Satellite coverage area prediction method, device, equipment and medium

Abstract

The present disclosure provides a method, device, equipment and medium for predicting satellite coverage areas. The method includes: in each rhombus plane obtained by dividing the earth surface based on a regular octahedron, dividing it according to a 4-hole hexagonal grid to obtain a grid in each rhombus plane; dividing the flight trajectory of the satellite in the prediction period according to the order of sampling time to obtain a plurality of sub-satellite point trajectory segments arranged in sequence; for the grids where the starting and ending points of each sub-satellite point trajectory segment are located, recursively obtaining the grids passed by each sub-satellite point trajectory segment in the rhombus plane to which it belongs; and obtaining the coverage area of ​​the satellite in the prediction period according to the grids passed by all sub-satellite point trajectory segments.

Description

Technical Field

[0001] The present disclosure relates to the technical field of giant constellation mission planning, and in particular to a method, device, equipment and medium for predicting a satellite coverage area. Background Art

[0002] A giant remote sensing constellation refers to a large-scale satellite constellation composed of hundreds or more remote sensing satellites with earth observation capabilities, which usually have the capabilities of inter-satellite link communication, multi-satellite coordinated observation, and autonomous on-board mission planning. In the process of performing earth observation missions, giant remote sensing constellations have more satellite nodes and mission objectives than those involved in traditional mission planning problems, which brings more challenges to the mission planning framework and the efficiency of the mission planning algorithm.

[0003] In the process of planning earth observation missions for remote sensing satellites of giant remote sensing constellations, the target set that each satellite can cover within the planning time should be screened out first, that is, to determine whether each satellite has a visible time window for each ground target and calculate the start and end times of all windows. In current related schemes, the satellite orbit recursive dynamic equation is usually used to set a sampling time interval that meets the accuracy according to the size of the target, and the orbit information and sub-satellite point trajectory are iteratively calculated at each sampling time.

[0004] In the process of implementing relevant plans, due to the large number of satellite nodes and mission targets in the giant remote sensing constellation, the number of orbit recursions and window calculations has increased exponentially, resulting in longer task planning time and increased computational pressure, which has reduced the efficiency of solving task planning problems and made it difficult to meet the planning needs of emergency tasks.

[0005] Based on this, it is necessary to propose a satellite coverage area prediction method for large-scale remote sensing constellation mission planning to reduce the calculation time used to determine whether the satellite is visible to the mission target. Summary of the invention

[0006] The present disclosure provides a method, device, equipment and medium for predicting satellite coverage areas; a plane grid recursion method is used to predict the satellite coverage area, so that under the condition of the same computing resources, the calculation time can be shortened compared with orbital recursion, and the calculation time used to determine whether the satellite is visible to the mission target is reduced.

[0007] The technical solution of the present disclosure is achieved as follows:

[0008] In a first aspect, the present disclosure provides a method for predicting a satellite coverage area, the method comprising:

[0009] In each rhombus plane obtained by dividing the earth's surface based on a regular octahedron, the surface is divided into four-hole hexagonal grids to obtain a grid in each rhombus plane;

[0010] The flight trajectory of the satellite in the prediction period is divided according to the order of sampling time to obtain a plurality of sub-satellite point trajectory segments arranged in sequence; wherein each sub-satellite point trajectory segment is only in a single rhombus plane;

[0011] For the grids where the starting and ending points of each sub-satellite point trajectory segment are located, recursively obtain the grids that each sub-satellite point trajectory segment passes through in the corresponding rhombus plane;

[0012] The coverage area of ​​the satellite within the prediction period is obtained according to the grids passed by all sub-satellite point trajectory segments.

[0013] In a second aspect, the present disclosure provides a prediction device for a satellite coverage area, the prediction device for a satellite coverage area comprising: a grid division part, a trajectory segment division part, a recursive part and a prediction part; wherein,

[0014] The grid division part is configured to divide each rhombus plane obtained by dividing the earth surface based on the regular octahedron into four-hole hexagonal grids to obtain a grid in each rhombus plane;

[0015] The trajectory segment division part is configured to divide the flight trajectory of the satellite in the prediction period into a plurality of sub-satellite point trajectory segments arranged in sequence; wherein each sub-satellite point trajectory segment is only located in a single rhombus plane;

[0016] The recursive part is configured to recursively obtain the grids passed by each sub-satellite point trajectory segment in the rhombus plane to which it belongs, with respect to the grids where the starting and ending points of each sub-satellite point trajectory segment are located;

[0017] The prediction part is configured to obtain the coverage area of ​​the satellite within the prediction period according to the grids passed by all sub-satellite point trajectory segments.

[0018] In a third aspect, the present disclosure provides a computing device, comprising: a processor and a memory; the processor is used to execute instructions stored in the memory to implement the satellite coverage area prediction method as described in the first aspect.

[0019] In a fourth aspect, the present disclosure provides a computer storage medium storing at least one instruction, wherein the at least one instruction is used to be executed by a processor to implement the satellite coverage area prediction method as described in the first aspect.

[0020] The present disclosure provides a method, device, equipment and medium for predicting satellite coverage areas. After dividing the earth's surface into hexagonal grids of a rhombus plane, the sub-satellite point trajectory is obtained according to the flight trajectory of the prediction period, and the grids passed by are recursively deduced according to the sub-satellite point trajectory to predict the satellite coverage area. The plane grid recursion method is used instead of the dynamic orbit recursion method to predict the satellite area, so that the sub-satellite point coverage area of ​​the satellite can be predicted more quickly under the condition of the same computing resources, thereby shortening the mission planning time in the large-scale constellation imaging mission planning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of a giant satellite constellation provided for the present disclosure.

[0022] Figure 2 A schematic diagram of a flow chart of a method for predicting satellite coverage area provided in the present invention.

[0023] Figure 3 Schematic diagram of the Earth's surface provided for the present disclosure.

[0024] Figure 4 A diamond-shaped plan view schematically provided for the present disclosure.

[0025] Figure 5 A schematic diagram of the hierarchical grid division provided by the present disclosure.

[0026] Figure 6 A schematic diagram of a plane coordinate system with an angle of 120 degrees provided in the present disclosure.

