Satellite wave control parameter determination method, satellite-borne base station and electronic equipment

Abstract

The invention provides a satellite wave control parameter determination method, a satellite-borne base station and electronic equipment. The method comprises the following steps: determining a first coordinate system; based on ephemeris data of the target satellite, first position information is obtained, and the first position information comprises the position coordinates of the earth mass center, the target satellite and the target wave position in the first coordinate system at the first moment; determining a rotation angle of the first coordinate system according to the movement parameters of the target satellite; obtaining a coordinate transformation matrix based on the rotation angle of the first coordinate system; based on the coordinate transformation matrix and the position coordinate of the target wave position at the first moment under the first coordinate system, obtaining the position coordinate of the target wave position at the second moment under the second coordinate system; according to second position information, wave control parameters of the target satellite are determined, and the second position information comprises the earth mass center at the second moment, the position coordinates of the target satellite and the position coordinates of the target wave position in the second coordinate system. The satellite wave control parameter determination method provided by the invention is small in calculation amount and relatively high in calculation precision.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a method for determining satellite beam control parameters, a satellite-borne base station, and electronic equipment. Background Art

[0002] When an electronic device needs to communicate with other devices via a satellite, in order to ensure that the beam emitted by the satellite antenna can accurately cover the wave position (the wave position refers to the wave position corresponding to the area where the electronic device is located), it is necessary to calculate the satellite's beam control parameters in real time based on the satellite position and wave position in the satellite's body coordinate system. The satellite's beam control parameters include the angle, delay and Doppler frequency shift of the beam emitted by the satellite antenna, which are collectively referred to as the satellite's beam control parameters.

[0003] The satellite position in the satellite body coordinate system is obtained by converting the satellite position in the ECEF coordinate system. The satellite position in the ECEF coordinate system is obtained based on the satellite's ephemeris data. Among them, the satellite's ephemeris data is usually updated once per second, while the scheduling of the satellite-borne base station is updated once per time slot. Therefore, it is necessary to calculate the acquired satellite ephemeris data to obtain the satellite position and the motion state of the satellite at the next moment (the time interval between the next moment and the current moment of acquiring the ephemeris data is less than one second), and to convert the calculated satellite position at the next moment to obtain the satellite position in the satellite body coordinates at the next moment, so as to calculate the satellite's wave control parameters at the next moment based on the satellite position and wave position at the satellite body coordinates at the next moment, so that the satellite-borne base station can control the satellite antenna at the next moment based on the calculated satellite's wave control parameters at the next moment.

[0004] However, since the ECEF coordinate system only provides the satellite position and the satellite's motion state at the current moment, and does not contain the orbital shape information of the satellite orbit, it is impossible to directly calculate the satellite position at the next moment based on the satellite position and the satellite's motion state in the ECEF coordinate system at the current moment. In addition, the satellite body coordinate system is a three-dimensional Cartesian rectangular coordinate system. When converting the satellite position in the ECEF coordinate system to the satellite position in the satellite body coordinate system, a translation transformation and three rotation transformations are required, and each rotation transformation needs to be multiplied with a 3×3 matrix.

[0005] In the related art, two methods are usually used to calculate the satellite position in the satellite body coordinate system at the next moment based on the satellite ephemeris data obtained at the current moment. One method is to use the 6 Kepler roots in the ephemeris data at the current moment to calculate the 6 Kepler roots at the next moment, and convert the 6 Kepler roots at the next moment to the ECEF coordinate system, and then convert from the ECEF coordinate system to the satellite body coordinate system. In this process, the 6 Kepler roots need to be multiplied by three 3×3 matrices to obtain the satellite position in the satellite body coordinate system at the next moment. The calculation amount is large, and the accuracy of the calculated satellite position in the satellite body coordinate system at the next moment is low. Another method is to rotate and calculate the satellite position in the ECEF coordinate system at the current moment to calculate The satellite position in the ECEF coordinate system at the next moment is obtained, and the calculated satellite position in the ECEF coordinate system at the next moment is transformed to obtain the satellite position in the satellite body coordinate system at the next moment. In this method, the rotation of the satellite position in the ECEF coordinate system at the current moment needs to be multiplied by a 4×4 homogeneous matrix, and the components of the satellite position in the three directions of the X-axis, Y-axis and Z-axis need to be multiplied by a 3×3 homogeneous matrix respectively. After the satellite position in the ECEF coordinate system at the next moment is calculated, the satellite position in the ECEF coordinate system at the next moment needs to be converted to the satellite body coordinate system. The amount of calculation is large and it is not suitable for real-time calculation by the satellite-borne base station. In addition, the accuracy of the calculated satellite position in the satellite body coordinate system at the next moment is low.

