Low-orbit satellite target tracking method, device, electronic equipment and storage medium

Abstract

The present application provides a low-orbit satellite target tracking method, device, electronic device and storage medium, and relates to the field of satellite communication technology. The low-orbit satellite target tracking method provided by the present application includes: determining a target beam range corresponding to a target terminal device; wherein the target beam range is the range covered by the beam of the target low-orbit satellite at the operating altitude of the target terminal device; when the first position information of the target terminal device is within the target beam range, determining the relative position relationship between the target beam range and the first position information; based on the relative position relationship, when the first position information is located at a vertical point between the center point of the target beam range and the operating direction of the target terminal device, generating a first satellite antenna adjustment instruction and sending it to the target low-orbit satellite, the first satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite. The present application can reduce the frequency of switching of low-orbit satellites.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a low-orbit satellite target tracking method, device, electronic equipment and storage medium. Background Art

[0002] Low-orbit satellites provide communication services to terminal devices through their own satellite antennas; the terminal devices can be ground-based terminal devices, such as vehicle-mounted devices and satellite phones, or low-altitude terminal devices, such as airplanes. There are generally two ways in which low-orbit satellites provide communication services to terminal devices: first, low-orbit satellites do not have a staring function, that is, the angle of the satellite antenna of a low-orbit satellite remains unchanged. As the low-orbit satellite moves, the area covered by the corresponding beam range changes, and the low-orbit satellite provides communication services to the terminal devices in the area covered by the beam range; second, low-orbit satellites have a staring function, that is, low-orbit satellites only send beams to specific areas, so as to provide communication services to terminal devices in specific areas.

[0003] However, the inventors of the present application discovered that when a low-orbit satellite has a staring function, the terminal device will often break through the coverage of the beam in a short period of time due to its excessively fast running speed. At this time, it is necessary to switch the low-orbit satellite in time, resulting in too frequent switching of the low-orbit satellite and communication interruption during the switching process of the low-orbit satellite. Summary of the invention

[0004] In order to reduce the frequency of low-orbit satellite switching and reduce the incidence of communication interruption of terminal equipment; the present application provides a low-orbit satellite target tracking method, device, electronic device and storage medium.

[0005] This application provides a low-orbit satellite target tracking method, which adopts the following technical solutions:

[0006] A low-orbit satellite target tracking method, comprising:

[0007] Determine a target beam range corresponding to a target terminal device; wherein the target beam range is a range covered by a beam of a target low-orbit satellite at an operating altitude of the target terminal device;

[0008] In a case where the first location information of the target terminal device is within the target beam range, determining a relative position relationship between the target beam range and the first location information;

[0009] According to the relative position relationship, when the first position information is located at a vertical point between the center point of the target beam range and the running direction of the target terminal device, a first satellite antenna adjustment instruction is generated and sent to the target low-orbit satellite. The first satellite antenna adjustment instruction adjusts the angle of the satellite antenna of the target low-orbit satellite.

[0010] According to some embodiments, the above-mentioned determination of the target beam range corresponding to the target terminal device includes: obtaining the total beam range and second position information of the target low-orbit satellite; wherein the total beam range is the range covered by the beam of the target low-orbit satellite on the ground; obtaining the altitude information of the target terminal device; and determining the target beam range based on the second position information, the total beam range and the altitude information.

[0011] According to some embodiments, the above-mentioned first satellite antenna adjustment instruction is used to: call the first preset adjustment rule corresponding to the first satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the first preset adjustment rule and the first satellite antenna adjustment instruction; wherein the first preset adjustment rule is to make the running direction of the target terminal device pass through the center point of the first beam range corresponding to the adjusted satellite antenna, and the first position information coincides with the edge point of the first beam range.

[0012] According to some embodiments, after determining the relative position relationship between the target beam range and the first position information, the above-mentioned method also includes: based on the relative position relationship, when the first position information is located at the edge point of the target beam range and the running direction of the target terminal device coincides with the tangent of the target beam range, generating a first satellite antenna adjustment instruction and sending it to the target low-orbit satellite, the first satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0013] According to some embodiments, the low-orbit satellite target tracking method also includes: when the first position information of the target terminal device is within the target beam range, and the first position information is also within the beam range corresponding to other low-orbit satellites other than the target low-orbit satellite, determining the first length information that the running trajectory of the target terminal device is within the target beam range, and determining the second length information that the running trajectory of the target terminal device is within the beam range corresponding to other low-orbit satellites; when the first length information is less than the second length information, generating a satellite switching instruction and sending it to other low-orbit satellites, the satellite switching instruction is used to switch the target terminal device to other low-orbit satellites so that it provides tracking and communication services for the target terminal device.