[0027] Figure 7 A schematic diagram of a sub-satellite point trajectory provided by the present invention.

[0028] Figure 8 A schematic diagram of a flow chart for determining whether a sub-satellite point trajectory intersects with 0°, 90°W, 90°E, 180° longitude and / or the equator provided in the present disclosure.

[0029] Fig. 9 A schematic diagram of the location of the sub-satellite point provided in the present disclosure.

[0030] Fig.10 A schematic diagram of another sub-satellite point trajectory provided by the present disclosure.

[0031] Fig.11 A schematic diagram of a grid recursion process provided by the present disclosure.

[0032] Fig.12 A schematic diagram of the composition of a satellite coverage area prediction device provided in the present invention.

[0033] Fig.13 A schematic diagram of the structure of a computing device provided by the present disclosure. DETAILED DESCRIPTION

[0034] The technical solutions in the present disclosure will be described clearly and completely below in conjunction with the accompanying drawings in the present disclosure.

[0035] See also Figure 1 , which shows a schematic diagram of a giant remote sensing constellation that can be used in the technical solution of an embodiment of the present invention. Due to the large number of satellites, the giant remote sensing constellation involves more satellite nodes and mission targets in the process of performing earth observation missions, which brings more challenges to the mission planning framework and the efficiency of the mission planning algorithm.

[0036] In the process of planning earth observation missions for remote sensing satellites of giant remote sensing constellations, the target set that each satellite can cover within the planning time should be screened out first, that is, the coverage of each satellite for each ground target (such as Figure 1 Whether there is a visible time window (in the ground station) and calculate the start and end times of all windows.

[0037] In order to reduce the computation time for determining whether the satellite is visible to the mission target, the present disclosure predicts the satellite coverage area by adopting a plane grid recursion method, so that under the condition of the same computing resources, the computation time is shortened compared with the orbit recursion method adopted by the related scheme. Figure 2 As shown, it shows a satellite coverage area prediction method provided by the present disclosure, and the prediction method may include steps S201 to S204.

[0038] In step S201, in each rhombus plane obtained by dividing the earth's surface based on a regular octahedron, the surface is divided into four-hole hexagonal grids to obtain a grid in each rhombus plane.

[0039] In the present disclosure, the earth's surface is approximated as a sphere with a radius of R, and a regular octahedron is inscribed in the projection of the sphere. The six vertices of the regular octahedron can be respectively set at the geographic South Pole, the geographic North Pole, and the position points on the equator with longitudes of 0 degrees, 90 degrees west longitude, 90 degrees east longitude, and 180 degrees on the earth's surface. Figure 3 and Figure 4 As shown, based on the above 6 vertices and their Figure 3 The lines on the earth's surface can be divided into Figure 4 The four vertices shown are connected to the rhombus plane. Figure 4In the diagram, starting from the 0 degree longitude, the four diamond planes can be encoded in sequence to the east, for example, four codes are formed according to p = 0, 1, 2, 3. The upper and lower vertices in each diamond plane are the geographic South Pole and the geographic North Pole, respectively. In addition, in the four diamond planes, the left and right vertices of diamond plane 0 are the position point of 0 degree longitude on the equator and the position point of 90 degree east longitude on the equator, the left and right vertices of diamond plane 1 are the position point of 90 degree east longitude on the equator and the position point of 180 degree longitude on the equator, the left and right vertices of diamond plane 2 are the position point of 180 degree longitude on the equator and the position point of 90 degree west longitude on the equator, and the left and right vertices of diamond plane 3 are the position point of 90 degree east longitude on the equator and the position point of 0 degree longitude on the equator.

[0040] After obtaining the above four diamond planes, each diamond plane is meshed according to the four-hole hexagon. In the present disclosure, meshing can be performed layer by layer for each diamond plane, such as Figure 5 As shown, taking the 3-level grid as an example, Figure 5 The left side shows the division diagram of the first-level grid. Figure 5 The middle shows the division diagram of the second-level grid. Figure 5 The right side shows the schematic diagram of the third-level grid division. Figure 5 Taking the three-level grid shown as an example, the length of the hexagon side of each level of the grid is half of the length of the hexagon side of the previous level, and the area of ​​the hexagon side of each level of the grid is 1 / 4 of the area of ​​the hexagon side of the previous level. Assuming the grid level is n, the relationship between the length of the diamond side l and the diameter d of the grid circumscribed circle is l = 2 n d.

[0041] For the divided hexagonal grids, in the present disclosure, a plane coordinate system with a vertex angle of 120 degrees corresponding to each diamond plane is established with the left vertex of each diamond plane as the origin and the two sides intersecting the left vertex as the coordinate axes. After constructing the plane coordinate system corresponding to each diamond plane, each grid is integer-encoded in the plane coordinate system corresponding to the diamond plane to which it belongs according to the center point position of each grid in each diamond plane. After obtaining the integer code of the grid in the diamond plane to which it belongs, the code of each grid in each diamond plane can be obtained according to the integer code of each grid in the plane coordinate system corresponding to the diamond plane to which it belongs and the diamond plane code.

[0042] Specifically, combined Figure 5 The third level grid division diagram is shown on the right, see Figure 6, which shows the plane coordinate system corresponding to the diamond plane. In this plane coordinate system, the left vertex of the diamond plane is taken as the origin, the two sides intersecting the left vertex are the coordinate axes I and J, and the side above the left vertex is set as the J axis, and the side below the left vertex is set as the I axis. According to the position of each grid center point, the integer code of the grid in the diamond plane is determined as (i, j), where the i and j codes range from 0 to m, and m = 2 n After obtaining the integer code of the above grid, the code (p, i, j) of each grid is generated by combining the code of the diamond plane where it is located.

[0043] In step S202, the flight trajectory of the satellite in the prediction period is divided into a plurality of sub-satellite point trajectory segments arranged in sequence according to the order of sampling time.

[0044] In the present disclosure, each sub-satellite point trajectory segment is only in a single diamond plane.

