinates of can be obtained by the above formula (4).

[0088] In some embodiments, the vector can be expressed by the following formula (5) Coordinates in the three-dimensional coordinate system X'Y'Z'.

[0089] (5)

[0090] in, Represents a vector The X' axis coordinate in the three-dimensional coordinate system X'Y'Z', Represents a vector The Y' axis coordinate in the three-dimensional coordinate system X'Y'Z', Represents a vector The Z'-axis coordinate in the three-dimensional coordinate system X'Y'Z'.

[0091] I understand. , and is a function of the time variable t and contains unknown parameters (Hereinafter referred to as "ephemeris parameters").

[0092] Understandably, vector The direction of can represent the direction (azimuth) of the satellite relative to the ground terminal. The vector can be calculated by the above formulas (2) to (5) , and then according to the vector Determine the satellite's position information relative to the ground terminal. The unknown quantities in the above formulas (2) to (5) include As long as the values ​​of these unknown quantities are determined, the satellite's position information relative to the ground terminal at time t can be determined.

[0093] As shown in the following formula (6), the angular velocity of the satellite Altitude from satellite The following relationship exists:

[0094] (6)

[0095] Among them, G is the gravitational constant, M is the mass of the earth, and both G and M are known quantities.

[0096] According to formula (6), to determine the angular velocity of the satellite And height H, as long as the value of one parameter is determined, the value of the other parameter can be determined. Therefore, to determine the position information of the satellite relative to the ground terminal at time t, as long as the parameters need to be determined or parameters The value of .

[0097] Therefore, the ephemeris information and the location information of the ground terminal that the ground terminal needs to obtain include parameters or parameters .

[0098] (2) Direction information

[0099] In some embodiments, the orientation information may include the azimuth and elevation of the satellite relative to the ground terminal. The elevation angle is the angle between the satellite and the ground terminal and the plane in which the ground terminal resides. The azimuth angle is the counterclockwise angle between the horizontal direction of the satellite relative to the ground terminal and a reference direction (or "starting direction"). It is understood that the reference direction can be east, south, west, north, southeast, etc., without limitation. The following description uses the south reference direction (i.e., the positive X' direction) as an example.

[0100] For example, for the above Figure 6A The situation shown, refer to Figure 6B The azimuth angle of the satellite relative to the ground terminal is the angle between the straight line P'S' mapped to the plane X'P'Y' and the X' axis The elevation angle of the satellite relative to the ground terminal is the angle between the straight line P'S' and the plane X'P'Y' .

[0101] In some embodiments, based on the above formula (5), the azimuth angle of the satellite relative to the ground terminal at time t can be expressed by the following formula (7):

[0102] (7)

[0103] in, is the azimuth of the satellite relative to the ground terminal at time t.

[0104] In some embodiments, based on the above formula (5), the elevation angle of the satellite relative to the ground terminal at time t can be expressed by the following formula (8):

[0105] (8)

[0106] in, is the elevation angle of the satellite relative to the ground terminal at time t.

[0107] Understandably, because , and is a function of the time variable t and contains unknown parameters , and is also a function of the time variable t and contains unknown parameters From the above formula (6), we can see that for the parameter and , as long as the value of one parameter is determined, the value of the other parameter can be obtained.

[0108] Therefore, as long as the parameters are determined or parameters The value of can determine the function and function The functional relationship between the satellite and the time variable t can determine the azimuth and elevation of the satellite relative to the ground terminal at different times, and then the position of the satellite relative to the ground terminal can be determined based on the azimuth and elevation. Based on this, this application needs to determine the parameters or parameters The value of .

[0109] The following parameters As an example, the method of determining the ephemeris parameters is introduced. It can be understood that the parameters With parameters The determination method is the same as that of , and will not be described in detail below.

[0110] In some embodiments, the coordinates of point P' shown in the above formula (2) can be derived with respect to time t to obtain the instantaneous linear velocity of the ground terminal at point P': , as shown in the following formula (9):

[0111] (9)

[0112] in,[ ] T Indicates transpose.

[0113] Similarly, the coordinates of point S' shown in the above formula (4) can be differentiated with respect to time t to obtain the instantaneous linear velocity of the satellite at point S': , as shown in the following formula (10):

[0114] (10)

[0115] In some embodiments, the Doppler velocity of the satellite relative to the ground terminal at time t (i.e., the radial velocity of the satellite relative to the ground terminal) can be calculated by the following formula (11): :

[0116] (11)

[0117] in, is a vector The module length, It is about unknown parameters It is a function of the Doppler velocity of the satellite relative to the ground terminal at time t.