[0014] According to some embodiments, after determining the relative position relationship between the target beam range and the first position information, the above-mentioned method also includes: based on the position relationship, when the center point of the target beam range is located in the running direction of the target terminal device and the first position information is located at a preset position point on the side of the center point away from the running direction of the target terminal device, a second satellite antenna adjustment instruction is generated and sent to the target low-orbit satellite, and the second satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0015] According to some embodiments, the above-mentioned second satellite antenna adjustment instruction is used to: call the second preset adjustment rule corresponding to the second satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the second preset adjustment rule and the second satellite antenna adjustment instruction; wherein the second preset adjustment rule is to make the first position information coincide with the edge point of the second beam range corresponding to the adjusted satellite antenna.

[0016] The present application provides a low-orbit satellite target tracking device, which adopts the following technical solution;

[0017] A low-orbit satellite target tracking device includes: a target beam range determination module, a relative position determination module and a satellite antenna adjustment instruction generation module, wherein:

[0018] A target beam range determination module is used to determine a target beam range corresponding to a target terminal device; wherein the target beam range is a range covered by the beam of the target low-orbit satellite at the operating altitude of the target terminal device;

[0019] A relative position determination module, used to determine the relative position relationship between the target beam range and the first position information when the first position information of the target terminal device is within the target beam range;

[0020] A satellite antenna adjustment instruction generation module is used to generate a first satellite antenna adjustment instruction based on a relative position relationship, when the first position information is located at a vertical point between the center point of the target beam range and the running direction of the target terminal device, and send it to the target low-orbit satellite. The first satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0021] According to some embodiments, the above-mentioned target beam range determination module is specifically used to: obtain the total beam range and second position information of the target low-orbit satellite; wherein the total beam range is the range covered by the beam of the target low-orbit satellite on the ground; obtain the altitude information of the target terminal device; determine the target beam range based on the second position information, the total beam range and the altitude information.

[0022] According to some embodiments, the above-mentioned first satellite antenna adjustment instruction is specifically used to: call the first preset adjustment rule corresponding to the first satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the first preset adjustment rule and the first satellite antenna adjustment instruction; wherein the first preset adjustment rule is to make the running direction of the target terminal device pass through the center point of the first beam range corresponding to the adjusted satellite antenna, and the first position information coincides with the edge point of the first beam range.

[0023] According to some embodiments, the above-mentioned satellite antenna adjustment instruction generation module is specifically used to: based on the relative position relationship, when the first position information is located at the edge point of the target beam range and the running direction of the target terminal device coincides with the tangent of the target beam range, generate a first satellite antenna adjustment instruction and send it to the target low-orbit satellite, and the first satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0024] According to some embodiments, the low-orbit satellite target tracking device also includes: a length information determination module and a satellite switching module, wherein the length information determination module is used to determine the first length information that the target terminal device's running trajectory is within the target beam range, and to determine the second length information that the target terminal device's running trajectory is within the beam range corresponding to other low-orbit satellites when the first position information of the target terminal device is within the target beam range and the first position information is also within the beam range corresponding to other low-orbit satellites except the target low-orbit satellite; the satellite switching module is used to generate a satellite switching instruction and send it to other low-orbit satellites when the first length information is less than the second length information, and the satellite switching instruction is used to switch the target terminal device to other low-orbit satellites to provide tracking and communication services for the target terminal device.

[0025] According to some embodiments, the above-mentioned satellite antenna adjustment instruction generation module is specifically used to: generate a second satellite antenna adjustment instruction and send it to the target low-orbit satellite when the center point of the target beam range is located in the running direction of the target terminal device according to the position relationship and the first position information is located at a preset position point on the side of the center point away from the running direction of the target terminal device, and the second satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0026] According to some embodiments, the above-mentioned second satellite antenna adjustment instruction is specifically used to: call the second preset adjustment rule corresponding to the second satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the second preset adjustment rule and the second satellite antenna adjustment instruction; wherein the second preset adjustment rule is to make the first position information coincide with the edge point of the second beam range corresponding to the adjusted satellite antenna.

