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 receive multiple phase differences between multiple electromagnetic wave signals at multiple different times based on a first antenna terminal and a second antenna terminal, and then determine the position information of the satellite relative to the ground terminal based on the multiple phase differences. In this way, the user can be prompted to adjust the posture of the ground terminal through the position information of the satellite relative to 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 communication between ground terminals (such as mobile phones, tablets, computers, etc., which are located on the ground and support satellite communication) and moving satellites. However, the satellites are far away and move at high speeds, so the communication quality is difficult to guarantee.

[0003] In the prior art, the orientation of the satellite relative to the ground terminal can be determined based on the satellite's ephemeris information (information that describes the satellite's position and motion state, such as position, speed, direction of motion, etc.), and then the attitude of the ground terminal can be adjusted based on the 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 the satellite's electromagnetic wave signal.

[0004] However, the ephemeris information of some satellites is not public, and it is impossible to obtain the ephemeris information of such satellites, and it is also 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 from multiple aspects below, and the embodiments and beneficial effects of the following aspects can be referenced to each other.

[0006] In a first aspect, an embodiment of the present application provides a method for acquiring satellite position information, which is used in a ground terminal, and the ground terminal includes a first antenna terminal and a second antenna terminal. The method includes: receiving multiple first signals through the first antenna terminal, and receiving multiple second signals through the second antenna terminal, wherein the multiple first signals are signals that are transmitted from a satellite to the first antenna terminal by multiple third signals transmitted at multiple different times, and the multiple second signals are signals that are transmitted from a satellite to the second antenna terminal by multiple third signals transmitted at multiple different times, and the multiple first signals and the multiple second signals correspond one to one; determining a phase difference between each first signal and the corresponding second signal; and obtaining the position information of the satellite relative to the ground terminal based on the multiple phase differences between the multiple first signals and the multiple second signals.

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

[0008] Due to the different positions of the first antenna terminal and the second antenna terminal on the ground terminal, the distances (arrival distances) of the electromagnetic wave signal emitted by the satellite to the first antenna terminal and the second antenna terminal are different, and there is a certain distance difference. This distance difference will cause the electromagnetic wave signal received by the first antenna terminal and the second antenna terminal to be different in time, thereby causing the electromagnetic wave signal received by the first antenna terminal and the second antenna terminal to be different in phase, and there is a certain phase difference. When the satellite's azimuth relative to the ground terminal changes, the direction in which the satellite transmits the electromagnetic wave signal to the ground terminal will also change, resulting in a change in the distance difference between the electromagnetic wave signal emitted by the satellite to the first antenna terminal and the second antenna terminal, and then causing the phase difference of the electromagnetic wave signal received by the first antenna terminal and the second antenna terminal to change. Therefore, the phase difference between the electromagnetic wave signal B1 of the first antenna terminal and the electromagnetic wave signal B2 received by the second antenna terminal has a corresponding relationship with the azimuth information of the satellite relative to the ground terminal, and the azimuth information of the satellite relative to the ground terminal can be determined by the phase difference between the electromagnetic wave signal B1 and the electromagnetic wave signal B2.

[0009] It can be understood that during the communication between the ground terminal and the satellite, when the satellite is within the visible 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 obtained by the ground terminal in the embodiment of the present application is the position information of the satellite relative to the ground terminal when the satellite is within the visible window of the ground terminal.

[0010] In some embodiments, based on multiple phase differences between multiple first signals and multiple second signals, the azimuth information of the satellite relative to the ground terminal is obtained, including: determining multiple arrival wave distance differences between the first antenna terminal and the second antenna terminal according to the multiple phase differences; and obtaining the azimuth information of the satellite relative to the ground terminal according to the multiple arrival wave distance differences.

[0011] In some embodiments, the satellite's azimuth information relative to the ground terminal is obtained based on multiple arrival wave distance differences, including: determining the satellite's ephemeris information and the ground terminal's position information based on the multiple arrival wave distance differences; determining the satellite's azimuth information relative to the ground terminal based on the satellite's ephemeris information and the ground terminal's position information.

[0012] In some embodiments, a first relationship is satisfied between the satellite's ephemeris information, the ground terminal's position information, and the wave distance difference; and the satellite's ephemeris information and the ground terminal's position information are characterized by multiple parameters; based on the multiple wave distance differences, the satellite's ephemeris information and the ground terminal's position information are determined, including: based on the first relationship, establishing an equation between the multiple parameters and each of the multiple wave distance differences; solving the equation to obtain the values ​​of the multiple parameters to determine the satellite's ephemeris information and the ground terminal's position information.

[0013] The equation may be the equation shown in the following formula (9).

[0014] The ground terminal determines the phase difference between the electromagnetic wave signals received by the first antenna terminal and the second antenna terminal at multiple different times, and determines the arrival distance difference of the first antenna terminal and the second antenna terminal at multiple different times. In this way, multiple coordinate points with time as the horizontal coordinate and the arrival distance difference as the vertical coordinate can be obtained. Then, a linear fitting method can be used to perform linear fitting on the multiple coordinate points to obtain a corresponding curve, and then multiple parameters representing the satellite's ephemeris information and the location information of the ground terminal can be determined based on the curve.

[0015] In some implementations, 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.

[0016] In some embodiments, 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 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 phase difference between each first signal and the corresponding second signal includes: performing a correlation operation on a sequence corresponding to each first signal and a sequence of the corresponding second signal to obtain a corresponding correlation sequence; and determining the phase difference between each first signal and the second signal based on the correlation sequence.

[0019] The correlation operation may be the operation shown in the following formula (26).

[0020] In some embodiments, the method further includes: displaying a first interface, the first interface including position information.

[0021] The first interface may be a display interface for the position information mentioned in this application.

[0022] The first interface includes an electronic compass and / or an elevation angle.

[0023] The ground terminal can display the azimuth and elevation of the satellite relative to the ground terminal respectively through the electronic compass and the elevation indicator bar, 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.