[0118] The measurement method of Doppler velocity is introduced below.

[0119] Assume that at time t, the carrier frequency of the electromagnetic wave signal A1 (as the first signal) transmitted by the satellite to the ground terminal using orthogonal frequency division multiplexing (OFDM) technology is , the electromagnetic wave signal A1 is a superposition signal of multiple orthogonal subcarrier signals, and the subcarrier interval is , then according to the above formula (1), the Doppler frequency deviation of the electromagnetic wave due to the Doppler effect is:

[0120] (12)

[0121] in, is the Doppler frequency shift of the electromagnetic wave signal A1.

[0122] In some embodiments, the Doppler frequency deviation coefficient of the electromagnetic wave signal A1 can be calculated by the following formula (13): for:

[0123] (13)

[0124] It can be understood that according to formula (13), as long as the Doppler frequency deviation coefficient of the electromagnetic wave signal is measured, the Doppler velocity of the satellite relative to the ground terminal can be obtained.

[0125] The following is an introduction to the measurement method of the Doppler frequency deviation coefficient.

[0126] In some embodiments, the electromagnetic wave signal A1 transmitted by the satellite can be expressed in the time domain as:

[0127]

[0128] in, is the time domain signal of the electromagnetic wave signal A1 transmitted by the satellite, is the index of the discrete frequency component, For the The complex value of the subcarriers, is the imaginary unit, is the number of subcarriers.

[0129] Accordingly, the electromagnetic wave signal A1 emitted by the satellite can be represented in the frequency domain as:

[0130]

[0131] in, is the frequency domain signal of the electromagnetic wave signal A1 transmitted by the satellite, () is the unit impulse function.

[0132] It can be understood that the electromagnetic wave signal A1 can be a signal obtained after windowing processing (processing for reducing signal distortion) and carrier wave processing (for improving signal transmission) performed by the satellite, or a signal obtained after carrier wave processing performed by the satellite but without windowing processing, or a signal without windowing processing and carrier wave processing, and there is no limitation on this.

[0133] Windowing refers to multiplying a signal by a window function (such as a rectangular window, Hamming window, or Hanning window) to reduce distortion during signal transmission.

[0134] Carrier frequency processing refers to adjusting the carrier frequency of the signal to a higher frequency to improve the long-distance transmission capability of the signal.

[0135] It can be understood that in the process of the electromagnetic wave signal A1 emitted by the satellite being transmitted to the ground terminal through the channel (the path or medium through which the signal is transmitted from the transmitter to the receiver), the electromagnetic wave signal A1 will be interfered with by the channel, causing the electromagnetic wave signal to undergo a series of changes, such as amplitude attenuation, phase change, frequency change, etc.

[0136] In some embodiments, the time domain signal of the electromagnetic wave signal A1 transmitted by the satellite after being transmitted through the channel is expressed as follows:

[0137] (16)

[0138] in, is the time domain signal of the electromagnetic wave signal A1 after being transmitted through the channel, Indicates the impulse response of the channel, which describes the impact of the channel on the signal. The symbol " ” indicates the convolution operation.

[0139] It can be understood that convolution in the time domain can be expressed as a product in the frequency domain. Therefore, the frequency domain signal of the electromagnetic wave signal A1 transmitted by the satellite after being transmitted through the channel can be expressed as:

[0140]

[0141] in, is the frequency domain signal of the electromagnetic wave signal A1 after being transmitted through the channel, for The frequency domain signal is, and as shown in formula (18):

[0142] (18)

[0143] Understandably, satellite communications are less susceptible to multipath effects. Multipath refers to the reflection, refraction, and scattering of electromagnetic waves (such as radio waves and light waves) during propagation due to obstacles (such as buildings, terrain, and the atmosphere). This causes the receiver to receive signal components that travel along multiple different paths. These signal components arrive at the receiver at different times and overlap in phase, causing interference and distortion of the original signal or errors.

[0144] Based on this, in some embodiments, the channel model (i.e. ) is simplified to a fading coefficient to simplify the description of channel characteristics, for example:

[0145] h(t)=h0(19)

[0146] Where h0 is a non-zero constant.

[0147] It is understood that the Fourier transform of a constant is still a constant. Therefore, .