[0027] The present application provides an electronic device, which adopts the following technical solution:

[0028] An electronic device, comprising:

[0029] processor;

[0030] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned low-orbit satellite target tracking method.

[0031] The present application provides a computer-readable storage medium, which adopts the following technical solution:

[0032] A computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to execute the above-mentioned low-orbit satellite target tracking method.

[0033] According to the above-mentioned embodiment provided by the present application, a target beam range corresponding to a target terminal device is determined; the position of the target terminal device within the target beam range is monitored in real time, and the relative position relationship between the first position information of the target terminal device and the target beam range is determined; when the relative position relationship is that the first position information is located at a vertical point between the center point of the target beam range and the running direction of the target terminal device, a first satellite antenna adjustment instruction is generated and sent to the target low-orbit satellite, the first satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite so that the first position information is located in the target beam range while maximizing the time the first position information stays in the target beam range before triggering the next satellite adjustment; thereby reducing the frequency of low-orbit satellite switching. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a block diagram of a low-orbit satellite target tracking method according to an embodiment of the present application;

[0035] Figure 2 It is one of the schematic diagrams of the target beam range of the current low-orbit satellite in the embodiment of the present application;

[0036] Figure 3 This is the second schematic diagram of the target beam range of the current low-orbit satellite in the embodiment of the present application;

[0037] Figure 4 It is a block diagram of a low-orbit satellite target tracking device according to an embodiment of the present application;

[0038] Figure 5 It is a schematic diagram of an electronic device according to an embodiment of the present application.

[0039] Description of reference numerals:

[0040] 1: target beam range; 2: center point; 3: running direction of target terminal device; 4: first position information; 5: vertical point; 6: preset position point; 40: low-orbit satellite target tracking device; 401: target beam range determination module; 402: relative position determination module; 403: satellite antenna adjustment instruction generation module; 50: electronic device; 501: processor; 502: bus; 503: memory; 504: transceiver. DETAILED DESCRIPTION

[0041] The following is combined with Figure 1-Figure 5 This application is described in further detail.

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the drawings in the embodiments of the present application are collected below to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] The embodiment of the present application provides a low-orbit satellite target tracking method, which can be executed by an electronic device, wherein the electronic device can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed device composed of multiple physical servers, or a cloud server providing cloud computing services; the server can be installed on a low-orbit satellite or a ground communication base station. The terminal device can be a computer, etc., but is not limited to this. The terminal device and the server can be directly or indirectly connected through wired or wireless communication, and the embodiment of the present application does not limit this.

[0044] Reference Figure 1 A low-orbit satellite target tracking method includes: step S101, step S102 and step S103, wherein:

[0045] S101, determine a target beam range corresponding to a target terminal device.

[0046] In some embodiments, the target terminal device may be a terminal device operating at low altitude or a terminal device moving on the ground; the target beam range is the range covered by the beam of the target low-orbit satellite at the operating altitude of the target terminal device.

[0047] The target low-orbit satellite has a staring function, and the beam range of the low-orbit satellite is fixed; the electronic device obtains the position of the target low-orbit satellite and the range covered by the beam at the ground position; then, the electronic device uses the three-dimensional space construction software to substitute the parameters of the position of the target low-orbit satellite and the range covered by the beam at the ground position into the three-dimensional space construction software to construct the three-dimensional space covered by the beam of the target low-orbit satellite. Then, the electronic device determines the target beam range corresponding to the target terminal device based on the three-dimensional space covered by the beam of the target low-orbit satellite and the height of the target terminal device.

[0048] In some embodiments, the electronic device may obtain the altitude of the target terminal device at a low-orbit satellite or a communication base station responsible for providing communication services to the target terminal device before the target terminal device moves into the beam range of the target low-orbit satellite.

[0049] S102: When the first location information of the target terminal device is within the target beam range, determine the relative position relationship between the target beam range and the first location information.

[0050] In some embodiments, before the target terminal device moves into the beam range of the target low-orbit satellite, the electronic device obtains the first location information of the target terminal device at the low-orbit satellite or communication base station responsible for providing communication services for the target terminal device, and monitors in real time whether the target terminal device appears within the beam range. When the first location information of the target terminal device is within the target beam range, the electronic device determines in real time the location of the target terminal device within the target beam range, and determines the relative position relationship between the first location information of the target terminal device and the target beam range.