[0045] For step S202, it should be noted that due to the rotation of the earth, the sub-satellite point trajectory presents a certain curvature on the earth's surface. However, because there are many satellite nodes in the giant satellite constellation and the imaging resources are sufficient, the prediction error tolerance for the coverage area of ​​a single satellite imaging payload is relatively large. In a shorter period of time, the sub-satellite point trajectory can be approximately regarded as a straight line segment. Based on the above understanding, when the prediction period is long, the long-term flight trajectory within the prediction period can be segmented, for example, according to the start and end times of the prediction period, the sampling time of equal time intervals is set according to the minute-level sampling interval. According to the start and end times of the prediction period and the satellite position coordinates at the sampling time, the flight trajectory can be divided into multiple flight trajectory segments.

[0046] For each flight path segment, if the sub-satellite point track crosses the 0°, 90°W, 90°E, and 180° meridians, it will cross Figure 4 The codes are not continuous at the intersections of the different diamond planes shown in FIG. 1 . And when the sub-satellite point trajectory crosses the equator, the projection trajectory may also turn. Therefore, when the sub-satellite point trajectory of a flight trajectory segment intersects the above four meridians and / or the equator, it is necessary to further segment the corresponding sub-satellite point trajectory to obtain the sub-satellite point trajectory segment portion. Each sub-satellite point trajectory segment portion is only in a single diamond plane.

[0047] The sub-satellite point trajectory segments obtained by further segmentation above together with other sub-satellite point trajectories that do not intersect the above four meridians and / or the equator (i.e., sub-satellite point trajectories that are only in a single diamond plane) can form the multiple sub-satellite point trajectory segments arranged in sequence, and each sub-satellite point trajectory is only in a single diamond plane. In this way, grid recursion can be performed based on S203 without combining the coding of the diamond plane.

[0048] In step S203, for the grids where the starting and ending points of each sub-satellite point trajectory segment are located, the grids passed by each sub-satellite point trajectory segment in the corresponding rhombus plane are recursively obtained.

[0049] In the present disclosure, since each sub-satellite point trajectory is only in a single diamond plane, there is no need to consider the problem of crossing planes. For this step S203, in some examples, for the grids where the starting and ending points of each sub-satellite point trajectory segment are located, recursively obtaining the grids that each sub-satellite point trajectory segment passes through in the diamond plane to which it belongs, includes:

[0050] For each sub-satellite point trajectory, obtain the starting grid and the ending grid corresponding to the starting and ending points respectively;

[0051] Obtaining a first slope of a line connecting the center of the starting grid and the center of the ending grid;

[0052] Starting from the starting grid, determining a recursive advancing direction based on the first slope and a second slope of a boundary line represented by a grid vertex, and determining a next grid of the sub-satellite point trajectory until the recursion reaches the ending grid;

[0053] The grids determined in sequence in the recursive process are determined as the grids that the sub-satellite point trajectory passes through in the corresponding rhombus plane.

[0054] For the above example, it should be noted that, based on the aforementioned hexagonal grid division method, when each grid is recursively extended to the next grid, there are six forward directions, namely the directions of the six sides of the grid. The six vertices of the grid are respectively used as the dividing lines of the above six directions. Therefore, this disclosure can determine the forward direction of the next grid of the current grid by comparing the first slope of the line connecting the centers of the start and end grids with the second slope of the dividing lines of the above six directions.

[0055] In step S204, the coverage area of ​​the satellite within the prediction period is obtained according to the grids passed by all sub-satellite point trajectory segments.

[0056] For step S204, in some examples, after arranging the grids passed by each sub-satellite point trajectory segment in order, remove one of the adjacent same grids in the arrangement to obtain the grids passed by the sub-satellite point trajectory of the satellite in the prediction period at each sampling time. For example, the aforementioned flight trajectory segment sequence is set to [S 0 S 1 ,S 1 S 2 ,...,S i S i+1 ,...,S n-1 S n], each flight trajectory segment has one or two common points with the adjacent flight trajectory segment. Corresponding to the sub-satellite point trajectory segments arranged in sequence, the common points of the adjacent sub-satellite point trajectory segments are in the same grid. Therefore, after the grids passed by each sub-satellite point trajectory segment are arranged in sequence, the grids where the common points are located will be repeated. In order to avoid the repetition of grids, the present disclosure removes one of the two adjacent and identical grids in the arrangement, and obtains the grids that the sub-satellite point trajectory of the satellite passes through in sequence at each sampling time during the prediction period.

[0057] For the aforementioned technical solution, after the earth's surface is divided into hexagonal grids of diamond planes, the sub-satellite point trajectory is obtained according to the flight trajectory of the prediction period, and the grids passed by are recursively deduced based on the sub-satellite point trajectory to predict the satellite coverage area. The plane grid recursion method is used instead of the dynamic orbit recursion method to predict the satellite area, so that under the same computing resources, the satellite's sub-satellite point coverage area can be predicted more quickly, thereby shortening the mission planning time in the process of large-scale constellation imaging mission planning.

[0058] for Figure 2 In some possible implementations of the technical solution shown, the step of dividing the sub-satellite point trajectory of the satellite in the prediction period into a plurality of sub-satellite point trajectory segments arranged in sequence includes:

[0059] Based on the flight trajectory of the satellite in the prediction period and the start and end times and sampling time of the prediction period, a position coordinate sequence of the satellite is acquired;

[0060] forming a plurality of flight trajectory segments of the satellite according to the position coordinate sequence of the satellite;

[0061] For a sub-satellite point trajectory segment corresponding to each flight trajectory segment, when intersecting with an edge of a rhombus plane and / or intersecting with the equator, the sub-satellite point trajectory segment is divided into at least two sub-satellite point trajectory segment portions according to an intersection point with the edge of the rhombus plane and / or intersecting with the equator, wherein each sub-satellite point trajectory segment portion is only within a single rhombus plane;

[0062] Sub-satellite point trajectory segments and sub-satellite point trajectory segment parts that are only in a single rhombus plane are formed into the plurality of sub-satellite point trajectory segments arranged in the sequence according to the sampling sequence.