[0148] Based on this, the frequency domain signal shown in the above formula (17) can be expressed as:

[0149]

[0150] Converting the signal shown in formula (20) to the frequency domain yields:

[0151]

[0152] In some embodiments, without considering the windowing effect (a series of effects produced by multiplying a signal by a window function (such as a Hamming window, a Hamming window, a rectangular window, etc.) before performing Fourier transform on the signal), the first The Doppler frequency deviation of a subcarrier is:

[0153] (twenty two)

[0154] in, The electromagnetic wave signal emitted by the satellite The Doppler frequency deviation of each subcarrier.

[0155] because Relative to is a small quantity and can be omitted in formula (22). A first-order small quantity approximation is performed, as shown in formula (23):

[0156] (twenty three)

[0157] in, is the first Doppler frequency deviation of subcarriers Approximate amount of .

[0158] From the above formulas (13) and (23), we can get:

[0159] (twenty four)

[0160] It is understood that in satellite communications, there may be a local oscillator frequency offset between the electromagnetic wave signal transmitted by the satellite and the electromagnetic wave signal received by the ground terminal. The local oscillator frequency offset is caused by the frequency deviation of the oscillator of the satellite and the ground terminal being out of sync.

[0161] In some embodiments, the local oscillator frequency deviation can be estimated by the following formula (25):

[0162] (25)

[0163] in, is the local oscillator frequency deviation between the electromagnetic wave signal transmitted by the satellite and the electromagnetic wave signal received by the ground terminal, and ε is the local oscillator frequency deviation coefficient, where ε is a constant.

[0164] Based on the electromagnetic wave signal A1 transmitted by the satellite shown in formula (21), combined with the above formulas (24) and (25), it can be seen that the frequency domain signal of the electromagnetic wave signal B1 (as the second signal) received by the ground terminal is for:

[0165] (26)

[0166] In some embodiments, there may be some noise in the electromagnetic wave signal B1 received by the ground terminal. In this case, the electromagnetic wave signal B1 received by the ground terminal is:

[0167]

[0168] in, is the frequency domain noise signal.

[0169] For example, the frequency domain signal of the electromagnetic wave signal B1 shown in the above formula (26) can be Convert to the time domain and get the time domain signal of the electromagnetic wave signal B1 for:

[0170]

[0171] in, is a noise signal The corresponding time domain signal.

[0172] It can be understood that after receiving the electromagnetic wave signal B1, the ground terminal will sample the electromagnetic wave signal B1 to convert the electromagnetic wave signal B1 from a continuous analog signal to a discrete digital signal B2.

[0173] The sampling process of the ground terminal is analyzed below.

[0174] Assume the sampling time is:

[0175] (29)

[0176] Among them, t n is the actual sampling time of the nth sampling point, n is a non-negative integer, is the actual sampling interval, is the ideal sampling interval, is the sampling frequency deviation factor, which indicates the degree of deviation between the actual sampling frequency and the ideal sampling frequency. is the initial sampling time deviation.

[0177] Optionally, =0, In this case, the time domain signal The corresponding sampling signal It can be:

[0178]

[0179] in, is the sampling phase deviation, which represents the deviation between the actual sampling time and the ideal sampling time. is the time domain noise signal The corresponding discrete signal.

[0180] In some embodiments, the sampling frequency deviation factor in formula (30) can be estimated by using methods such as cyclic prefix detection, pilot symbol assistance, frequency domain analysis, autocorrelation function, and frequency locked loop. and sampling phase deviation , and the sampling frequency deviation factor is estimated and sampling phase deviation Make compensation.

[0181] In this way, the discrete signal shown in formula (30) can be Simplified to the signal shown in the following formula (31):

[0182]

[0183] in,

[0184]

[0185] I understand. is a sequence with period N. Therefore, .

[0186] In some embodiments, the aforementioned Doppler frequency deviation coefficient may be estimated by using methods such as a pilot signal-based method, a fully blind estimation method, a complex exponential signal parameter estimation-based method, an OFDM symbol-based method, a channel estimation value-based method, an autocorrelation method, and a rapid convergence-based method.

[0187] The following introduces the estimation process of the Doppler frequency offset coefficient using the autocorrelation method as an example.

[0188] Assumptions The length of is N, then:

[0189]

[0190] in, for A signal that is offset by N samples.

[0191] In some embodiments, the following formula (32) can be used to calculate and correlation.

[0192] (34)

[0193] in, for The conjugated sequence, Represents the autocorrelation operation, and its result is The autocorrelation sequence of .

[0194] According to formula (34), we can get:

[0195]

[0196] where angle() is the inverse tangent function of the real and imaginary parts.