[0051] In some embodiments, the relative position relationship can be that the first position information of the target terminal device is located at the edge point of the target beam range, and the moving direction of the target terminal device is the tangent of the target beam range; it can also be that the first position information of the target terminal device is located within the target beam range, and the moving direction of the target terminal device does not pass through the center point of the target beam range; it can also be that the moving direction of the target terminal device passes through the center point of the target beam range.

[0052] In some embodiments, the target low-orbit satellite has a staring function; when the target low-orbit satellite stares at a specific area, such as a community, factory area, etc., the beam range is limited and small, so the operating route of the target terminal device within the beam range can be set as a straight line.

[0053] S103, based on the relative position relationship, when the first position information is located at a vertical point between the center point of the target beam range and the running direction of the target terminal device, a first satellite antenna adjustment instruction is generated and sent to the target low-orbit satellite, and the first satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0054] In some embodiments, the electronic device determines the relative position relationship in real time, and when the relative position relationship is that the first position information of the target terminal device is located at a vertical point between the center point of the target beam range and the running direction of the target terminal device, it indicates that the running direction of the target terminal device does not pass through the center point of the target beam range, and the target terminal device has run half the distance within the target beam range.

[0055] Considering that the target beam range is a circular area; the running direction of the target terminal device does not coincide with the diameter of the target beam range; that is, when the target terminal device reaches the vertical point between the center point of the target beam range and the running direction of the target terminal device, it will quickly break through the target beam range; therefore, it can be determined that at the current moment, the electronic device can adjust the satellite antenna of the target low-orbit satellite, that is, the electronic device generates a first satellite antenna adjustment instruction at the current moment and sends it to the target low-orbit satellite, and the first satellite antenna adjustment instruction of the target low-orbit satellite adjusts the angle of the satellite antenna installed thereon, so that the position of the target terminal device is still within the adjusted beam range, and the target terminal device stays in the adjusted beam range for the longest time; thereby reducing the switching frequency of low-orbit satellites and reducing the incidence of communication interruptions of the target terminal device.

[0056] In some embodiments, reference Figure 2 When the target terminal device enters the target beam range 1, the electronic device monitors the target terminal device in real time and determines its first position information 4. When the electronic device determines that the first position information 4 is located at the vertical point 5 between the running direction 3 of the target terminal device and the center point 2 of the target beam range 1, it indicates that the satellite antenna of the target low-orbit satellite needs to be adjusted at this time so that the first position information 4 of the target terminal device is still within the adjusted beam range and the target terminal device stays in the adjusted beam range for the longest time.

[0057] The embodiment of the present application provides a low-orbit satellite target tracking method, wherein the electronic device determines the target beam range corresponding to the target terminal device based on the acquired height of the target terminal device, the position of the target low-orbit satellite, and the beam range on the ground; then, the position between the first position information of the target terminal device and the target beam range is determined in real time, and the relative position relationship between the target beam range and the first position information is determined. When the electronic device determines that the relative position relationship is that the first position information is located at the vertical point between the running direction of the target terminal device and the center point of the target beam range, it indicates that the satellite antenna of the target low-orbit satellite needs to be adjusted at this time, and then the electronic device generates a first satellite antenna adjustment instruction and sends it to the target low-orbit satellite, so that the satellite antenna is adjusted based on the first satellite antenna adjustment instruction, so that the first position information is located in the target beam range, and at the same time, it is ensured that the target terminal device stays in the target beam range for the longest time before the next satellite adjustment is triggered; thereby reducing the frequency of low-orbit satellite switching and reducing the incidence of communication interruption of the target terminal device.

[0058] In step S101, the target beam range corresponding to the target terminal device is determined, including: obtaining the total beam range and second position information of the target low-orbit satellite; wherein the total beam range is the range covered by the beam of the target low-orbit satellite on the ground; obtaining the altitude information of the target terminal device; and determining the target beam range based on the second position information, the total beam range and the altitude information.

[0059] In some embodiments, the total beam range is the range covered by the beam of the target low-orbit satellite on the ground; the second position information is the position information of the satellite antenna installed on the target low-orbit satellite; and the height information is the height information of the target terminal device from the ground.