[0006] From this, it can be seen that the method of calculating the satellite position in the satellite body coordinate system at the next moment based on the satellite ephemeris data obtained at the current moment has a large amount of calculation, and the accuracy of the calculated satellite position in the satellite body coordinate system at the next moment is low, which in turn leads to a large amount of calculation when calculating the satellite's wave control parameters at the next moment, and the accuracy of the calculated satellite's wave control parameters at the next moment is low. Summary of the invention

[0007] The present application provides a method for determining satellite beam control parameters, a satellite-borne base station and electronic equipment to solve the problem in the related art that the amount of calculation is large when calculating the satellite beam control parameters and the accuracy of the calculated satellite beam control parameters is low.

[0008] In a first aspect, the present application provides a method for determining satellite beam control parameters, comprising:

[0009] Determine a first coordinate system, the origin of the first coordinate system is the center of mass of the earth, and the X-axis, Y-axis, and Z-axis of the first coordinate system are respectively parallel and in the same direction as the X-axis, Y-axis, and Z-axis of the satellite body coordinate system at the first moment; wherein the origin of the satellite body coordinate system is the center of mass of the target satellite, the X-axis of the satellite body coordinate system points to the flight direction of the target satellite, the Y-axis of the satellite body coordinate system points to the negative normal of the orbital plane of the target satellite, and the Z-axis of the satellite body coordinate system points to the center of mass of the earth;

[0010] Based on the ephemeris data of the target satellite, first position information is obtained, wherein the first position information includes: position coordinates of the center of mass of the earth, the target satellite and the target wave position in the first coordinate system at the first moment;

[0011] Determine a rotation angle of the first coordinate system according to the movement parameter of the target satellite; the rotation angle is used to indicate a rotation angle corresponding to the movement of the target satellite in the XOZ plane of the first coordinate system during a time period from the first moment to the second moment;

[0012] Obtaining a coordinate transformation matrix based on the rotation angle of the first coordinate system;

[0013] Based on the coordinate conversion matrix and the position coordinates of the target wave position at the first moment in the first coordinate system, the position coordinates of the target wave position at the second moment in the second coordinate system are obtained; wherein the origin of the second coordinate system is the center of mass of the earth, and the X-axis, Y-axis, and Z-axis of the second coordinate system are respectively parallel to the X-axis, Y-axis, and Z-axis of the satellite body coordinate system at the second moment;

[0014] Based on the second position information, the beam control parameters of the target satellite are determined, and the second position information includes: the position coordinates of the earth's center of mass, the target satellite and the target wave position in the second coordinate system at the second moment; wherein the beam control parameters include the angle, delay and Doppler frequency shift of the beam emitted by the target satellite.

[0015] In a possible design, the Z axis of the first coordinate system coincides with the Z axis of the satellite body coordinate system at the first moment;

[0016] The step of obtaining first position information based on the ephemeris data of the target satellite includes:

[0017] Based on the ephemeris data of the target satellite, third position information is obtained, wherein the third position information includes: position coordinates of the center of mass of the earth, the target satellite and the target wave position in the satellite body coordinate system at the first moment respectively;

[0018] The first position information is obtained based on the third position information and the relationship between the first coordinate system and the satellite body coordinate system at the first moment.