[0197] According to the above formula (13), we can get:

[0198] (36)

[0199] in, It's about parameters It is a function of the Doppler velocity of the satellite relative to the ground terminal at time t.

[0200] In some embodiments, a curve fitting method can be used to determine The values ​​of these 6 parameters.

[0201] For example, reference Figure 7 The ground terminal can measure the Doppler velocity at multiple different moments based on the received electromagnetic wave signals to obtain multiple Doppler points (points where the Doppler velocity is related to time). Then, a curve fitting is performed on the multiple Doppler points to obtain a fitting curve of the multiple Doppler points (hereinafter referred to as the "Doppler curve"). It can be understood that the Doppler curve represents the functional relationship between the Doppler velocity and time, and its parameters include Therefore, we can get the The values ​​of these 6 parameters.

[0202] The Doppler curve fitting method is introduced in detail below.

[0203] Assume that the time corresponding to the multiple Doppler points is :

[0204]

[0205] Wherein, M is a positive integer, and M is greater than or equal to 6.

[0206] exist The Doppler velocity corresponding to the Doppler point at time is :

[0207]

[0208] in, for The Doppler velocity corresponding to the Doppler point at time , for The Doppler velocity corresponding to the Doppler point at time , for The Doppler velocity corresponding to the Doppler point at time , ..., for The Doppler velocity corresponding to the Doppler point at time.

[0209] It can be understood that in order to minimize the deviation between the fitted Doppler curve and the theoretical curve, the fitting problem of the above Doppler curve is to solve the following constraint problem:

[0210]

[0211] in, is the minimum value.

[0212] In some embodiments, the constraint problem shown in formula (36) can be solved by using methods such as maximum likelihood estimation, linear gradient descent, sequential quadratic programming, interior point method, and Lagrange multiplier method.

[0213] The following is an introduction to the single gradient descent method.

[0214] Let the variable to be solved in formula (37) be ,but:

[0215]

[0216] Accordingly, the penalty function for:

[0217]

[0218] Penalty function exist The slope at for:

[0219] (39)

[0220] In some embodiments, the variable x can be updated (optimized) by the following formula (40):

[0221] (40)

[0222] in, is the i-th variable, is the i+1th variable, is the penalty function exist The slope at , Δx is a fixed step size.

[0223] In some embodiments, the and When the difference between the two is less than the preset value (such as 0.1, 0.2, 0.3, etc., there is no limit on this), stop updating, and then The value of the variable The final value of .

[0224] In some embodiments, the fitted Doppler curve is a non-convex curve. In this case, the variable can be determined by taking multiple minimum points of the Doppler curve. For example, the abscissa of the minimum point with the smallest value among all the minimum points of the Doppler curve is used as the variable The value of .

[0225] In addition, in order to prevent overfitting, the regularization term (a fixed small amount) is added to the penalty function, as follows:

[0226] (41)

[0227] in, Indicates the introduction of regularization term The penalty function, represents the L2 norm.

[0228] It should be noted that if the ground terminal supports the positioning function, the ground terminal can also directly obtain the latitude l of its location through the positioning function, without having to obtain it as an unknown quantity through the above equation or curve fitting.

[0229] In some embodiments, after obtaining the parameter After taking the value of Substitute the value of into the above formula (7) to obtain the function of the satellite's azimuth angle relative to the ground terminal with respect to time, and determine the azimuth angle of the satellite relative to the ground terminal at different times based on this function. And, the parameter Substituting the value of into the above formula (8) yields the function of the satellite's elevation angle relative to the ground terminal with respect to time. This function can then be used to determine the satellite's elevation angle relative to the ground terminal at different times. In this way, the ground terminal can determine the satellite's azimuth and elevation angle at different times, thereby determining the satellite's position at different times.

[0230] It can be understood that since the speed of the satellite movement and the speed of the earth's rotation are constant, the azimuth and elevation angles of the satellite relative to the ground terminal change periodically.

[0231] For example, Figure 8 The graph shows the change of the azimuth and elevation angle of a satellite relative to a ground terminal over time according to an embodiment of the present application. Figure 8The azimuth and elevation angles of the satellite relative to the ground terminal change periodically with time, and its period is 0.5×10 4 Second.

[0232] In some embodiments, the ground terminal can display the azimuth of the satellite in real time based on the azimuth curve of the satellite, and / or display the elevation of the satellite in real time based on the elevation curve of the satellite, to instruct the user to adjust the posture of the ground terminal so that the antenna terminal of the ground terminal can be aligned with the satellite, thereby improving the communication quality between the ground terminal and the satellite.