[0024] In a second aspect, an embodiment of the present application provides an electronic device, including a memory for storing instructions executed by one or more processors of the electronic device; a processor, 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 that can be achieved in the second aspect can refer to the beneficial effects of the method provided in any embodiment of the first aspect, and will not be repeated here.

[0025] In a third aspect, the present application provides a computer-readable storage medium on which instructions are stored, and when the instructions are executed on a computer, the computer can execute the method described in any embodiment of the first aspect. The beneficial effects that can be achieved in the third aspect can refer to the beneficial effects of the method provided in any embodiment of the first aspect, and will not be repeated here.

[0026] In a fourth aspect, the embodiments of the present application provide a computer program product, wherein the computer program product includes a computer program code, and 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 that can be achieved in the fourth aspect can refer to the beneficial effects of the method provided in any embodiment of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A scene diagram of a ground terminal communicating with a satellite provided in an embodiment of the present application;

[0028] Figure 2A A relative motion model diagram of a satellite and a ground terminal provided in an embodiment of the present application;

[0029] Figure 2B Another relative motion model diagram of a satellite and a ground terminal provided in an embodiment of the present application;

[0030] Figure 3 A structural diagram of a mobile phone provided in an embodiment of the present application;

[0031] Figure 4A A schematic diagram of a difference in incoming wave distance between antenna terminals provided in an embodiment of the present application;

[0032] Figure 4B A schematic diagram of another wave arrival distance difference between antenna terminals provided in an embodiment of the present application;

[0033] Figure 5 A scene diagram of mobile phone and satellite communication provided in an embodiment of the present application;

[0034] Figure 6 Another scene diagram of mobile phone and satellite communication provided in an embodiment of the present application;

[0035] Fig. 7A A schematic diagram of a visible window provided in an embodiment of the present application;

[0036] Figure 7B A communication scene diagram of a satellite orbiting the earth provided in an embodiment of the present application;

[0037] Fig. 8A Another relative motion model diagram of a satellite and a ground terminal provided in an embodiment of the present application;

[0038] Figure 8B Another relative motion model diagram of a satellite and a ground terminal provided in an embodiment of the present application;

[0039] Fig. 9 Another relative motion model diagram of a satellite and a ground terminal provided in an embodiment of the present application;

[0040] Fig.10 A schematic diagram of another wave arrival distance difference between antenna terminals provided in an embodiment of the present application;

[0041] Fig.11 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;

[0042] Fig. 12A A schematic diagram of the locations of multiple antenna terminals provided in an embodiment of the present application;

[0043] Fig. 12B A linear fitting schematic diagram provided in an embodiment of the present application;

[0044] Fig.13 A structural diagram of a neural network model provided in an embodiment of the present application;

[0045] Fig.14 A schematic diagram of inserting data at corresponding moments into a plurality of measurement values ​​with different time intervals provided in an embodiment of the present application;

[0046] Fig.15 A curve diagram showing changes in the azimuth and elevation of a satellite relative to a ground terminal over time provided in an embodiment of the present application;

[0047] Fig.16 A diagram of a display interface for position information provided in an embodiment of the present application;

[0048] Fig.17 A flowchart of a method for obtaining satellite position information provided in an embodiment of the present application;

[0049] Fig.18 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The present application embodiment is used to provide a method for obtaining satellite position information. The following is an introduction to the method for obtaining satellite position information provided by the present application embodiment in conjunction with a specific embodiment.

[0051] Figure 1 A scene diagram of a ground terminal communicating with a satellite provided in an embodiment of the present application.

[0052] 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 achieve long-distance communication between ground terminal 1 and ground terminal 2, such as sending and receiving text messages, making and receiving calls, etc.

[0053] It is understood that the ground terminal can be a mobile phone, a computer, a tablet, a smart wearable device (such as a smart watch, a smart bracelet, etc.) and other terminal devices located on the ground and supporting satellite communication. The following description will take a mobile phone as an example of a ground terminal.

[0054] Figure 2A A relative motion model of a satellite and a ground terminal is provided in an embodiment of the present application.

[0055] refer to Figure 2A In the relative motion model between the satellite and the ground terminal, the earth is approximated as a sphere. In addition, since the orbit of the satellite 200 (hereinafter referred to as the "satellite orbit") is a low-Earth orbit, its eccentricity is small, and the orbit of the satellite 200 is approximated as a circle. 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. The plane XOY is located on the equatorial plane, 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.

[0056] Satellite 200 moves around the earth in a counterclockwise direction on orbit L1. The earth rotates counterclockwise around the Z axis. Since mobile phone 100 is on the surface of the earth, during the rotation of the earth, mobile phone 100 will move counterclockwise around the Z axis on orbit L2 on the ground surface. Figure 2B As shown, after a period of time t, the satellite 200 moves from point S to point S', and the mobile phone 100 moves from point P to point P'.

[0057] In some embodiments, reference Figure 3 The mobile phone 100 is provided with an antenna terminal 11 and an antenna terminal 12. The distance between the antenna terminal 11 and the antenna terminal 12 is D1. The antenna terminal 11 and the antenna terminal 12 can both receive electromagnetic wave signals transmitted by the satellite 200.

[0058] It can be understood that, due to a certain interval between antenna terminal 11 and antenna terminal 12, the electromagnetic wave signal emitted by satellite 200 is transmitted along the direction of the satellite pointing to the ground terminal to reach antenna terminal 11 and antenna terminal 12 at different distances (hereinafter, "the distance of the electromagnetic wave signal emitted by the satellite along the direction of the satellite pointing to the ground terminal to the antenna terminal on the ground terminal" is referred to as "arrival distance"). In this way, the same electromagnetic wave signal emitted by satellite 200 will arrive at antenna terminal 11 and antenna terminal 12 at different times, resulting in a time difference between the electromagnetic wave signal received by antenna terminal 11 and antenna terminal 12, which will in turn cause a phase difference between the electromagnetic wave signals received by antenna terminal 11 and antenna terminal 12. This is because phase is a physical quantity that describes the position or state of an electromagnetic wave signal (electromagnetic wave) relative to a reference point at a certain moment, and its value changes periodically with time. The electromagnetic wave signals received by antenna terminal 11 and antenna terminal 12 are different in time, so their phases are different, and there is a phase difference.