[0063] For the above implementation, specifically, when the prediction period is long, the long-term flight trajectory within the prediction period can be segmented, for example, according to the start and end time of the prediction period, the sampling time of equal time intervals is set according to the minute-level sampling interval. According to the start and end time of the prediction period and the satellite position coordinates at the sampling time, the flight trajectory can be divided into multiple flight trajectory segments. For example, it is set to divide n flight trajectory segments, and the start and end time of the prediction period are T and T respectively.0 and T n , combined with the sampling time, it is possible to form a time series for the prediction period, which is T = [T 0 ,T 1 ,...,T i ,...,T n ] Using Kepler's orbit recursion equation, we can calculate T i Satellite orbit parameters at the moment, such as the six satellite orbit numbers oev i Based on the orbital parameters, taking the Earth-Centered Earth-Fixed (ECEF) coordinate system as an example, T can be calculated. i The ECEF position vector coordinates S of the satellite at time i , the ECEF position vector coordinates of the satellite corresponding to each moment in the time sequence are used to construct the ECEF position coordinate sequence of the satellite as S = [S 0 ,S 1 ,...,S i ,...,S n ], and according to the coordinate sequence, a sequence of n flight trajectory segments is formed as [S 0 S 1 ,S 1 S 2 ,...,S i S i+1 ,...,S n-1 S n ].

[0064] Based on the generation and encoding method of the hexagonal grid described in step S201, when the sub-satellite point trajectory of the satellite is at T i ~T i+1 When crossing the 0°, 90°W, 90°E, and 180° meridians within a certain period of time, Figure 4 In the different diamond planes shown in , the codes are not continuous at the intersection of different diamond planes. In addition, when the sub-satellite point trajectory of the satellite crosses the equator, the projection trajectory may also turn. Therefore, the trajectory segment S i S i+1 When the sub-satellite point trajectory of intersects with the above four meridians and / or the equator, it is necessary to further segment the corresponding sub-satellite point trajectory to obtain the sub-satellite point trajectory segment. Figure 7 As shown in FIG. 1 , the black line segment is the subsatellite point trajectory, and the five-pointed star marks the intersection of the subsatellite point trajectory with one of the meridians of 0°, 90°W, 90°E, 180° and the equator. Based on the intersection point, the subsatellite point trajectory can be divided into three subsatellite point trajectory parts, wherein each part is only in a separate diamond plane.

[0065] The sub-satellite point trajectory segments obtained by further segmentation are combined with other sub-satellite point trajectories that do not intersect the above four meridians and / or the equator (i.e., sub-satellite point trajectories that are only in a single rhombus plane) to form the plurality of sub-satellite point trajectory segments arranged in sequence, and each sub-satellite point trajectory is only in a single rhombus plane.

[0066] For the above implementation, in some examples, a method for determining whether the sub-satellite point trajectory corresponding to the flight trajectory segment intersects with the aforementioned four meridians and / or the equator is as follows: Figure 8 As shown, it may include:

[0067] S801: Obtain the edges of the rhombus plane and the first plane where the equator is located respectively;

[0068] S802: Acquire the second plane where the flight trajectory segment is located;

[0069] S803: Obtain an intersection line between the first plane and the second plane;

[0070] S804: Determine whether the intersection line and the curve corresponding to the flight trajectory segment have an intersection point: If yes, execute S805: determine whether the sub-satellite point trajectory corresponding to the flight trajectory segment intersects with the edge and / or the equator of the rhombus plane, and obtain the intersection point. Otherwise, execute S806: determine whether the sub-satellite point trajectory corresponding to the flight trajectory segment does not intersect with the edge and / or the equator of the rhombus plane.

[0071] For the above example, specifically, the satellite flight trajectory segment S is set i S i+1 The ECEF coordinates of the starting and ending points are S i (x i ,y i ,z i ) and S i+1 (x i+1 ,y i+1 ,z i+1 ), set the ECEF coordinate of the intersection of the flight trajectory segment and the equator to P z The ECEF coordinates of the intersection of the flight path segment with the 0°, 90°W, 90°E, and 180° meridians are P xy In the present disclosure, the above example is implemented through the process shown in the following pseudo code:

[0072] 1:n z =(0,0,1);n y =(0,1,0);n x =(1,0,0); / / Direction vectors of the three axes of the coordinate system

[0073] 2: / / Flight trajectory starting and ending point position vector

[0074] 3:n i =S i ×S i+1 ; / / Solve the plane where the flight trajectory segment is located

[0075] 4: if z i ·z i+1 <0

[0076] 5: l z =n i ·n z ; / / Solve the intersection of the flight trajectory segment plane and the equatorial plane, standard equation form (m,

[0077] n,p)

[0078] 6: or / / Calculate the line l z

[0079] and The intersection of

[0080] 7: end

[0081] 8: if P z Not empty

[0082] 9: ifx i ·x z0 <0or y i ·y z0 <0

[0083] 10: l xy =n i ·n x or xy =n i ·n y ; / / Solve the plane of the flight trajectory segment and 0°, 90°W,

[0084] The intersection of the 90°E and 180° meridian planes, standard equation form (m,n,p)

[0085] 11: or / / Calculate the line l xy and The intersection of

[0086] 12: end

[0087] 13: if x z0 ·x i+1 <0or y z0 ·y i+1 <0

[0088] 14: l xy =n i ·n x or xy =n i ·n y ; / / Solve the plane of the flight trajectory segment and 0°, 90°W,

[0089] The intersection of the 90°E and 180° meridian planes, standard equation form (m,n,p)

[0090] 15: or / / Calculate the line l xy and The intersection of

[0091] 16: end

[0092] 17: P xy =[P xy 1 ,P xy 2 ]; / / Get the two intersection points of the flight trajectory segment and the meridian plane

[0093] 18: else

[0094] 19: l xy =n i ·n x or xy =n i ·n y ; / / Solve the plane of the flight trajectory segment and 0°, 90°W, 90°E,

[0095] The intersection of the 180° meridian plane, standard equation form (m,n,p)

[0096] 20: or / / Calculate the line l xy and The intersection

[0097] point

[0098] 21: end

[0099] In the above pseudocode, norm() means normalizing the vector. z , l xy They represent the direction vectors of the intersections of the flight trajectory segment with the equator and the intersections of the flight trajectory segment with the 0°, 90°W, 90°E, and 180° meridians respectively.

[0100] In the multiple sub-satellite point trajectory segments arranged sequentially obtained through the above implementation manner and examples, each sub-satellite point trajectory is only located in a single rhombus plane.