[0233] Take the azimuth and elevation angles of satellites 1 and 2 displayed on a ground terminal as an example:

[0234] Figure 9 This is an example diagram of the display interface of the orientation information provided in an embodiment of the present application.

[0235] For example, Figure 9 As shown, the display interface (exemplified as the first interface) includes an azimuth indication interface and an elevation indication interface. The azimuth indication interface includes an electronic compass for displaying the azimuth of the satellite relative to the ground terminal. The elevation indication interface includes an elevation indicator bar for displaying the elevation of the satellite relative to the ground terminal.

[0236] Specifically, refer to Figure 9 The thick black line in the electronic compass indicates that satellite 1 is within the ground terminal's visual window, while the thin black line indicates that satellite 1 is not. Point K on the thick black line represents satellite 1's current azimuth relative to the ground terminal, and the data "1540 km" on the thin black line represents satellite 1's altitude. The thick gray line indicates that satellite 2 is within the ground terminal's visual window, while the thin gray line indicates that the ground terminal is not within the ground terminal's visual window. Point U on the thick gray line represents satellite 2's current azimuth relative to the ground terminal, and the data "840 km" on the thin gray line represents satellite 2's altitude. The needle on the electronic compass (hereinafter referred to as the compass needle) indicates the current direction indicated by the antenna terminal on the ground terminal. This direction can be detected by a direction detection sensor such as the ground terminal's gyroscope.

[0237] It is understood that the user can adjust the direction indicated by the compass needle in the electronic compass by adjusting the direction of the ground terminal. When the compass needle in the electronic compass is adjusted to point K, the antenna terminal of the ground terminal is horizontally aligned with satellite 1. When the compass needle in the electronic compass is adjusted to point U, the antenna terminal of the ground terminal is horizontally aligned with satellite 2.

[0238] Continue to refer Figure 9The black indicator bar in the elevation angle indication interface is the elevation angle indicator bar for satellite 1, and its height indicates the current elevation angle of satellite 1 relative to the ground terminal. The gray indicator bar in the elevation angle indication interface is the elevation angle indicator bar for satellite 2, and its height indicates the current elevation angle of satellite 2 relative to the ground terminal. The white indicator bar in the elevation angle indication interface is the elevation angle indicator bar for the ground terminal, and its height indicates the current elevation angle of the ground terminal relative to the ground. In some embodiments, the current elevation angle of the ground terminal relative to the ground can be measured by an elevation angle measurement sensor of the ground terminal.

[0239] It is understood that the user can adjust the height of the white indicator bar by adjusting the elevation angle of the ground terminal. When the height of the white indicator bar matches the height of the black indicator bar, the ground terminal's antenna terminal is vertically aligned with satellite 1. When the height of the white indicator bar matches the height of the gray indicator bar, the ground terminal's antenna terminal is vertically aligned with satellite 2.

[0240] It should be noted that the display interface of the azimuth information may also include only the azimuth angle indication interface, or only the elevation angle indication interface.

[0241] Figure 10 A flowchart of the ground terminal provided in an embodiment of the present application obtaining and displaying the azimuth information of satellite information.

[0242] It should be noted that the execution entity of each step in the method for obtaining satellite position information in the embodiment of the present application is the ground terminal, which will not be repeated below.

[0243] refer to Figure 10 , the method comprises the following steps:

[0244] 1. Ground terminal tracking satellite orbit: The ground terminal receives electromagnetic wave signals transmitted by multiple satellites. Based on the frequency deviation changes of the multiple electromagnetic wave signals, the satellite Doppler curve is fitted using the maximum likelihood estimation method, and the ephemeris parameters are solved.

[0245] In some embodiments, during communication between a ground terminal and a satellite, after the ground terminal receives multiple electromagnetic wave signals sent by the satellite, the ground terminal can fit a corresponding Doppler curve through the maximum likelihood estimation method based on the change in the carrier frequency deviation of the received electromagnetic wave signal, and then solve the ephemeris parameters based on the Doppler curve.

[0246] Specifically, after a ground terminal receives multiple electromagnetic wave signals transmitted by a satellite at different times, it can determine the Doppler velocity of the satellite relative to the ground terminal at different times based on the Doppler frequency deviation (i.e., the change in carrier frequency deviation) of these multiple electromagnetic wave signals, thereby obtaining multiple Doppler points at different times. The ground terminal can then use the maximum likelihood estimation method to fit the Doppler curves corresponding to these multiple Doppler points and solve the ephemeris parameters based on these Doppler curves. .