[0060] The electronic device obtains the total beam range and the second position information of the target low-orbit satellite at its ground position; then, the electronic device imports the total beam range and the second position information into the three-dimensional space construction software to construct the three-dimensional beam range of the target low-orbit satellite; when the electronic device obtains the altitude information of the target terminal device, it adjusts the altitude information into the three-dimensional beam range, and uses the altitude information as a reference point to make a section parallel to the total beam range at the altitude information position; the obtained section is used as the target beam range of the target terminal device.

[0061] In some embodiments, after determining the relative position relationship between the target beam range and the first position information, it also includes: based on the relative position relationship, when the first position information is located at the edge point of the target beam range and the moving direction of the target terminal device is the tangent of the target beam range, it indicates that the target terminal device passes through the beam range of the target low-orbit satellite, but the time is very short; at this time, if the target low-orbit satellite is used to provide tracking and communication services for the target terminal device, it is necessary to adjust the angle of the satellite antenna of the target low-orbit satellite when the first position information is located at the edge point, that is, the electronic device generates a first satellite antenna adjustment instruction and sends the instruction to the target low-orbit satellite; wherein, the first satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0062] In some embodiments, after determining the relative position relationship between the target beam range and the first position information, it also includes: based on the relative position relationship, when the center point of the target beam range is located in the running direction of the target terminal device and the first position information is located at a preset position point on the side of the center point away from the running direction of the target terminal device, generating a second satellite antenna adjustment instruction and sending the second satellite antenna adjustment instruction to the target low-orbit satellite; wherein the second satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0063] In some embodiments, since the positions and running directions of target terminal devices of different equal altitudes entering the target beam range are not fixed, the running direction of the target terminal device when entering the target beam range is not unique; therefore, different adjustment schemes of the satellite antenna of the target low-orbit satellite are required for different target terminal devices; when the relative position relationship determined by the electronic device is that the center point of the target beam range is located in the running direction of the target terminal device, and the first position information is located at a preset position point on the side of the center point away from the running direction of the target terminal device, it indicates that the target terminal device is about to break through the target beam range. In order to enable the target low-orbit satellite to continue to provide communication services to the target terminal device, the satellite antenna of the target low-orbit satellite needs to be adjusted to move the target beam range; that is, the electronic device generates a second satellite antenna adjustment instruction at this time, and sends the second satellite antenna adjustment instruction to the target low-orbit satellite; wherein the second satellite antenna adjustment instruction adjusts the angle of the satellite antenna of the target low-orbit satellite.

[0064] In some embodiments, reference Figure 3When the target terminal device enters the target beam range 1, the electronic device monitors the target terminal device in real time and determines its first position information 4; when the relative position relationship between the target beam range 1 and the first position information 4 is that the center point 2 of the target beam range 1 is located in the running direction 3 of the target terminal device, and the first position information 4 is located at a preset position point 6 on the side of the center point 2 away from the running direction 3 of the target terminal device, it indicates that the satellite antenna of the target low-orbit satellite needs to be adjusted at this time, so that the first position information 4 of the target terminal device is still within the adjusted beam range, and the target terminal device stays in the adjusted beam range for the longest time.

[0065] In some embodiments, the first satellite antenna adjustment instruction and the second satellite antenna adjustment instruction respectively correspond to preset adjustment rules, so that when the electronic device adjusts the angle of the satellite antenna of the target low-orbit satellite, it can use the adjustment rules that conform to the current relative position relationship to perform adaptive adjustment.

[0066] In some embodiments, the electronic device sets an adjustment rule in advance according to the relative position relationship, that is, a preset adjustment rule. For the relative position relationship of the first position information located at the vertical point between the running direction of the target terminal device and the center point of the target beam range, the first preset adjustment rule corresponding to it set by the electronic device is that the adjusted satellite antenna can make the running direction of the target terminal device pass through the center point of the first beam range corresponding to the adjusted satellite antenna, and the first position information bit coincides with the edge point of the first beam range; for the relative position relationship of the preset position point where the center point of the target beam range is located in the running direction of the target terminal device and the first position information is located on the side of the center point away from the running direction of the target terminal device, the second preset adjustment rule corresponding to it set by the electronic device is that the adjusted satellite antenna can make the first position information coincide with the edge point of the second beam range corresponding to the adjusted satellite antenna.