[0019] In one possible design, determining the rotation angle of the first coordinate system based on the movement parameter of the target satellite includes:

[0020] Based on the linear velocity of the target satellite, determining the angular velocity of the target satellite; wherein the angular velocity of the target satellite is the ratio of the linear velocity of the target satellite to the orbital radius of the target satellite;

[0021] Based on the angular velocity of the target satellite, the rotation angle of the first coordinate system is determined; wherein the rotation angle of the first coordinate system is the product of the angular velocity of the target satellite and the time length from the first moment to the second moment.

[0022] In a possible design, the rotation angle satisfies:

[0023] The angle between the X-axis in the first coordinate system and the X-axis in the second coordinate system; or

[0024] The angle between the Z axis in the first coordinate system and the Z axis in the second coordinate system.

[0025] In one possible design, the angle of the beam includes an azimuth angle and an elevation angle of the beam;

[0026] Determining the beam control parameters of the target satellite according to the second position information includes:

[0027] Determine the azimuth of the beam at the second moment based on the position coordinates of the target wave position at the second moment in the second coordinate system and the second coordinate system;

[0028] Based on the position coordinates of the earth's center of mass, the target satellite and the target wave position in the second coordinate system at the second moment, the pitch angle of the beam at the second moment is determined.

[0029] In one possible design, determining the beam control parameters of the target satellite according to the second position information includes:

[0030] Based on the target beam position at the second moment and the position coordinates of the target satellite in the second coordinate system, and the propagation speed of the beam, the time delay of the beam at the second moment is determined.

[0031] In one possible design, determining the beam control parameters of the target satellite according to the second position information includes:

[0032] Based on the target beam position at the second moment and the position coordinates of the target satellite in the second coordinate system, the Doppler frequency shift of the beam at the second moment is determined.

[0033] In a second aspect, the present application provides a satellite-borne base station, including: a memory and at least one processor;

[0034] The memory stores computer-executable instructions;

[0035] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the method described in the first aspect or various possible designs of the first aspect.

[0036] In a third aspect, the present application provides an electronic device, including: a memory and at least one processor;

[0037] The memory stores computer-executable instructions;

[0038] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the method described in the first aspect or various possible designs of the first aspect.

[0039] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed, the method described in the first aspect or various possible designs of the first aspect is implemented.

[0040] The satellite beam control parameter determination method provided in the embodiment of the present application first determines a first coordinate system, and obtains first position information based on the ephemeris data of the target satellite, the first position information includes the position coordinates of the earth's center of mass, the target satellite and the target wave position in the first coordinate system at a first moment; the origin of the first coordinate system is the earth's center of mass, and the X-axis, Y-axis and Z-axis of the first coordinate system are respectively parallel to and in the same direction as the X-axis, Y-axis and Z-axis of the satellite body coordinate system at the first moment; secondly, the rotation angle of the first coordinate system is determined according to the movement parameters of the target satellite, and a coordinate conversion matrix is ​​obtained based on the rotation angle of the first coordinate system, and the position coordinates of the target wave position in the second coordinate system at a second moment are obtained based on the coordinate conversion matrix and the position coordinates of the target wave position in the first coordinate system at the first moment, the second coordinate system is established based on the satellite body coordinate system at the second moment, the origin of the second coordinate system is the earth's center of mass, and the X-axis, Y-axis and Z-axis of the second coordinate system are respectively parallel to the X-axis, Y-axis and Z-axis of the satellite body coordinate system at the second moment; When the target satellite is moving on its orbit, the attitude change of the target satellite is mainly caused by the rotation of the target satellite around the normal axis of its orbital plane, and the orbital plane itself will not be changed, that is, the Y axis of the first coordinate system remains stationary, and the XOZ plane of the first coordinate system is rotated by the rotation angle of the target satellite from the first moment to the second moment, so as to obtain the second coordinate system corresponding to the satellite body coordinate system at the second moment. Therefore, based on the coordinate conversion matrix and the position coordinates of the target wave position in the first coordinate system at the first moment, the position coordinates of the target wave position in the second coordinate system at the second moment can be obtained; the position transformation in the satellite body coordinate system from the first moment to the second moment, and the position transformation between the satellite body coordinates at the second moment and the second coordinate system are simplified to the rotation transformation of the two-dimensional plane in the first coordinate system, so as to quickly obtain the position coordinates of the target wave position in the second coordinate system with a small amount of calculation; finally, according to the position coordinates of the earth's center of mass, the target satellite and the target wave position in the second coordinate system at the second moment, the wave control parameters of the target satellite are determined. Compared with the prior art, the satellite beam control parameter determination method provided in the present application has a small amount of computation and does not need to calculate the satellite position and target beam position at the second moment based on the satellite position and target beam position at the first moment, thereby effectively improving the accuracy of the calculated satellite beam control parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of a flow chart of a method for determining satellite beam control parameters provided in an embodiment of the present application;