[0247] 2. The ground terminal establishes a relative motion model between the satellite and the ground terminal: The ground terminal solves the visible window conditions, obtains the next visible window time node, and uses the ephemeris parameters to solve the time variation curve of the satellite's three-dimensional azimuth and elevation angle in advance.

[0248] In some embodiments, the parametric ephemeris parameters are determined at the ground terminal. After the value of is obtained, the ground terminal can solve the next window time node according to the above-mentioned window, and based on the ephemeris parameter , and obtain the time variation curve of the satellite's azimuth and elevation angle relative to the ground terminal, that is, the azimuth curve and the elevation curve.

[0249] 3. The ground terminal displays the satellite's position information through a UI interface such as an electronic compass: When the visible window arrives, the ground terminal prompts the user to adjust the ground terminal's position and elevation to achieve an efficient and high-quality connection with the satellite.

[0250] In some embodiments, after the ground terminal solves the time variation curve of the azimuth and elevation angle of the satellite relative to the ground terminal, the ground terminal can calculate the time variation curve of the azimuth and elevation angle of the satellite relative to the ground terminal according to the above method. Figure 9 The electronic compass shown shows the azimuth of the satellite relative to the ground terminal, as well as the Figure 9 The elevation angle indicator bar shown displays the elevation angle of the satellite relative to the ground terminal, so as to prompt the user to adjust the azimuth and elevation angle of the ground terminal when the visual window is reached, so that the antenna terminal of the ground terminal is aligned with the satellite and an efficient and high-quality connection with the satellite is achieved.

[0251] In an embodiment of the present application, during the communication between the ground terminal and the satellite, the ground terminal can estimate the Doppler frequency deviation coefficient of the satellite relative to the ground terminal based on the received signal, and then obtain the Doppler velocity of the satellite relative to the ground terminal based on the Doppler frequency deviation coefficient. In this way, the ground terminal can obtain the Doppler velocity at multiple times, and then obtain the satellite's ephemeris information and the position information of the ground terminal through multiple Doppler velocities, and then determine the satellite's azimuth information at different times, such as azimuth and elevation, based on the ephemeris information and position information. Then, the ground terminal can prompt the user to adjust the attitude of the ground terminal based on the satellite's azimuth information, so that the antenna terminal of the ground terminal is aligned with the satellite, thereby improving the communication quality between the ground terminal and the antenna terminal.

[0252] Figure 11 This is a flowchart of a method for obtaining satellite position information provided in an embodiment of the present application. The method includes the following steps:

[0253] S101: The satellite sends multiple electromagnetic wave signals A1 to the ground terminal at multiple different times.

[0254] In some embodiments, after the satellite is connected to the ground terminal, the satellite may send multiple electromagnetic wave signals A1 to the ground terminal at multiple different times.

[0255] S102: The ground terminal receives multiple electromagnetic wave signals B1.

[0256] Among them, the multiple electromagnetic wave signals B1 are signals transmitted by the multiple electromagnetic wave signals A1 to the ground terminal.

[0257] In some embodiments, after the satellite transmits multiple electromagnetic wave signals A1 to the ground terminal, the ground terminal receives corresponding multiple electromagnetic wave signals B1 through the antenna terminal. Electromagnetic wave signals B1 are electromagnetic wave signals that reach the ground terminal after the electromagnetic wave signals A1 transmitted by the satellite are transmitted through the channel.

[0258] S103: The ground terminal obtains multiple Doppler velocities of the satellite relative to the ground terminal based on multiple Doppler frequency offsets between the multiple electromagnetic wave signals A1 and the multiple electromagnetic wave signals B1.

[0259] In some embodiments, the ground terminal can use the aforementioned autocorrelation method to estimate the Doppler frequency offset coefficient between electromagnetic wave signal A1 and electromagnetic wave signal B1, and then calculate the Doppler velocity of the satellite relative to the ground terminal using the above formula (13) based on the Doppler frequency offset coefficient. In this way, the ground terminal can obtain multiple Doppler velocities of the satellite relative to the ground terminal at multiple different times.

[0260] S104: The ground terminal determines the position information of the satellite relative to the ground terminal based on the multiple Doppler velocities.

[0261] In some embodiments, the position information of the satellite relative to the ground terminal includes the azimuth angle and / or elevation angle of the satellite relative to the ground terminal.