[0059] Specifically, refer to Figure 4A , for the above Figure 2A In the situation shown, the antenna terminal 11 of the mobile phone 100 is in The antenna terminal 12 of the ground terminal is at The location of the point. Point and The distance between the points is D1. Satellite 200 sends an electromagnetic wave signal to mobile phone 100 along direction 1 (the direction from point S to point P). In this case, the electromagnetic wave signal transmitted by satellite 200 to mobile phone 100 is transmitted along direction 1 (the direction from point S to point P) to antenna terminal 11 and antenna terminal 12 at arrival distances L1 and L2, respectively. The difference between arrival distance L1 of antenna terminal 11 and arrival distance L2 of antenna terminal 12 (hereinafter referred to as "arrival distance difference") ΔL=L1-L2.

[0060] It can be understood that the electromagnetic wave signal emitted by satellite 200 is transmitted along direction 1 to the different distances between antenna terminal 11 and antenna terminal 12 on mobile phone 100, which will cause a phase difference between the electromagnetic wave signals received by antenna terminal 11 and antenna terminal 12.

[0061] In some embodiments, the phase difference between the electromagnetic wave signals received by the antenna terminal 11 and the antenna terminal 12 on the mobile phone 100 can be calculated by the following formula (1).

[0062] (1)

[0063] in, is the phase difference between the electromagnetic wave signals received by antenna terminal 11 and antenna terminal 12, is the frequency of the electromagnetic wave signal emitted by the satellite 200, ΔL is the difference in the distance between the antenna terminal 11 and the antenna terminal 12, and c is the speed of light. Optionally, c is 3×10 8 Meters / second.

[0064] During the communication between the mobile phone 100 and the satellite 200, since the satellite 200 and the mobile phone 100 are constantly moving, the position of the satellite 200 relative to the mobile phone 100 will constantly change, and the change in position will cause the direction of the electromagnetic wave signal transmitted by the satellite 200 to the mobile phone 100 to change, thereby causing the distance difference between the antenna terminal 11 and the antenna terminal 12 to change, and then causing the phase difference between the electromagnetic wave signals received by the antenna terminal 11 and the antenna terminal 12 to change.

[0065] For example, reference Figure 4B , for the above Figure 2B In the situation shown, the satellite 200 moves from point S to point S', and the mobile phone 100 moves from point P to point P'. The antenna terminal 11 of the mobile phone 100 is in The antenna terminal 12 of the mobile phone 100 is at The electromagnetic wave signal emitted by satellite 200 is transmitted along direction 2 (the direction from point S' to point P') to antenna terminal 11 and antenna terminal 12, and the arrival distances are L1' and L2' respectively. At this time, the arrival distance difference between antenna terminal 11 and antenna terminal 12 is ΔL'=L1'-L2', and, .

[0066] for Figure 4B In the situation shown, it can be known from the above formula (1) that the phase difference between the electromagnetic wave signal transmitted by the satellite 200 and received by the antenna terminal 11 and the antenna terminal 12 on the mobile phone 100 is:

[0067] (2)

[0068] in, = is the phase difference between the electromagnetic wave signals transmitted by the satellite 200 and received by the antenna terminal 11 and the antenna terminal 12 on the mobile phone 100. , .

[0069] Therefore, the phase difference between the electromagnetic wave signals received by the antenna terminal 11 and the antenna terminal 12 is related to the orientation of the satellite 200 relative to the mobile phone 100 .

[0070] Figure 5 An example diagram of communication between a mobile phone 100 and a satellite 200 is shown.

[0071] refer to Figure 5, the ephemeris information of the satellite 200 has been made public. In this case, during the communication between the mobile phone 100 and the satellite 200, the user can query the ephemeris information of the satellite 200 on the Internet through the mobile phone 100, and then determine the position of the satellite 200 in real time according to the ephemeris information, and adjust the posture of the mobile phone 100 according to the position so that the antenna terminal 11 and the antenna terminal 12 are aligned with the position of the satellite 200, thereby improving and ensuring the communication quality between the mobile phone 100 and the satellite 200.

[0072] However, in some cases, the ephemeris information of the satellite 200 is non-public information and is not disclosed. In this case, the mobile phone 100 cannot obtain the ephemeris information of the satellite 200, and cannot determine the position of the satellite 200. This may cause the antenna terminal 11 and the antenna terminal 12 of the mobile phone 100 to be unable to align with the position of the satellite 200, resulting in a large deviation between the direction in which the antenna terminal 11 and the antenna terminal 12 receive electromagnetic wave signals and the direction in which the satellite 200 transmits electromagnetic wave signals, thereby resulting in poor communication quality between the mobile phone 100 and the satellite 200.

[0073] For example, Figure 6 As shown, the antenna terminals 11 and 12 on the mobile phone 100 are not aligned with the orientation of the satellite 200, and the deviation between the direction in which the antenna terminals 11 and 12 receive electromagnetic wave signals and the direction in which the satellite 200 transmits electromagnetic wave signals is large. In this case, the antenna terminals 11 and 12 on the mobile phone 100 have a weak ability to receive electromagnetic wave signals transmitted by the satellite 200, resulting in poor communication quality between the mobile phone 100 and the satellite 200.

[0074] In view of this, an embodiment of the present application provides a method for obtaining satellite position information. In this method, the position information of the satellite relative to the ground terminal, such as the elevation angle and azimuth angle of the satellite relative to the ground terminal, can be determined based on the phase difference between the electromagnetic wave signals (transmitted by the satellite) received by the first antenna terminal (such as antenna terminal 11) and the second antenna terminal (such as antenna terminal 12) of the ground terminal, so that the user can adjust the posture of the ground terminal according to the position information, keep the first antenna terminal and the second antenna terminal of the ground terminal aligned with the position of the satellite, and improve the communication quality between the ground terminal and the satellite.