[0042] Figure 2 A schematic diagram of a flow chart of another method for determining satellite beam control parameters provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of the relationship between a satellite body coordinate system and a first coordinate system at a first moment provided in an embodiment of the present application;

[0044] Figure 4 A schematic diagram of the relationship between a first coordinate system and a second coordinate system provided in an embodiment of the present application;

[0045] Figure 5 A schematic diagram of the positional relationship between the Earth's centroid, target satellite and target wave position provided in an embodiment of the present application;

[0046] Figure 6 A schematic diagram of the structure of a satellite beam control parameter determination device provided in an embodiment of the present application;

[0047] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings 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.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification, claims and drawings of this application are intended to cover non-exclusive inclusions.

[0050] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase "embodiments" in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0051] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists, A and B can exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0052] In addition, the terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order, and may explicitly or implicitly include one or more of the features.

[0053] In the description of this application, unless otherwise specified, "multiple" and "at least two" mean more than two (including two). Similarly, "multiple groups" and "at least two groups" mean more than two groups (including two).

[0054] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense. For example, "connected" or "connection" can refer to not only physical connection, but also electrical connection or signal connection. For example, it can be directly connected, that is, physically connected, or indirectly connected through at least one intermediate element, as long as the circuit is connected, or it can be the internal connection of two elements; signal connection can refer to signal connection through a circuit or through a media medium, such as radio waves. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0055] In order to make those skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings. It should be noted that different technical features in the present application can be combined with each other without conflict.

[0056] First, the terms involved in one or more embodiments of this specification are explained.

[0057] The Earth Centered Earth Fixed (ECEF) coordinate system, referred to as the geocentric coordinate system, is an earth-fixed coordinate system (also called the earth coordinate system) with the earth's center of mass as its origin. The origin of the ECEF coordinate system is the earth's center of mass, the Z axis of the ECEF coordinate system is parallel to the earth's axis and points to the North Pole, the X axis of the ECEF coordinate system points to the intersection of the prime meridian and the equator, and the Y axis of the ECEF coordinate system is perpendicular to the XOZ plane of the ECEF coordinate system (that is, the intersection of 90 degrees east longitude and the equator), forming a right-handed coordinate system.

[0058] Keplerian elements are parameters that describe the state of orbital motion and are used to define the position and velocity of a celestial body (such as a satellite) in its orbit. There are 6 Keplerian elements, namely orbital semi-major axis, orbital eccentricity, orbital inclination, orbital ascending node right ascension, orbital perigee angular distance and mean anomaly. The concepts of orbital semi-major axis, orbital eccentricity, orbital inclination, orbital ascending node right ascension, orbital perigee angular distance and mean anomaly are existing concepts and will not be described in detail in this embodiment.