[0262] In some embodiments, after the ground terminal obtains multiple Doppler velocities of the satellite relative to the ground terminal at multiple different times, the aforementioned Doppler curve fitting method can be used to determine the parameters of the satellite, such as the aforementioned parameters or parameter Then, the ground terminal can calculate the azimuth angle of the satellite relative to the ground terminal through the above formula (7), and / or calculate the elevation angle of the satellite relative to the ground terminal through the above formula (8).

[0263] S105: The ground terminal displays a first interface, which includes the position information of the satellite relative to the ground terminal.

[0264] In some embodiments, after the ground terminal determines the azimuth and / or elevation of the satellite relative to the ground terminal, it can display a first interface, which includes the azimuth and / or elevation of the satellite relative to the ground terminal.

[0265] For example, the ground terminal can Figure 9 The UI shown (as an example of the first interface) displays the satellite's azimuth relative to the ground terminal via an electronic compass, and the elevation indicator displays the satellite's elevation relative to the ground terminal. This allows the user to adjust the ground terminal's azimuth and / or elevation to align the ground terminal's antenna with the satellite, improving communication quality between the ground terminal and the antenna.

[0266] Figure 12 According to some embodiments of the present application, a schematic structural diagram of an electronic device 1000 is shown. The electronic device 1000 may be the aforementioned satellite or the aforementioned ground terminal.

[0267] like Figure 12 As shown, the electronic device 1000 includes one or more processors 110, one or more memories 120, and one or more communication interfaces 130. The processor 110, the memory 120, and the communication interface 130 may be coupled via a bus (not shown), which may be a path for transmitting information between the various components of the electronic device 1000 (e.g., the processor 110, the memory 120, and the communication interface 130).

[0268] The processor 110 may include any one or more processors such as a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a baseband processor (BP), and an application processor (AP).

[0269] The memory 120 may include volatile memory, such as random access memory (RAM). The processor 104 may also include non-volatile memory, such as read-only memory (ROM), flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0270] The memory 120 stores executable program code, and the processor 110 executes the executable program code to implement the functions of the aforementioned satellite or ground terminal, thereby implementing the aforementioned method for obtaining satellite ephemeris information. In other words, the memory 106 stores instructions for executing the method for obtaining satellite ephemeris information provided in various embodiments of the present application, such as signal transmission and reception instructions.

[0271] The communication interface 130 uses a transceiver module such as, but not limited to, a network interface card or a transceiver to implement communication between the electronic device 1000 and other devices or a communication network.

[0272] Corresponding to the electronic device 1000 being a satellite, when the processor 110 executes the signal transmission instruction stored in the memory 120, the electronic device 1000 can transmit electromagnetic wave signals to the ground terminal through the communication interface 130; when the processor 110 executes the signal reception instruction stored in the memory 120, the electronic device 1000 can receive the electromagnetic wave signals transmitted by the ground terminal through the communication interface 130.

[0273] Corresponding to the electronic device 1000 being a ground terminal, when the processor 110 executes the signal transmission instruction stored in the memory 120, the electronic device 1000 can transmit electromagnetic wave signals to the satellite through the communication interface 130; when the processor 110 executes the signal reception instruction stored in the memory 120, the electronic device 1000 can receive the electromagnetic wave signals transmitted by the satellite through the communication interface 130.

[0274] In some embodiments, the communication interface 130 may be a fifth generation (5G) thThe fourth generation (5G) mobile communication system includes new radio (NR) system, universal mobile telecommunication system (UMTS), wireless local area network (WLAN), wireless fidelity (Wi-Fi) system, wired system, vehicle to everything (V2X) communication system, device to device (D2D) communication system, and the fourth generation (4 th generation, 4G) mobile communication systems, satellite communication systems, and future communication systems (such as the sixth generation (6 th generation, 6G) mobile communication system) and other communication solutions provided by any one or more communication systems to communicate with other devices.

[0275] It should be noted that Figure 12 The structure of the electronic device 1000 shown is only an example. In other embodiments, the electronic device 1000 may include more or fewer modules, which is not limited here.

[0276] An embodiment of the present application further provides a readable storage medium, in which one or more programs are stored. When the one or more programs are executed by an electronic device, the electronic device implements the methods provided in the aforementioned embodiments.

[0277] An embodiment of the present application further provides a program product, which, when executed on an electronic device, can enable the electronic device to implement the methods provided in the aforementioned embodiments.

[0278] It should be noted that the terms used in the implementation methods section of the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is merely a way to describe the association relationship of associated obstacles, 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 the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two, "at least one" and "one or more" mean one, two or more than two.