[0101] for Figure 2 In some possible implementations of the technical solution shown in FIG. 1 , for the grids where the starting and ending points of each sub-satellite point trajectory segment are located, recursively obtaining the grids that each sub-satellite point trajectory segment passes through in the corresponding rhombus plane includes:

[0102] For each sub-satellite point trajectory, obtain the starting grid and the ending grid corresponding to the starting and ending points respectively;

[0103] Obtaining a first slope of a line connecting the center of the starting grid and the center of the ending grid;

[0104] Starting from the starting grid, determining a recursive advancing direction based on the first slope and a second slope of a boundary line represented by a grid vertex, and determining a next grid of the sub-satellite point trajectory until the recursion reaches the ending grid;

[0105] The grids determined in sequence in the recursive process are determined as the grids that the sub-satellite point trajectory passes through in the corresponding rhombus plane.

[0106] For the above implementation, in some examples, taking the ECEF coordinate system as an example, combined with Fig. 9 , the grid code of the satellite's sub-satellite point can be calculated according to the following process:

[0107] Set the satellite position coordinates in the ECEF coordinate system to S(x,y,z), and the intersection of the line connecting the center of the earth O and S and the surface of the inscribed regular octahedron is the projection point, that is, the sub-satellite point corresponding to the satellite position, and its coordinates in the ECEF coordinate system are set to S'(x',y',z'). Fig. 9 As shown, the mapping relationship between the sub-satellite point coordinates and the satellite position coordinates is expressed by the following mapping equation, that is, the sub-satellite point coordinates can be calculated based on the satellite position coordinates in the ECEF coordinate system by the following formula:

[0108]

[0109] For this projection point (also called the subsatellite point), the code of the rhombus plane where it is located is obtained by the following formula:

[0110]

[0111] After obtaining the diamond plane, convert the subsatellite point coordinates S'(x',y',z') in the ECEF coordinate system to Figure 6 The integer coordinates (i, j) in the plane coordinate system shown, the conversion process includes:

[0112] First, translate the reference coordinate origin to the left vertex of the rhombus;

[0113] Next, after the rhombus plane is determined according to the coordinates of the sub-satellite point, the rotation angle of the coordinate system is determined according to the rhombus plane.

[0114] In detail, the z-axis rotation angle in the coordinate system is: The rotation angle of the Y axis of the coordinate system is:

[0115] Then, the transformation matrix corresponding to the rotation of each coordinate axis is determined according to the above rotation angle.

[0116] In detail, the rotation matrix corresponding to the Z axis is: The rotation matrix corresponding to the Y axis is:

[0117] Next, the coordinates of the sub-satellite point in the rectangular coordinate system in the rhombus plane are obtained by first rotating around the Z axis and then rotating around the Y axis.

[0118] In detail, it can be calculated as follows:

[0119]

[0120] Then, according to the coordinates of the rectangular coordinate system in the above rhombus plane, determine the rhombus plane as follows Figure 6 The floating-point coordinates in the plane coordinate system shown.

[0121] In detail, in Figure 6 In the plane coordinate system shown, the floating-point coordinates of the I-axis and the J-axis are

[0122] Finally, the integer coordinates (i, j) are determined according to the above floating-point coordinates, that is, the integer code of the grid where the sub-satellite point is located.

[0123] It should be noted that during the implementation of the technical solution of the present invention, when it is necessary to confirm the grid where the sub-satellite point is located based on the flight position of the satellite or the sub-satellite point position, it can be achieved through the above-mentioned process of determining the grid code where the sub-satellite point is located, and the present disclosure will not elaborate on this.

[0124] For the above implementation, combined with Figure 2 The division and encoding method of the diamond plane and the grid shown in the technical solution shown, in some examples, for the grids where the starting and ending points of each sub-satellite point trajectory segment are located, recursively obtaining the grids passed by each sub-satellite point trajectory segment in the diamond plane to which it belongs, includes:

[0125] For each sub-satellite point trajectory segment, obtaining a first slope of a line connecting the center of the starting grid and the center of the ending grid according to integer codes of the starting grid and the ending grid corresponding to the starting and ending points respectively;

[0126] Starting from the nth grid, obtaining a second slope of a boundary line for selecting an n+1th grid; wherein when n=1, the nth grid is the starting grid;

[0127] comparing the first slope with the second slope, and determining an n+1th grid in the sub-satellite point trajectory segment according to the comparison result;

[0128] The second slope is updated according to the n+1th grid, and the n+2th grid in the sub-satellite point trajectory segment is determined based on a comparison result between the first slope and the updated second slope, until the termination grid is reached recursively.

[0129] For the above example, specifically, Fig.10 Taking the subsatellite point trajectory shown in the figure as an example, the starting grid code of the starting point is (i s ,j s ), the termination grid code of the termination point is (i e ,j e ), the specific process of grid recursion is as follows Fig.11 As shown, it may include:

[0130] S1101: Obtain a first slope of a line connecting the center of the starting grid and the center of the ending grid.

[0131] In detail, the first slope v k =(j e -j s ) / (i e -i s ). Flowchart and pseudocode synthesis

[0132] S1102: Starting from the starting grid, determine the direction of forward recursion.

[0133] In detail, we determine whether i e -i s ≥0, if i e -i s ≥0, execute S1103 to S1110. Otherwise, execute S1111 to S1130.

[0134] S1103: Obtain the second slope of the corresponding boundary line according to the boundary line vectors of the two candidate next grids.

[0135] Specifically, the boundary line vectors of the two candidate next grids are 1=(1 / 3,2 / 3),line 2 =(2 / 3,1 / 3). The second slope corresponding to these two vectors is

[0136] S1104: Determine the first slope v k Is it greater than or equal to line k1 .

[0137] If yes, then execute S1105: present the next grid according to (0,1), and update the boundary line vector of the candidate next grid corresponding to the present next grid.

[0138] For example, if the integer code of the current grid is (i, j), then the next grid to be derived is (i, j+1). The boundary line vector of the candidate next grid corresponding to the derived next grid is also updated according to (0, 1), that is, line 1 ←line 1 +(0,1), line 2 ←line 2 +(0,1).

[0139] If v k Less than line k1 , then execute S1106: determine the first slope v k Is it smaller than line? k2 .