[0075] In some embodiments, the ground terminal can determine the ephemeris information related to the position information of the satellite relative to the ground terminal (such as the plane angle of the satellite orbit, the inclination of the satellite orbit, and other information) based on the phase difference between the electromagnetic wave signals received by the first antenna terminal and the second antenna terminal, and then determine the position information of the satellite relative to the ground terminal based on the ephemeris information, such as parameter information such as the azimuth and elevation angle of the satellite relative to the ground terminal.

[0076] It can be understood that during the communication between the ground terminal and the satellite, when the satellite is within the visible 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 visible window of the ground terminal.

[0077] The visible window refers to the period of time when the ground terminal can see the 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.

[0078] Fig. 7A A schematic diagram of the visible window of a satellite to a ground terminal provided in an embodiment of the present application.

[0079] refer to Fig. 7A , when ∠OPS>90°, the satellite is within the visible range of the ground terminal, that is, within the visible window of the ground terminal, and the ground terminal and the satellite can communicate normally. As mentioned above, point O is the center of the earth, point P is the location of the ground terminal, and S is the location of the satellite.

[0080] In some embodiments, the visible window condition of the ground terminal can be expressed as:

[0081]

[0082] 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, Representation vector and vector The inner product of .

[0083] For example, reference Figure 7B , the earth rotates counterclockwise, and the satellite moves counterclockwise around the earth in orbit. When the satellite is within the visible window of the ground terminal, the ground terminal can communicate with the satellite normally. As the satellite moves counterclockwise around the earth in orbit, when the satellite moves outside the visible window of the ground terminal, the communication between the ground terminal and the satellite is disconnected. Then, when the satellite enters the visible window of the ground terminal again, the ground terminal communicates with the satellite again.

[0084] In some embodiments, the ground terminal may obtain ephemeris information of the satellite, and then obtain the position 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.

[0085] The ephemeris information and azimuth information involved in this application are introduced below.

[0086] (1) Ephemeris information

[0087] Fig. 8A Another motion model of a satellite relative to a ground terminal is provided for an embodiment of the present application.

[0088] refer to Fig. 8A , the earth The angular velocity rotates counterclockwise around the Z axis, and 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 motion is (Unknown quantity), the plane angle of its orbit (the angle between the vector of the satellite's orbital plane 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).

[0089] In some embodiments, the three-dimensional coordinates XYZ can be established with the center of the earth O as the origin, where the X axis, the Y axis and the X axis are perpendicular to each other. Point P is located on the plane XOZ, and its coordinates are .

[0090] refer to Figure 8B , from the initial moment when the ground terminal is located at point P, after t time, the ground terminal moves from point P to point P', then at time t, the vector for:

[0091] (3)

[0092] 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), The coordinates of point P' can be expressed.

[0093] Normal vector of satellite orbit for:

[0094] (4)

[0095] In some embodiments, at time t, the satellite moves from point S to point S', and the vector can be calculated by the following formula (5): :

[0096] (5)

[0097] 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), The coordinates of point S' can be expressed as (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.

[0098] 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.

[0099] For example, refer to Fig. 9 At 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. Among them, the X' axis is tangent to the longitude 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 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'.

[0100] 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'. It can be understood that The coordinates of can be obtained by the above formula (5).

[0101] In some embodiments, the vector can be expressed by the following formula (6): Coordinates in the three-dimensional coordinate system X'Y'Z'.

[0102]

[0103] in, Representation vector The X' axis coordinate in the three-dimensional coordinate system X'Y'Z', Representation vector The Y' axis coordinate in the three-dimensional coordinate system X'Y'Z', Representation vector The Z' coordinate of the three-dimensional coordinate system X'Y'Z'.

[0104] Understandably, , and is a function of the time variable t and contains unknown parameters (Hereinafter referred to as "ephemeris parameters").

[0105] Understandably, vector The unit vector of is:

[0106]

[0107] in, Represents a unit vector The X' axis coordinate in the three-dimensional coordinate system X'Y'Z', Represents a unit vector The Y' axis coordinate in the three-dimensional coordinate system X'Y'Z', Represents a unit vector The Z' axis coordinate in the three-dimensional coordinate system X'Y'Z', [] T Denotes transpose. , and All about unknown parameters function, and , , .

[0108] It is understandable that the unit vector The direction can indicate the direction of the satellite relative to the ground terminal, and is also the propagation direction of the electromagnetic wave signal transmitted by the satellite to the ground terminal.

[0109] It should be noted that the point P' where the ground terminal is located may be the center of the ground terminal or other set positions of the ground terminal, which is not limited.

[0110] It can be understood that the positions of the first antenna terminal and the second antenna terminal on the ground terminal are fixed. After the coordinates of point P' are determined, the position of the first antenna terminal can be determined according to the coordinates of point P'. point and the second antenna terminal The coordinates of the point.

[0111] In some embodiments, the ground terminal may obtain the first antenna terminal point coordinates and the second antenna terminal Point coordinates, and then the vector is obtained by the following formula (8) :

[0112] (8)

[0113] Wherein, i and j are indexes of antenna terminals, and i is not equal to j. Pointing to the center of the earth The vector of the point, Pointing to the center of the earth A vector of points.

[0114] For the above Figure 4B The situation shown, refer to Fig.10 , the difference in the arrival distance between the first antenna terminal and the second antenna terminal can be obtained by the following formula (9): :

[0115] (9)

[0116] in, Indicates that it is a parameter A function representing the difference in the arrival distance between the first antenna terminal and the second antenna terminal at time t.

[0117] In some embodiments, the arrival distance difference ΔL' between the first antenna terminal and the second antenna terminal at time t can be obtained by the above formula (9), and then the azimuth information of the satellite relative to the ground terminal at time t can be obtained according to the arrival distance difference.

[0118] It can be understood that the unknown quantities in the above formula (9) 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.