[0067] In some embodiments, the first satellite antenna adjustment instruction is specifically used to call a first preset adjustment rule corresponding to the first satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the first preset adjustment rule and the first satellite antenna adjustment instruction; wherein the first preset adjustment rule is to make the running direction of the target terminal device pass through the center point of the first beam range corresponding to the adjusted satellite antenna, and the first position information coincides with the edge point of the first beam range.

[0068] In some embodiments, when the electronic device adjusts the angle of the satellite antenna of the target low-orbit satellite based on the first satellite antenna adjustment instruction and the first preset adjustment rule, it first adjusts the target beam range to coincide with the first position information, and then moves the target beam range in the opposite direction of the running direction of the target terminal device to coincide with the edge point of the adjusted first beam range. This allows the target terminal device to pass through the longest distance of the adjusted first beam range, i.e., the first beam range diameter, during subsequent movement based on the running direction, thereby enabling the target terminal device to stay in the first beam range for the longest time.

[0069] In some embodiments, when the relative position relationship is that the center point of the target beam range is located on the running trajectory of the target terminal device, and the first position information is located at a preset position point on the side of the center point away from the running direction of the target terminal device, the electronic device sends a second satellite antenna adjustment instruction to the target low-orbit satellite to adjust the target low-orbit satellite; wherein the second satellite antenna adjustment instruction is specifically used to call a second preset adjustment rule corresponding to the second satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the second preset adjustment rule and the second satellite antenna adjustment instruction; wherein the second preset adjustment rule is to make the first position information coincide with the edge point of the second beam range corresponding to the adjusted satellite antenna.

[0070] In some embodiments, when the electronic device adjusts the angle of the satellite antenna of the target low-orbit satellite based on the second satellite antenna adjustment instruction and the second preset adjustment rule, the adjusted satellite antenna can make the first position information coincide with the edge point of the adjusted second beam range, so that the target terminal device can travel the longest distance of the adjusted first beam range during subsequent movement based on the running direction, thereby enabling the target terminal device to stay in the first beam range for the longest time.

[0071] In some embodiments, the target low-orbit satellite has a staring function and the beam range is relatively fixed, so it is not ruled out that the beam range of the target low-orbit satellite overlaps with the beam range of other low-orbit satellites; in this case, as the target terminal device moves, there is a situation where the first position information of the target terminal device is located within the target beam range of the target low-orbit satellite and also within the beam range of other target low-orbit satellites; at this time, it is necessary to determine whether to use other low-orbit satellites for tracking and providing communication services.

[0072] That is, when the electronic device determines that the first position information of the target terminal device is within the target beam range, and the first position information is also within the beam range corresponding to other low-orbit satellites, it determines the first length information that the running trajectory of the target terminal device is within the target beam range, and determines the second length information that the running trajectory of the target terminal device is within the beam range corresponding to other low-orbit satellites other than the target low-orbit satellite; when the first length information is less than the second length information, it indicates that before the angle of the satellite antenna is adjusted, the time for using the target low-orbit satellite for tracking and communication services is less than the time for using other low-orbit satellites for tracking and communication services; then the electronic device generates a satellite switching instruction and sends it to other low-orbit satellites; wherein the satellite switching instruction is used to switch the target terminal device to other low-orbit satellites to provide tracking and communication services for the target terminal device.

[0073] In some embodiments, when the first length information is greater than the second length information, it indicates that before the angle adjustment of the satellite antenna is performed, the time duration of using the target low-orbit satellite for tracking and communication services is greater than the time duration of using other low-orbit satellites for tracking and communication services, and therefore there is no need to switch the low-orbit satellite.

[0074] In some embodiments, when the first length information is equal to the second length information, it indicates that before the angle of the satellite antenna is adjusted, the duration of using the target low-orbit satellite for tracking and communication services is equal to the duration of using other low-orbit satellites for tracking and communication services; considering that switching low-orbit satellites has no meaning for the tracking and communication services of the target terminal device, if switching low-orbit satellites is performed, the probability of communication interruption of the target terminal device will be increased due to increased information interaction; therefore, there is no need to switch low-orbit satellites.