[0140] If v k Less than line k2 , then execute S1107: present the next grid according to (1, 0), and update the boundary line vector of the candidate next grid corresponding to the presented next grid.

[0141] For example, if the integer code of the current grid is (i, j), then the next grid to be derived is (i+1, j). The boundary line vector of the candidate next grid corresponding to the derived next grid is also updated according to (1, 0), that is, line 1 ←line 1 +(1,0), line 2 ←line 2 +(1,0).

[0142] If v k Not less than line k2 , then execute S1108: present the next grid according to (1, 1), and update the boundary line vector of the candidate next grid corresponding to the presented next grid.

[0143] For example, if the integer code of the current grid is (i, j), then the integer code of the next grid to be derived is (i+1, j+1). The boundary line vector of the candidate next grid corresponding to the derived next grid is also updated according to (1, 1), that is, line 1 ←line 1 +(1,1), line 2 ←line 2 +(1,1).

[0144] After the next grid is presented through S1105 to S1108, and the boundary line vector of the candidate next grid corresponding to the presented next grid is updated, S1109 needs to be executed: according to the updated boundary line vector, the corresponding updated second slope line is obtained. k1 and line k2 .

[0145] Then, step S1110 is executed: determine whether the next grid to be recursively derived is the termination grid. If so, the entire recursive process ends. Otherwise, return to step S1104 to determine whether the first slope v k Is it greater than or equal to the updated line? k1 , and continue to recurse the grid according to the judgment result until the recursion reaches the termination grid.

[0146] S1111: Obtain the second slope of the corresponding boundary line according to the boundary line vector of the next grid.

[0147] In detail, if i e -i s <0, then there is only one candidate for the next grid, the boundary line vector of this grid is line=(-1 / 3,1 / 3), and the second slope corresponding to this vector is

[0148] S1112: Determine the first slope v k Is it greater than or equal to line k .

[0149] If yes, then execute S1113: present the next grid according to (-1,0), and update the boundary line vector of the candidate next grid corresponding to the presented next grid.

[0150] For example, if the integer code of the current grid is (i, j), then the next grid to be derived is (i-1, j). The boundary line vector of the candidate next grid corresponding to the derived next grid is also updated according to (-1, 0), that is, line←line+(-1, 0).

[0151] If v k Less than linek , then execute S1114: present the next grid according to (0, 1), and update the boundary line vector of the candidate next grid corresponding to the presented next grid.

[0152] For example, if the integer code of the current grid is (i, j), then the next grid to be derived is (i, j+1). The boundary line vector of the candidate next grid corresponding to the derived next grid is also updated according to (0, 1), that is, line←line+(0, 1).

[0153] After the next grid is presented through S1113 or S1114, and the boundary line vector of the candidate next grid corresponding to the presented next grid is updated, S1115 needs to be executed: according to the updated boundary line vector, the corresponding updated second slope line is obtained. k .

[0154] Then, step S1116 is executed: determine whether the next grid to be recursively derived is the termination grid. If so, the entire recursive process ends. Otherwise, return to step S1112 to determine whether the first slope v k Is it greater than or equal to the updated line? k , and continue to recurse the grid according to the judgment result until the recursion reaches the termination grid.

[0155] for Fig.11 In the process shown, after each completion of the second slope update, the recursively obtained grids can be saved in a data form that can represent the order, such as a list, so that in the process of executing S204, the order of the grids that the sub-satellite point passes through in sequence during the satellite flight can be obtained.

[0156] Based on the same inventive concept as the above technical solution, see Fig.12 , which shows a satellite coverage area prediction device 120 provided by the present disclosure, the satellite coverage area prediction device 120 comprises: a grid division part 1201, a trajectory segment division part 1202, a recursive part 1203 and a prediction part 1204; wherein,

[0157] The grid division part 1201 is configured to divide each rhombus plane obtained by dividing the earth surface based on the regular octahedron into four-hole hexagonal grids to obtain a grid in each rhombus plane;

[0158] The trajectory segment division part 1202 is configured to divide the flight trajectory of the satellite in the prediction period into a plurality of sub-satellite point trajectory segments arranged in sequence; wherein each sub-satellite point trajectory segment is only located in a single rhombus plane;

[0159] The recursive part 1203 is configured to recursively obtain the grids that each sub-satellite point trajectory segment passes through in the corresponding rhombus plane, with respect to the grids where the starting and ending points of each sub-satellite point trajectory segment are located;

[0160] The prediction part 1204 is configured to obtain the coverage area of ​​the satellite within the prediction period according to the grids passed by all sub-satellite point trajectory segments.

[0161] In some examples, the grid division part 1201 is configured to:

[0162] Dividing the earth's surface into four rhombus planes according to the vertices of an inscribed regular octahedron mapped to the earth's surface, and encoding each rhombus plane;

[0163] Divide each rhombus plane into a grid with 4-hole hexagons;

[0164] A plane coordinate system with a vertex angle of 120 degrees corresponding to each rhombus plane is established with the left vertex of each rhombus plane as the origin and the two sides intersecting the left vertex as the coordinate axes;

[0165] In the plane coordinate system corresponding to each rhombus plane, integer encoding is performed on each grid in the plane coordinate system corresponding to the rhombus plane to which it belongs according to the center point position of each grid in each rhombus plane;

[0166] The code of each grid in each rhombus plane is obtained according to the integer code of each grid in the plane coordinate system corresponding to the rhombus plane to which it belongs and the rhombus plane code.

[0167] In some examples, the trajectory segment division portion 1202 is configured to:

[0168] Based on the flight trajectory of the satellite in the prediction period and the start and end times and sampling time of the prediction period, a position coordinate sequence of the satellite is acquired;

[0169] forming a plurality of flight trajectory segments of the satellite according to the position coordinate sequence of the satellite;

[0170] For a sub-satellite point trajectory segment corresponding to each flight trajectory segment, when intersecting with an edge of a rhombus plane and / or intersecting with the equator, the sub-satellite point trajectory segment is divided into at least two sub-satellite point trajectory segment portions according to an intersection point with the edge of the rhombus plane and / or intersecting with the equator, wherein each sub-satellite point trajectory segment portion is only within a single rhombus plane;

[0171] Sub-satellite point trajectory segments and sub-satellite point trajectory segment parts that are only in a single rhombus plane are formed into the plurality of sub-satellite point trajectory segments arranged in the sequence according to the sampling sequence.