[0119] As shown in the following formula (10), the angular velocity of the satellite Altitude from satellite The following relationship exists:

[0120] (10)

[0121] Among them, G is the gravitational constant, M is the mass of the earth, and both G and M are known quantities.

[0122] According to formula (10), to determine the angular velocity of the satellite and height , 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, the only thing that needs to be determined is the parameter Or parameters The value of is OK.

[0123] Therefore, the ground terminal needs to determine the ephemeris information including parameters Or parameters The value of .

[0124] (2) Location information

[0125] In some embodiments, the azimuth 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 where the ground terminal is located. The azimuth angle is the counterclockwise angle between the horizontal direction of the satellite relative to the ground terminal and the reference direction (or "starting direction"). It can be understood that the reference direction can be east, south, west, north, southeast, etc., without limitation. The following is an example of the reference direction being south (i.e., the positive direction of X').

[0126] For example, for the above Fig. 9 The situation shown, refer to Fig.11 The azimuth of the satellite relative to the ground terminal is the angle between the line P'S' mapped to the plane X'P'Z' 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' .

[0127] In some embodiments, based on the above formula (6), the azimuth angle of the satellite relative to the ground terminal at time t can be expressed by the following formula (11):

[0128] (11)

[0129] in, is the azimuth of the satellite relative to the ground terminal at time t.

[0130] In some embodiments, based on the above formula (6), the elevation angle of the satellite relative to the ground terminal at time t can be expressed by the following formula (12):

[0131] (12)

[0132] in, is the elevation angle of the satellite relative to the ground terminal at time t.

[0133] Understandably, due to , 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.

[0134] 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 .

[0135] The following parameters As an example, the method for 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 repeated in the following text.

[0136] Assume that at time t, the carrier frequency of the electromagnetic wave signal A (as the third signal) transmitted by the satellite to the ground terminal using orthogonal frequency division multiplexing (OFDM) technology is , the electromagnetic wave signal A is a superposition electromagnetic wave signal of multiple orthogonal subcarrier electromagnetic wave signals, and the subcarrier interval is , then the electromagnetic wave signal A can be expressed in the time domain as:

[0137]

[0138] 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 an imaginary unit, is the number of subcarriers.

[0139] Accordingly, the electromagnetic wave signal A emitted by the satellite can be expressed in the frequency domain as:

[0140]

[0141] in, is the frequency domain electromagnetic wave signal of the electromagnetic wave signal A emitted by the satellite, () is the unit impulse function.

[0142] It can be understood that the electromagnetic wave signal A 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.

[0143] Windowing refers to multiplying a signal by a window function (such as a rectangular window, Hamming window, Hanning window, etc.) to reduce distortion during signal transmission.

[0144] Carrier processing refers to adjusting the carrier frequency of the signal to a higher frequency to improve the long-distance transmission capability of the signal.

[0145] It can be understood that in the process of the electromagnetic wave signal A emitted by the satellite being transmitted to the ground terminal through the channel (the path or medium through which the electromagnetic wave signal is transmitted from the transmitter to the receiver), the electromagnetic wave signal A will be interfered by the channel, causing a series of changes in the electromagnetic wave signal, such as amplitude attenuation, phase change, frequency change, etc.

[0146] In some embodiments, the time domain electromagnetic wave signal of the electromagnetic wave signal A transmitted by the satellite after being transmitted through the channel is as shown in the following formula (15):

[0147] (15)

[0148] in, is the time domain electromagnetic wave signal after the electromagnetic wave signal A is transmitted through the channel, Represents the impulse response of the channel, describing the impact of the channel on the electromagnetic wave signal. The symbol " ” indicates a convolution operation.

[0149] It can be understood that the convolution in the time domain can be expressed as a product in the frequency domain. Therefore, the frequency domain electromagnetic wave signal of the electromagnetic wave signal A emitted by the satellite after being transmitted through the channel can be expressed as:

[0150]

[0151] in, is the frequency domain electromagnetic wave signal after the electromagnetic wave signal A is transmitted through the channel, for The frequency domain electromagnetic wave signal is as shown in formula (17):

[0152] (17)

[0153] It is understandable that for satellite communications, the multipath effect is relatively weak. The multipath effect refers to the reflection, refraction and scattering of electromagnetic waves (such as radio waves, light waves, etc.) during propagation due to encountering different obstacles (such as buildings, terrain, atmosphere, etc.), resulting in the electromagnetic wave signal receiving electromagnetic wave signal components propagated from multiple different paths at the receiving end. These electromagnetic wave signal components arrive at the receiving end at different times and are superimposed on each other according to their respective phases, thus causing interference, causing the original electromagnetic wave signal to be distorted or erroneous.

[0154] In some embodiments, according to formula (15), the electromagnetic wave signal B after the electromagnetic wave signal A shown in the above formula (13) is transmitted through the channel can be:

[0155]

[0156] It can be understood that after receiving the electromagnetic wave signal B, the ground terminal will sample the electromagnetic wave signal B to convert the electromagnetic wave signal B from a continuous electromagnetic wave signal into a discrete signal.

[0157] The sampling process of the ground terminal is analyzed below.

[0158] Assume that there is a start time deviation and the start time of sampling is:

[0159] (19)

[0160] in, is the sampling start time, is the sampling time deviation factor.

[0161] The sampling time is:

[0162] (20)

[0163] in, For the The actual sampling time of each sampling point, is a non-negative integer, is the ideal sampling interval.

[0164] In some embodiments, the electromagnetic wave signal B is sampled according to the sampling time shown in the above formula (20), and the following discrete signal can be obtained:

[0165]

[0166] The discrete signal shown in formula (21) can be expressed in the time domain as:

[0167]

[0168] In some embodiments, the discrete signal Y can be calculated by the following formula (23): k The autocorrelation sequence of:

[0169]

[0170] in, Represents a discrete signal The autocorrelation sequence of Represents a discrete signal conjugated sequence.