[0075] The present application provides a low-orbit satellite target tracking device, which adopts the following technical solution;

[0076] Reference Figure 4 A low-orbit satellite target tracking device 40 includes: a target beam range determination module 401, a relative position determination module 402 and a satellite antenna adjustment instruction generation module 403, wherein:

[0077] The target beam range determination module 401 is used to determine the target beam range corresponding to the target terminal device; wherein the target beam range is the range covered by the beam of the target low-orbit satellite at the operating altitude of the target terminal device;

[0078] A relative position determination module 402, configured to determine a relative position relationship between the target beam range and the first position information when the first position information of the target terminal device is within the target beam range;

[0079] The satellite antenna adjustment instruction generation module 403 is used to generate a first satellite antenna adjustment instruction based on the relative position relationship and send it to the target low-orbit satellite when the first position information is located at a vertical point between the center point of the target beam range and the running direction of the target terminal device. The first satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0080] In some embodiments, the above-mentioned target beam range determination module 401 is specifically used to: obtain the total beam range and second position information of the target low-orbit satellite; wherein the total beam range is the range covered by the beam of the target low-orbit satellite on the ground; obtain the altitude information of the target terminal device; determine the target beam range based on the second position information, the total beam range and the altitude information.

[0081] In some embodiments, the above-mentioned first satellite antenna adjustment instruction is specifically used to: call a first preset adjustment rule corresponding to the first satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the first preset adjustment rule and the first satellite antenna adjustment instruction; wherein the first preset adjustment rule is to make the running direction of the target terminal device pass through the center point of the first beam range corresponding to the adjusted satellite antenna, and the first position information coincides with the edge point of the first beam range.

[0082] In some embodiments, the above-mentioned satellite antenna adjustment instruction generation module 403 is also specifically used to: based on the relative position relationship, when the first position information is located at the edge point of the target beam range and the running direction of the target terminal device coincides with the tangent of the target beam range, generate a first satellite antenna adjustment instruction and send it to the target low-orbit satellite, and the first satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0083] In some embodiments, the low-orbit satellite target tracking device 40 also includes: a length information determination module and a satellite switching module, wherein the length information determination module is used to determine the first length information that the target terminal device's running trajectory is within the target beam range, and to determine the second length information that the target terminal device's running trajectory is within the beam range corresponding to other low-orbit satellites except the target low-orbit satellite, when the first position information of the target terminal device is within the target beam range and the first position information is also within the beam range corresponding to other low-orbit satellites; the satellite switching module is used to generate a satellite switching instruction and send it to other low-orbit satellites when the first length information is less than the second length information, and the satellite switching instruction is used to switch the target terminal device to other low-orbit satellites to provide tracking and communication services for the target terminal device.

[0084] In some embodiments, the above-mentioned satellite antenna adjustment instruction generation module 403 is also specifically used to: based on the position relationship, when the center point of the target beam range is located in the running direction of the target terminal device, and the first position information is located at a preset position point on the side of the center point away from the running direction of the target terminal device, generate a second satellite antenna adjustment instruction and send it to the target low-orbit satellite, and the second satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

[0085] In some embodiments, the above-mentioned second satellite antenna adjustment instruction is specifically used to: call a second preset adjustment rule corresponding to the second satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the second preset adjustment rule and the second satellite antenna adjustment instruction; wherein the second preset adjustment rule is to make the first position information coincide with the edge point of the second beam range corresponding to the adjusted satellite antenna.

[0086] In some embodiments, the target beam range determination module 401 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the relative position determination module 402 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the satellite antenna adjustment instruction generation module 403 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the length information determination module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the satellite switching module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device.

[0087] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0088] An embodiment of the present application discloses an electronic device, including: a processor; a memory storing a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned low-orbit satellite target tracking method.

[0089] For example, refer to Figure 5 , Figure 5The electronic device 50 shown includes: a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, such as through a bus 502. Optionally, the electronic device 50 may also include a transceiver 504. It should be noted that in actual applications, the transceiver 504 is not limited to one, and the structure of the electronic device 50 does not constitute a limitation on the embodiments of the present invention.

[0090] Processor 501 may be a CPU (Central Processing Unit), a general purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in the disclosure of the present invention. Processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0091] The bus 502 may include a path to transmit information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0092] The memory 503 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0093] The memory 503 is used to store application code for executing the solution of the present invention, and the execution is controlled by the processor 501. The processor 501 is used to execute the application code stored in the memory 503 to implement the content shown in the above method embodiment.

[0094] Figure 5 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0095] An embodiment of the present application discloses a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the processor executes a low-orbit satellite target tracking method.