[0172] In some examples, the trajectory segment division part 1202 is further configured to:

[0173] Get the sides of the rhombus plane and the first plane where the equator is located respectively;

[0174] Acquire the second plane where the flight trajectory segment is located;

[0175] Obtaining an intersection line between the first plane and the second plane;

[0176] According to whether there is an intersection point between the intersection line and the curve corresponding to the flight trajectory segment:

[0177] If yes, it is determined that the sub-satellite point trajectory corresponding to the flight trajectory segment intersects with the edge of the rhombus plane and / or the equator, and the intersection point is obtained.

[0178] In some examples, the recursive portion 1203 is configured to:

[0179] For each sub-satellite point trajectory, obtain the starting grid and the ending grid corresponding to the starting and ending points respectively;

[0180] Obtaining a first slope of a line connecting the center of the starting grid and the center of the ending grid;

[0181] Starting from the starting grid, determining a recursive advancing direction based on the first slope and the slope of the dividing line represented by the grid vertex, and determining a next grid of the sub-satellite point trajectory until the recursion reaches the ending grid;

[0182] The grids determined in sequence in the recursive process are determined as the grids that the sub-satellite point trajectory passes through in the corresponding rhombus plane.

[0183] In some examples, the recursive portion 1203 is configured to:

[0184] For each sub-satellite point trajectory segment, obtaining a first slope of a line connecting the center of the starting grid and the center of the ending grid according to integer codes of the starting grid and the ending grid corresponding to the starting and ending points respectively;

[0185] Starting from the nth grid, obtaining a second slope of a boundary line for selecting an n+1th grid; wherein when n=1, the nth grid is the starting grid;

[0186] comparing the first slope with the second slope, and determining an n+1th grid in the sub-satellite point trajectory segment according to the comparison result;

[0187] The second slope is updated according to the n+1th grid, and the n+2th grid in the sub-satellite point trajectory segment is determined based on a comparison result between the first slope and the updated second slope, until the termination grid is reached recursively.

[0188] In some examples, the predicting portion 1204 is configured to:

[0189] After arranging the grids passed by each sub-satellite point trajectory segment in order, one of the adjacent same grids in the arrangement is removed to obtain the grids passed by the sub-satellite point trajectory of the satellite at each sampling time within the prediction period.

[0190] Please refer to Fig.13 , which shows a structural block diagram of a computing device provided by an exemplary embodiment of the present disclosure. In some examples, the computing device 130 may be at least one of a smart phone, a smart watch, a desktop computer, a laptop, a virtual reality terminal, an augmented reality terminal, a wireless terminal, and a laptop portable computer. The computing device 130 has a communication function and can access a wired network or a wireless network. The computing device 130 may generally refer to one of a plurality of terminals, and those skilled in the art may know that the number of the above terminals may be more or less. In some examples, the computing device 130 may receive data based on the wired network or wireless network to which it is connected. It can be understood that the computing device 130 undertakes the calculation and processing work of the technical solution of the present disclosure, and the present disclosure does not limit this.

[0191] like Fig.13 As shown, the computing device in the present disclosure may include one or more of the following components: a processor 1310 and a memory 1320 .

[0192] Optionally, the processor 1310 uses various interfaces and lines to connect various parts of the entire computing device, and executes various functions of the computing device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1320, and calling data stored in the memory 1320. Optionally, the processor 1310 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 1310 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a neural network processor (NPU), and a baseband chip. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content that needs to be displayed on the touch display; the NPU is used to implement artificial intelligence (AI) functions; and the baseband chip is used to process wireless communications. It is understandable that the above baseband chip may not be integrated into the processor 1310, but may be implemented by a separate chip.

[0193] The memory 1320 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 1320 includes a non-transitory computer-readable storage medium. The memory 1320 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 1320 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above various method embodiments, etc.; the data storage area may store data created according to the use of the computing device, etc.

[0194] In addition, those skilled in the art will appreciate that the structure of the computing device shown in the above figures does not constitute a limitation on the computing device, and the computing device may include more or fewer components than shown, or combine certain components, or arrange the components differently. For example, the computing device also includes a display screen, a camera assembly, a microphone, a speaker, a radio frequency circuit, an input unit, a sensor (such as an acceleration sensor, an angular velocity sensor, a light sensor, etc.), an audio circuit, a WiFi module, a power supply, a Bluetooth module, and other components, which will not be described in detail here.

[0195] The present disclosure also provides a computer-readable storage medium storing at least one instruction, wherein the at least one instruction is used to be executed by a processor to implement the satellite coverage area prediction method described in the above embodiments.

[0196] The present disclosure also provides a computer program product, which includes computer instructions stored in a computer-readable storage medium; a processor of a computing device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computing device executes to implement the satellite coverage area prediction method described in the above-mentioned embodiments.

[0197] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the present disclosure can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by a general or special-purpose computer.

[0198] It should be noted that the technical solutions described in the present disclosure can be combined arbitrarily without conflict.

[0199] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for predicting satellite coverage area, characterized in that: The prediction method comprises: In each rhombus plane obtained by dividing the earth's surface based on a regular octahedron, the surface is divided into four-hole hexagonal grids to obtain a grid in each rhombus plane; The flight trajectory of the satellite in the prediction period is divided according to the order of sampling time to obtain a plurality of sub-satellite point trajectory segments arranged in sequence; wherein each sub-satellite point trajectory segment is only in a single rhombus plane; For the grids where the starting and ending points of each sub-satellite point trajectory segment are located, recursively obtain the grids that each sub-satellite point trajectory segment passes through in the corresponding rhombus plane; Obtaining the coverage area of ​​the satellite within the prediction period according to the grids passed by all sub-satellite point trajectory segments; The step of dividing the flight trajectory of the satellite in the prediction period into a plurality of sequentially arranged sub-satellite point trajectory segments according to the order of sampling moments includes: Based on the flight trajectory of the satellite in the prediction period and the start and end times and sampling time of the prediction period, a position coordinate sequence of the satellite is acquired; forming a plurality of flight trajectory segments of the satellite according to the position coordinate sequence of the satellite; For a sub-satellite point trajectory segment corresponding to each flight trajectory segment, when intersecting with an edge of a rhombus plane and / or intersecting with the equator, the sub-satellite point trajectory segment is divided into at least two sub-satellite point trajectory segment portions according to an intersection point with the edge of the rhombus plane and / or intersecting with the equator, wherein each sub-satellite point trajectory segment portion is only within a single rhombus plane; Sub-satellite point trajectory segments and sub-satellite point trajectory segment parts that are only in a single rhombus plane are formed into the plurality of sub-satellite point trajectory segments arranged in the sequence according to the sampling sequence.