[0171] In some embodiments, it is assumed that the electromagnetic wave signal B1 (as the first signal) received by the first antenna terminal of the ground terminal corresponds to the discrete signal for:

[0172]

[0173] in, is the sampling time deviation factor of the electromagnetic wave signal B1 received by the first antenna terminal of the ground terminal, which is used as the phase of the electromagnetic wave signal B1.

[0174] Furthermore, it is assumed that the electromagnetic wave signal B2 (as the second signal) received by the second antenna terminal of the ground terminal corresponds to the discrete signal for:

[0175] (25)

[0176] in, is the sampling time deviation factor of the electromagnetic wave signal B2 received by the second antenna terminal of the ground terminal, which is used as the phase of the electromagnetic wave signal B2.

[0177] In some embodiments, the correlation sequence of the discrete signal corresponding to the electromagnetic wave signal B1 and the discrete signal corresponding to the electromagnetic wave signal B2 can be calculated by the following formula (26).

[0178]

[0179] in, represents the correlation sequence of the discrete signal corresponding to the electromagnetic wave signal B1 and the discrete signal corresponding to the electromagnetic wave signal B2, Represents the autocorrelation sequence of the discrete signal corresponding to the electromagnetic wave signal B1, Represents the autocorrelation sequence of the discrete signal corresponding to the electromagnetic wave signal B2, express The conjugated sequence of is the sampling time deviation factor of the electromagnetic wave signal B1 The sampling time deviation factor of the electromagnetic wave signal B2 The difference between the electromagnetic wave signal B1 and the electromagnetic wave signal B2 is used as the phase difference between the electromagnetic wave signal B1 and the electromagnetic wave signal B2.

[0180] According to the above formula (26), the phase difference between the electromagnetic wave signal B1 and the electromagnetic wave signal B2 is for:

[0181] (27)

[0182] in, is the inverse tangent function of the real and imaginary parts.

[0183] In some embodiments, the difference in the arrival distance between the first antenna terminal and the second antenna terminal may be calculated by the following formula (28):

[0184] (28)

[0185] In some embodiments, the ground terminal can calculate the wave distance (measured value) between the first antenna terminal and the second antenna terminal according to the electromagnetic wave signals received by the first antenna terminal and the second antenna terminal through formula (28), and then calculate the wave distance (measured value) between the first antenna terminal and the second antenna terminal through formula Determine the parameters The value of .

[0186] Understandably, due to , at least five measurements of the difference in the distance between the first antenna terminal and the second antenna terminal at different times are required to determine Output the values ​​of these five parameters.

[0187] In some embodiments, the ground terminal can obtain the measured values ​​of the arrival distance difference between the first antenna terminal and the second antenna terminal at five different times according to the signals transmitted by five satellites continuously received by the first antenna terminal and the second antenna terminal, and substitute them into the formula We can get five equations from this equation, and then solve them together to get The values ​​of these five parameters.

[0188] In some other embodiments, a linear fit can be performed on multiple arrival distance differences. Perform a linear fit to determine The values ​​of these five parameters.

[0189] Specifically, the ground terminal can obtain the difference in the arrival distance between the first antenna terminal and the second antenna terminal at multiple different times according to the signals transmitted by multiple (5 or more) satellites continuously received by the first antenna terminal and the second antenna terminal. Then, the multiple incoming wave distance differences are obtained Perform a linear fit and get The values ​​of these five parameters.

[0190] It can be understood that the above embodiment is to perform linear fitting on multiple arrival wave distance differences to determine the parameters In other embodiments, the unit vector Perform a linear fit to determine the parameters The value of .

[0191] Specifically, after the ground terminal calculates the measured value of the arrival distance difference between the first antenna terminal and the second antenna terminal through the above formula (28), the measured value can be substituted into the above formula (9) to obtain the unit vector The coordinate measurement value of in the three-dimensional coordinate system X'Y'Z'. In this way, the ground terminal can obtain the unit vector at multiple times Coordinate measurements in the three-dimensional coordinate system X'Y'Z'. Then, a linear fit can be performed on the multiple coordinate measurements to determine the unknown parameters The value of .

[0192] For example, refer to Fig. 12B , we can respectively analyze the unit vector The multiple coordinate measurement values ​​are linearly fitted in the components of the X' axis, Y' axis and Z' axis in the three-dimensional coordinate system X'Y'Z' to obtain curves M1, M2 and M3. Then, the parameters can be obtained based on the fitted curves M1, M2 and M3. The three sets of values ​​are taken, and the average of these three sets of values ​​is used as the parameter The final value of .

[0193] It is understandable that when the signal strength is weak, the signal received on the ground is easily interfered by noise. In some embodiments, in order to improve the accuracy, the parameters can be inferred by a pre-trained neural network. The value of .

[0194] Fig.13 A structural diagram of a neural network model provided in an embodiment of the present application.

[0195] refer to Fig.13 , the neural network model includes an input layer, a fully connected layer and an output layer. The input layer is used to input the vector between the two antenna terminals The phase difference between the signals received by the two antenna terminals The fully connected layer is used to deduce the input data. The output layer is used to output a 5-dimensional vector, which includes parameters The value of .

[0196] For example, for the above Figure 4B In the case shown, the ground terminal includes three antenna terminals (denoted as , , ), the three antenna terminals can be divided into three groups, where the first group: (i, j) = (1, 2), the second group: (i, j) = (1, 3), and the third group: (i, j) = (2, 3).

[0197] In some embodiments, the phase differences of electromagnetic wave signals received by the three groups of antenna terminals at multiple times can be and vector As input data, it is input into the neural network model, and the neural network model makes inferences based on the input data and outputs parameters The value of .

[0198] In some embodiments, if the phase difference and vector The measured values ​​are not data at the same time interval. We can use interpolation to insert some approximate data into these data, and then use the data at the same time interval as the input data to the neural network model.

[0199] For example, reference Fig.14 , the ground terminal measures the antenna terminal at t0, t1, t2, t5, t6, and t7 and antenna terminal The phase difference between Since the time intervals between these 6 data are different, the antenna terminal at time t2 and t5 can be inserted into these 6 data. and antenna terminal The sampling time deviation factor difference between The approximate value of 8 data with the same time intervals is obtained and input into the neural network model.