[0059] The following is an introduction to the implementation background of the technical solution provided in the embodiments of the present application.

[0060] With the rapid development of the fifth generation mobile communication technology (5G), traditional terrestrial communication networks can no longer meet the needs of global coverage and diversified services. In order to achieve wider connectivity, the 3rd Generation Partnership Project (3GPP) introduced non-terrestrial network (NTN) technology. NTN technology expands the coverage of 5G networks by integrating satellite communications, including remote areas, oceans, and air areas that are difficult to reach with traditional terrestrial networks, marking the transition of 5G technology applications from terrestrial communications to space communications.

[0061] NTN technology is based on 3GPP's 5G New Radio (NR) standard. By adapting to the characteristics of satellite communications, it has enhanced and optimized the existing 5G protocol, including dealing with challenges such as high latency, large frequency deviation and dynamic cell management in satellite communications. 3GPP began to study NTN from Release 15, and froze the first 5G NR standard for satellite communications in Release 17, establishing two major technical directions: Internet of Things-Non-Terrestrial Networks (IoT-NTN) for IoT services and New Radio-Non-Terrestrial Networks NR-NTN for broadband access services.

[0062] IoT-NTN focuses on supporting satellite-based low-complexity enhanced Machine-Type Communication (eMTC) and narrowband Internet of Things (NB-IoT) terminals, which are suitable for global asset tracking and other applications. Among them, eMTC is a long-term evolution (LTE) technology defined by 3GPP, which is specially designed for IoT devices and supports medium and low-speed data transmission. It is suitable for a wide range of IoT applications, such as smart cities, industrial automation and smart homes; NB-IoT is also a LTE technology defined by 3GPP, which aims to provide wide coverage, low power consumption, large connections, and low-cost IoT connections. It is suitable for large-scale IoT applications, such as smart metering, environmental monitoring and asset tracking.

[0063] NR-NTN uses the 5G NR technology framework to enable electronic devices to directly provide data and voice services via satellite, promoting the development of technology for direct connection of electronic devices to satellites.

[0064] Although NTN technology has shown broad application prospects, it still faces technical challenges in ephemeris calculation, beam management and synchronization. For example, the high-speed movement of satellites causes the signal propagation delay and Doppler shift to be significantly different from the ground network, requiring accurate ephemeris information and advanced beam tracking algorithms to ensure communication quality.

[0065] At present, electronic devices can be divided into satellite communication devices and ground communication devices according to their functions. Satellite communication devices refer to electronic devices that have satellite communication functions. Satellite communication devices have built-in hardware and software for direct communication with satellites, and can communicate via satellites without ground network coverage; at the same time, satellite communication devices can also communicate with other devices based on ground networks (such as cellular networks, wireless fidelity (WiFi) networks, etc.). Ground communication devices refer to electronic devices that do not have satellite communication functions and rely on ground networks to communicate with other devices.

[0066] Satellites capable of supporting mobile communications already exist in the existing technology. These satellites capable of supporting mobile communications have the ability to communicate directly with ground communication equipment, which means that ground communication equipment will be able to send text messages to other devices through these satellites without the need for dedicated communication equipment, thereby realizing the satellite communication function of ground communication equipment in areas where signals cannot reach.

[0067] Whether satellite communication equipment is connected to a satellite or ground communication equipment is connected to a satellite that supports mobile communication, the satellite-borne base station on the satellite is required to calculate the angle of the beam emitted by the satellite antenna in real time; in addition, when ground communication equipment is connected to a satellite that supports mobile communication, the satellite-borne base station is also required to estimate the delay and Doppler shift of the beam emitted by the satellite antenna in real time. The angle, delay and Doppler shift of the beam emitted by the satellite antenna are collectively referred to as the satellite's beam control parameters.