2. The prediction method according to claim 1, characterized in that: In each rhombus plane obtained by dividing the earth surface based on the regular octahedron, the grid in each rhombus plane is divided according to the 4-hole hexagonal grid, including: Dividing the earth's surface into four rhombus planes according to the vertices of an inscribed regular octahedron mapped to the earth's surface, and encoding each rhombus plane; Divide each rhombus plane into a grid with 4-hole hexagons; A plane coordinate system with a vertex angle of 120 degrees corresponding to each rhombus plane is established with the left vertex of each rhombus plane as the origin and the two sides intersecting the left vertex as the coordinate axes; In the plane coordinate system corresponding to each rhombus plane, integer encoding is performed on each grid in the plane coordinate system corresponding to the rhombus plane to which it belongs according to the center point position of each grid in each rhombus plane; The code of each grid in each rhombus plane is obtained according to the integer code of each grid in the plane coordinate system corresponding to the rhombus plane to which it belongs and the rhombus plane code.

3. The prediction method according to claim 1, characterized in that: The method further comprises: Get the sides of the rhombus plane and the first plane where the equator is located respectively; Acquire the second plane where the flight trajectory segment is located; Obtaining an intersection line between the first plane and the second plane; According to whether there is an intersection point between the intersection line and the curve corresponding to the flight trajectory segment: If yes, it is determined that the sub-satellite point trajectory corresponding to the flight trajectory segment intersects with the edge of the rhombus plane and / or the equator, and the intersection point is obtained.

4. The prediction method according to claim 1, characterized in that: The step of recursively obtaining the grids where the starting and ending points of each sub-satellite point trajectory segment are located in the rhombus plane to which the sub-satellite point trajectory segment passes includes: For each sub-satellite point trajectory, obtain the starting grid and the ending grid corresponding to the starting and ending points respectively; Obtaining a first slope of a line connecting the center of the starting grid and the center of the ending grid; Starting from the starting grid, determining a recursive advancing direction based on the first slope and the slope of the dividing line represented by the grid vertex, and determining a next grid of the sub-satellite point trajectory until the recursion reaches the ending grid; The grids determined in sequence in the recursive process are determined as the grids that the sub-satellite point trajectory passes through in the corresponding rhombus plane.

5. The prediction method according to claim 2, characterized in that: The step of recursively obtaining the grids where the starting and ending points of each sub-satellite point trajectory segment are located in the rhombus plane to which the sub-satellite point trajectory segment passes includes: For each sub-satellite point trajectory segment, obtaining a first slope of a line connecting the center of the starting grid and the center of the ending grid according to integer codes of the starting grid and the ending grid corresponding to the starting and ending points respectively; Starting from the nth grid, obtaining a second slope of the boundary line for selecting the n+1th grid; wherein when n=1, the nth grid is the starting grid; comparing the first slope with the second slope, and determining an n+1th grid in the sub-satellite point trajectory segment according to the comparison result; The second slope is updated according to the n+1th grid, and the n+2th grid in the sub-satellite point trajectory segment is determined based on a comparison result between the first slope and the updated second slope, until the termination grid is reached recursively.

6. The prediction method according to claim 1, characterized in that: The obtaining the coverage area of ​​the satellite within the prediction period according to the grids passed by all sub-satellite point trajectory segments includes: After arranging the grids passed by each sub-satellite point trajectory segment in order, one of the adjacent same grids in the arrangement is removed to obtain the grids passed by the sub-satellite point trajectory of the satellite at each sampling time within the prediction period.

7. A device for predicting satellite coverage area, characterized in that: The satellite coverage area prediction device comprises: a grid division part, a trajectory segment division part, a recursive part and a prediction part; wherein, The grid division part is configured to divide each rhombus plane obtained by dividing the earth surface based on the regular octahedron into four-hole hexagonal grids to obtain a grid in each rhombus plane; The trajectory segment division part is configured to divide the flight trajectory of the satellite in the prediction period into a plurality of sub-satellite point trajectory segments arranged in sequence; wherein each sub-satellite point trajectory segment is only located in a single rhombus plane; The recursive part is configured to recursively obtain the grids passed by each sub-satellite point trajectory segment in the corresponding rhombus plane, with respect to the grids where the starting and ending points of each sub-satellite point trajectory segment are located; The prediction part is configured to obtain the coverage area of ​​the satellite within the prediction period according to the grids passed by all sub-satellite point trajectory segments; The trajectory segment division part is further configured to obtain a position coordinate sequence of the satellite based on the flight trajectory of the satellite in the prediction period and the start and end times and sampling time of the prediction period; forming a plurality of flight trajectory segments of the satellite according to the position coordinate sequence of the satellite; For a sub-satellite point trajectory segment corresponding to each flight trajectory segment, when intersecting with an edge of a rhombus plane and / or intersecting with the equator, the sub-satellite point trajectory segment is divided into at least two sub-satellite point trajectory segment portions according to an intersection point with the edge of the rhombus plane and / or intersecting with the equator, wherein each sub-satellite point trajectory segment portion is only within a single rhombus plane; Sub-satellite point trajectory segments and sub-satellite point trajectory segment parts that are only in a single rhombus plane are formed into the plurality of sub-satellite point trajectory segments arranged in the sequence according to the sampling sequence.

8. A computing device, characterized in that The computing device comprises: a processor and a memory; the processor is used to execute instructions stored in the memory to implement the satellite coverage area prediction method according to any one of claims 1 to 6.

9. A computer storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the satellite coverage area prediction method according to any one of claims 1 to 6.

Images