[0200] In some embodiments, after obtaining the parameter After taking the value of Substitute the value of into the above formula (11) 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 to the ground terminal at different times based on the function. And, the parameter Substituting the value of into the above formula (12) we can get the function of the elevation angle of the satellite relative to the ground terminal with respect to time, and determine the elevation angle of the satellite relative to the ground terminal at different times based on the function. In this way, the ground terminal can determine the azimuth and elevation angle of the satellite at different times, and thus determine the position of the satellite at different times.

[0201] 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.

[0202] For example, Fig.15 A curve diagram showing the change of the azimuth and elevation angle of a satellite relative to a ground terminal over time provided by an embodiment of the present application is shown. Fig.15 The azimuth and elevation angles of the satellite relative to the ground terminal change periodically with time, and its period is 0.5×104 Second.

[0203] In some embodiments, the ground terminal can display the azimuth of the satellite in real time according to the satellite's azimuth curve, and / or display the elevation of the satellite in real time according to the satellite's elevation curve, 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.

[0204] Take the ground terminal displaying the azimuth and elevation of satellite 1 and satellite 2 as an example:

[0205] Fig.16 This is an example diagram of a display interface for orientation information provided in an embodiment of the present application.

[0206] For example, Fig.16 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 indication bar for displaying the elevation of the satellite relative to the ground terminal.

[0207] Specifically, refer to Fig.16 , the thick black line in the electronic compass indicates that satellite 1 is within the visible window of the ground terminal, the thin black line indicates that satellite 1 is not within the visible window of the ground terminal, the point K on the thick black line indicates the current azimuth of satellite 1 relative to the ground terminal, and the data "1540km" on the thin black line indicates the altitude of satellite 1. The thick gray line indicates that satellite 2 is within the visible window of the ground terminal, the thin gray line indicates that the ground terminal is not within the visible window of the ground terminal, the point U on the thick gray line indicates the current azimuth of satellite 2 relative to the ground terminal, and the data "840km" on the thin gray line indicates the altitude of satellite 2. The pointer on the electronic compass (hereinafter referred to as the compass pointer) is used to indicate the current azimuth indicated by the antenna terminal on the ground terminal, which can be detected by an azimuth detection sensor such as a gyroscope of the ground terminal.

[0208] It can be 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 to point K, the antenna terminal of the ground terminal is aligned with satellite 1 in the horizontal space. When the compass needle in the electronic compass is adjusted to point to point U, the antenna terminal of the ground terminal is aligned with satellite 2 in the horizontal space.

[0209] Continue to refer Fig.16, the black indicator bar in the elevation indication interface is the elevation indicator bar of 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 indication interface is the elevation indicator bar of 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 indication interface is the elevation indicator bar of 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.

[0210] 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 is consistent with the height of the black indicator bar, the antenna terminal of the ground terminal is vertically aligned with satellite 1. When the height of the white indicator bar is consistent with the height of the gray indicator bar, the antenna terminal of the ground terminal is vertically aligned with satellite 2.

[0211] 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.

[0212] Fig.17 A flowchart of a method for obtaining satellite position information provided in an embodiment of the present application.

[0213] refer to Fig.17 , the method comprises the following steps:

[0214] S101: The satellite sends an electromagnetic wave signal A to a ground terminal at multiple different times.

[0215] In some embodiments, after the satellite is connected to the ground terminal, the satellite may send a plurality of electromagnetic wave signals A to the ground terminal.

[0216] S102: The ground terminal receives multiple electromagnetic wave signals B, each of which includes an electromagnetic wave signal B1 and an electromagnetic wave signal B2.

[0217] In some embodiments, after the satellite sends multiple electromagnetic wave signals A to the ground terminal, the ground terminal can receive multiple electromagnetic wave signals B through its antenna terminal. Each electromagnetic wave signal B includes an electromagnetic wave signal B1 and an electromagnetic wave signal B2

[0218] It should be noted that the embodiment of the present application does not limit the number of antenna terminals.

[0219] In some embodiments, the ground terminal includes a first antenna terminal and a second antenna terminal, and step S102 includes the following sub-steps:

[0220] S1021: The ground terminal receives multiple electromagnetic wave signals B1 through the first antenna terminal.

[0221] In some embodiments, after the satellite sends a plurality of electromagnetic wave signals A to the ground terminal, the ground terminal may receive a plurality of electromagnetic wave signals B1 through the first antenna terminal.

[0222] S1022: The ground terminal receives multiple electromagnetic wave signals B2 through the second antenna terminal.

[0223] In some embodiments, after the satellite sends a plurality of electromagnetic wave signals A to the ground, the ground terminal may receive a plurality of electromagnetic wave signals B2 through the second antenna terminal.

[0224] It should be noted that there is no particular order in which step S1021 and step S1022 are executed. Step S1021 and step S1022 can be executed simultaneously, or step S1021 can be executed first and then step S1022. Alternatively, step S1022 can be executed first and then step S1021. There is no limitation on this.

[0225] S103: The ground terminal determines the phase difference between the multiple electromagnetic wave signals B1 and the multiple electromagnetic wave signals B2.

[0226] In some embodiments, after receiving the multiple electromagnetic wave signals B1 and the multiple electromagnetic wave signals B2, the ground terminal can measure the phase difference between the multiple electromagnetic wave signals B1 and the multiple electromagnetic wave signals B2 according to the multiple electromagnetic wave signals B1 and the multiple electromagnetic wave signals B2. For example, the phase difference between the multiple electromagnetic wave signals B1 and the multiple electromagnetic wave signals B2 can be calculated by the above formula (27). In this way, the ground terminal can obtain the phase difference between the electromagnetic wave signals received by the first antenna terminal and the second antenna terminal at different times.

[0227] S104: The ground terminal determines the azimuth information of the satellite relative to the ground terminal based on the phase difference.