[0279] It should be noted that the terms used in the implementation methods section of the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is merely a way to describe the association relationship of associated obstacles, 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 the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two, "at least one" and "one or more" mean one, two or more than two.

[0280] It should be noted that in the embodiments of the present application, "equal to" and "less than" can be used together. For example, indicating that a parameter corresponds to situation B when it is greater than or equal to A and corresponds to situation C when it is less than A can also be understood as indicating that the parameter corresponds to situation B when it is greater than A and corresponds to situation C when it is less than or equal to A.

[0281] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, the definition of "first" and "second" features may explicitly or implicitly include one or more of the features.

[0282] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0283] In the above embodiments, all or part of the embodiments can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be magnetic media (e.g., floppy disk, hard disk, tape), optical media, or semiconductor media (e.g., solid-state drive (SSD)).

[0284] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiment method, the process can be completed by a computer program to instruct the relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned method embodiments.

[0285] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for acquiring satellite position information, used in a ground terminal, characterized in that: The method comprises: receiving a plurality of first signals, wherein the plurality of first signals are signals transmitted from a satellite at a plurality of different times and transmitted to the ground terminal by a plurality of second signals, and the plurality of first signals correspond to the plurality of second signals one by one; determining a Doppler frequency shift between each of the first signals and a corresponding second signal; Determining a plurality of Doppler velocities of the satellite relative to the ground terminal based on a plurality of the Doppler frequency offsets corresponding to the plurality of first signals; Based on the multiple Doppler velocities, obtaining the position information of the satellite relative to the ground terminal; The obtaining, based on the multiple Doppler velocities, the position information of the satellite relative to the ground terminal comprises: Determining the ephemeris information of the satellite and the position information of the ground terminal according to the multiple Doppler velocities; Determining the orientation information according to the ephemeris information and the position information; The location information includes the latitude of the ground terminal; The ephemeris information includes: the altitude, inclination and plane angle of the satellite's orbit; or, the speed of the satellite, the inclination and the plane angle of the orbit of the satellite; A first relationship is satisfied between the ephemeris information of the satellite, the position information of the ground terminal and the Doppler velocity; and the ephemeris information of the satellite and the position information of the ground terminal are characterized by multiple parameters; Determining the ephemeris information of the satellite and the position information of the ground terminal according to the multiple Doppler velocities includes: establishing an equation between the plurality of parameters and each of the plurality of Doppler velocities according to the first relationship; Solving the equation to obtain the values ​​of the multiple parameters to determine the ephemeris information of the satellite and the position information of the ground terminal; The speed of the satellite includes an angular velocity, and the angular velocity is determined according to the altitude of the satellite; The equations include: ， in, It's about parameters The function represents the Doppler velocity of the satellite relative to the ground terminal at time t. is the altitude of the satellite, is the latitude of the ground terminal, is the plane angle of the satellite's orbit, is the inclination of the satellite's orbit, is the time when the satellite moves from the starting time to point S, is the local oscillator frequency deviation coefficient, is the Doppler frequency deviation coefficient of the first signal received by the satellite at time t, is the speed of light, is the subcarrier spacing of the first signal, is the carrier frequency of the first signal.

2. The method according to claim 1, characterized in that The determining the orientation information according to the ephemeris information and the position information comprises: Determining the vector coordinates of the ground terminal pointing to the satellite according to the ephemeris information and the position information; The position information of the satellite relative to the ground terminal is determined based on the vector coordinates.

3. The method according to any one of claims 1 to 2, characterized in that The position information includes the azimuth and / or elevation of the satellite relative to the ground terminal.

4. The method according to claim 1, characterized in that: The determining of the Doppler frequency shift between each of the first signals and the corresponding second signal comprises: Performing an autocorrelation operation on each sequence corresponding to the first signal to obtain an autocorrelation sequence corresponding to the first signal; Determine the Doppler frequency offset coefficient between each of the first signal and the second signal according to the autocorrelation sequence; The Doppler frequency offset between each of the first signal and the second signal is determined according to the Doppler frequency offset coefficient.

5. The method according to claim 1, characterized in that The method further comprises: A first interface is displayed, wherein the first interface includes the position information.

6. An electronic device, characterized in that: include: A memory for storing instructions; A processor, when the processor executes the instructions in the memory, causes the electronic device to perform the method according to any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, which, when executed on a computer, cause the computer to perform the method according to any one of claims 1 to 5.

8. A computer program product, characterized in that The method comprises a computer program / instructions which, when executed, cause a computer to perform the method according to any one of claims 1 to 5.

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