[0096] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0097] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A low-orbit satellite target tracking method, characterized in that: include: Determine a target beam range corresponding to a target terminal device; wherein the target beam range is a range covered by a beam of a target low-orbit satellite at an operating altitude of the target terminal device; In a case where the first location information of the target terminal device is located within the target beam range, determining a relative position relationship between the target beam range and the first location information; According to the relative position relationship, when the first position information is located at a vertical point between the center point of the target beam range and the running direction of the target terminal device, a first satellite antenna adjustment instruction is generated and sent to the target low-orbit satellite, wherein the first satellite antenna adjustment instruction is used to call a first preset adjustment rule corresponding to the first satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the first preset adjustment rule and the first satellite antenna adjustment instruction, and the first preset adjustment rule is to make the running direction of the target terminal device pass through the center point of the first beam range corresponding to the adjusted satellite antenna, and the first position information coincides with the edge point of the first beam range.

2. The method according to claim 1, characterized in that The determining of the target beam range corresponding to the target terminal device includes: Acquire the total beam range and second position information of the target low-orbit satellite; wherein the total beam range is the range covered by the beam of the target low-orbit satellite on the ground, and the second position information is the position information of the satellite antenna installed on the target low-orbit satellite; Acquire the height information of the target terminal device; The target beam range is determined based on the second position information, the total beam range, and the altitude information.

3. The method according to claim 1, characterized in that After determining the relative position relationship between the target beam range and the first position information, the method further includes: According to the relative position relationship, when the first position information is located at the edge point of the target beam range and the moving direction of the target terminal device coincides with the tangent of the target beam range, a first satellite antenna adjustment instruction is generated and sent to the target low-orbit satellite, and the first satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

4. The method according to claim 1, characterized in that: The method further comprises: In a case where the first position information of the target terminal device is located within the target beam range, and the first position information is also located within the beam range corresponding to other low-orbit satellites except the target low-orbit satellite, first length information that determines that the running trajectory of the target terminal device is located within the target beam range, and second length information that determines that the running trajectory of the target terminal device is located within the beam range corresponding to the other low-orbit satellites; When the first length information is smaller than the second length information, a satellite switching instruction is generated and sent to the other low-orbit satellite. The satellite switching instruction is used to switch the target terminal device to the other low-orbit satellite so that it provides tracking and communication services for the target terminal device.

5. The method according to any one of claims 1 to 4, characterized in that: After determining the relative position relationship between the target beam range and the first position information, the method further includes: According to the relative position relationship, when the center point of the target beam range is located in the running direction of the target terminal device and the first position information is located at a preset position point on the side of the center point away from the running direction of the target terminal device, a second satellite antenna adjustment instruction is generated and sent to the target low-orbit satellite, and the second satellite antenna adjustment instruction is used to adjust the angle of the satellite antenna of the target low-orbit satellite.

6. The method according to claim 5, characterized in that The second satellite antenna adjustment instruction is used to: Call a second preset adjustment rule corresponding to the second satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the second preset adjustment rule and the second satellite antenna adjustment instruction; wherein the second preset adjustment rule is to make the first position information coincide with the edge point of the second beam range corresponding to the adjusted satellite antenna.

7. A low-orbit satellite target tracking device, characterized in that: include: A target beam range determination module, used to determine a target beam range corresponding to a target terminal device; wherein the target beam range is a range covered by a beam of a target low-orbit satellite at an operating altitude of the target terminal device; A relative position determination module, configured to determine a relative position relationship between the target beam range and the first position information when the first position information of the target terminal device is within the target beam range; A satellite antenna adjustment instruction generation module is used to generate a first satellite antenna adjustment instruction based on the relative position relationship, and send it to the target low-orbit satellite when the first position information is located at a vertical point between the center point of the target beam range and the running direction of the target terminal device, wherein the first satellite antenna adjustment instruction is used to call a first preset adjustment rule corresponding to the first satellite antenna adjustment instruction, and adjust the angle of the satellite antenna of the target low-orbit satellite based on the first preset adjustment rule and the first satellite antenna adjustment instruction, wherein the first preset adjustment rule is to make the running direction of the target terminal device pass through the center point of the first beam range corresponding to the adjusted satellite antenna, and the first position information coincides with the edge point of the first beam range.

8. An electronic device, characterized in that: include: processor; A memory storing a computer program, which, when executed by the processor, enables the processor to perform the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 6.

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