[0228] 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.

[0229] In some embodiments, after the ground terminal measures the phase difference between each electromagnetic wave signal B1 and its corresponding electromagnetic wave signal B2 based on the received multiple electromagnetic wave signals B1 and multiple electromagnetic wave signals B2, the arrival distance difference between the first antenna terminal and the second antenna terminal can be calculated by the above formula (22). In this way, the ground terminal can obtain the arrival distance difference between the first antenna terminal and the second antenna terminal at multiple different times. Then, the ground terminal can determine the satellite's ephemeris parameters such as the above parameters by the above linear fitting method. or parameter Then, the ground terminal can calculate the azimuth angle of the satellite relative to the ground terminal through the above formula (11), and / or calculate the elevation angle of the satellite relative to the ground terminal through the above formula (12).

[0230] S105: The ground terminal displays the position information of the satellite relative to the ground terminal.

[0231] In some embodiments, after the ground terminal determines the azimuth and / or elevation of the satellite relative to the ground terminal, the azimuth and / or elevation can be displayed.

[0232] For example, the ground terminal can Fig.16 The electronic compass shown shows the satellite's azimuth relative to the ground terminal, as well as the above Fig.16 The elevation indicator bar shown shows the elevation angle of the satellite relative to the ground terminal. In this way, the user can adjust the azimuth and / or elevation angle 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 antenna terminal.

[0233] Fig.18 According to some embodiments of the present application, a schematic diagram of the structure of an electronic device 1000 is shown. The electronic device 1000 may be the aforementioned satellite or the aforementioned ground terminal.

[0234] like Fig.18 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).

[0235] The processor 110 may include any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a baseband processor (BP), an application processor (AP), and the like.

[0236] The memory 120 may include a volatile memory, such as a random access memory (RAM). The processor 104 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0237] The memory 120 stores executable program codes, and the processor 110 executes the executable program codes to respectively implement the functions of the aforementioned satellite or ground terminal, thereby implementing the aforementioned method for acquiring satellite position information. That is, the memory 106 stores instructions for executing the method for acquiring satellite position information provided in each embodiment of the present application, such as instructions for sending and receiving signals.

[0238] 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.

[0239] 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 an electromagnetic wave signal 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 signal transmitted by the ground terminal through the communication interface 130.

[0240] 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.

[0241] In some embodiments, the communication interface 130 may be a fifth generation (5 thThe fourth generation (5G) mobile communication systems include new radio (NR) systems, universal mobile telecommunications systems (UMTS), wireless local area networks (WLAN), wireless fidelity (Wi-Fi) systems, wired systems, vehicle-to-everything (V2X) communication systems, device-to-device (D2D) communication systems, 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.

[0242] It should be noted that Fig.18 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.

[0243] 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.

[0244] The embodiments of the present application also provide a program product, which, when executed on an electronic device, can enable the electronic device to implement the methods provided in the aforementioned embodiments.

[0245] It should be noted that the terms used in the implementation method part 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 only a description of 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.

[0246] It should be noted that, in the embodiments of the present application, "equal to" and "less than" can also 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.

[0247] 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 indicating the number of the indicated technical features. Therefore, it is defined that the "first" and "second" features may explicitly or implicitly include one or more of the features.

[0248] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing at different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0249] 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 program 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 through the computer-readable storage medium. The computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. 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 (e.g., a floppy disk, a hard disk, a tape), an optical medium, or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0250] A person of ordinary skill in the art may understand that to implement all or part of the processes in the above-mentioned embodiment method, the process may be completed by a computer program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium. When the program is executed, it may include the processes of the above-mentioned method embodiments.

[0251] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A method for acquiring satellite position information, used in a ground terminal, characterized in that: The ground terminal includes a first antenna terminal and a second antenna terminal, and the method includes: A plurality of first signals are received through the first antenna terminal, and a plurality of second signals are received through the second antenna terminal, wherein the plurality of first signals are signals transmitted from a satellite at a plurality of different times to the first antenna terminal, and the plurality of second signals are signals transmitted from the satellite at the plurality of different times to the second antenna terminal, and the plurality of first signals correspond to the plurality of second signals; determining a phase difference between each of the first signals and a corresponding second signal; Based on the plurality of phase differences between the plurality of first signals and the plurality of second signals, obtaining the azimuth information of the satellite relative to the ground terminal; The obtaining, based on the plurality of phase differences between the plurality of first signals and the plurality of second signals, the position information of the satellite relative to the ground terminal comprises: Determine a plurality of arrival wave distance differences between the first antenna terminal and the second antenna terminal according to the plurality of phase differences; Obtaining the azimuth information of the satellite relative to the ground terminal according to the multiple arrival wave distance differences; The obtaining, according to the multiple arrival wave distance differences, the azimuth 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 arrival wave distance differences; Determining the position information of the satellite relative to the ground terminal according to the ephemeris information of the satellite and the position information of the ground terminal; 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; The ephemeris information of the satellite, the position information of the ground terminal and the arrival distance difference satisfy a first relationship; and the ephemeris information of the satellite and the position information of the ground terminal are characterized by multiple parameters; The method of determining the satellite ephemeris information and the position information of the ground terminal according to the plurality of arrival wave distance differences comprises: According to the first relationship, establishing an equation between the plurality of parameters and each of the plurality of arrival distance differences; 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, is the difference in the arrival distance between the first antenna terminal and the second antenna terminal, is the unit vector pointing from the satellite to the ground terminal, is the vector from the first antenna terminal to the second antenna terminal, It's about parameters The function represents the difference in the arrival distance between the first antenna terminal and the second antenna terminal. 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, It is the time when the satellite moves from the starting time to the current position S.

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 a phase difference between each of the first signals and the corresponding second signal comprises: Performing a correlation operation on a sequence corresponding to each of the first signals and a corresponding sequence of the second signal to obtain a corresponding correlation sequence; Based on the correlation sequence, a phase difference between each of the first signal and the second signal is determined.

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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