[0068] When calculating the satellite's beam control parameters, it is necessary to calculate the satellite's beam control parameters based on the satellite position and beam position (the beam position refers to the beam position corresponding to the area where the satellite communication equipment or ground communication equipment is located) in the satellite's body coordinate system. The satellite position in the satellite's body coordinate system is obtained by converting the satellite position in the ECEF coordinate system. The satellite position in the ECEF coordinate system is obtained based on the satellite's ephemeris data. Among them, the satellite's ephemeris data is usually updated once per second, while the scheduling of the onboard base station is updated once per time slot (slot, 0.125ms to 1ms). Therefore, in order to ensure that the beam emitted by the satellite antenna can accurately cover the wave position, it is necessary to infer the acquired satellite ephemeris data to obtain the satellite position and the satellite's motion state at the next moment (the time interval between the next moment and the current moment when the ephemeris data is obtained is less than one second), and perform coordinate conversion on the inferred satellite position at the next moment to obtain the satellite position in the satellite body coordinates at the next moment, so as to calculate the satellite's wave control parameters at the next moment based on the satellite position and wave position in the satellite body coordinates at the next moment, so as to facilitate the onboard base station to control the satellite antenna based on the satellite's wave control parameters at the next moment.

[0069] However, since the ECEF coordinate system only provides the satellite position and the satellite's motion state at the current moment, and does not contain the orbital shape information of the satellite orbit, it is impossible to directly calculate the satellite position at the next moment based on the satellite position and the satellite's motion state in the ECEF coordinate system at the current moment. In addition, the satellite body coordinate system is a three-dimensional Cartesian rectangular coordinate system. When converting the satellite position in the ECEF coordinate system to the satellite position in the satellite body coordinate system, a translation transformation and three rotation transformations are required, and each rotation transformation needs to be multiplied with a 3×3 matrix.

[0070] In the related art, two methods are usually used to calculate the satellite position in the satellite body coordinate system at the next moment based on the satellite ephemeris data obtained at the current moment. One method is to use the 6 Kepler roots in the ephemeris data at the current moment to calculate the 6 Kepler roots at the next moment, and convert the 6 Kepler roots at the next moment to the ECEF coordinate system, and then convert from the ECEF coordinate system to the satellite body coordinate system. In this process, the 6 Kepler roots need to be multiplied by three 3×3 matrices to obtain the satellite position in the satellite body coordinate system at the next moment, and the accuracy is low; the other method is to rotate and calculate the satellite position in the ECEF coordinate system at the current moment, and calculate the satellite position in the ECEF coordinate system at the next moment. Position, and perform coordinate transformation on the calculated satellite position in the ECEF coordinate system at the next moment to obtain the satellite position in the satellite body coordinate system at the next moment. In this method, the rotation of the satellite position in the ECEF coordinate system at the current moment needs to be multiplied by a 4×4 homogeneous matrix, and the components of the satellite position in the three directions of the X-axis, Y-axis and Z-axis need to be multiplied by a 3×3 homogeneous matrix respectively. After the satellite position in the ECEF coordinate system at the next moment is calculated, the satellite position in the ECEF coordinate system at the next moment needs to be converted to the satellite body coordinate system. The amount of calculation is large and it is not suitable for real-time calculation by the satellite-borne base station. In addition, the accuracy of the calculated satellite position in the satellite body coordinate system at the next moment is low.

[0071] From this, it can be seen that the method of calculating the satellite position in the satellite body coordinate system at the next moment based on the satellite ephemeris data obtained at the current moment has a large amount of calculation, and the accuracy of the calculated satellite position in the satellite body coordinate system at the next moment is low, which in turn leads to a large amount of calculation when calculating the satellite's wave control parameters at the next moment, and the accuracy of the calculated satellite's wave control parameters at the next moment is low.

[0072] Based on the problems existing in the related art, the present application provides a method for determining satellite wave control parameters. First, a first coordinate system is determined, and first position information is obtained based on the ephemeris data of the target satellite, the first position information including the position coordinates of the center of mass of the earth, the target satellite and the target wave position in the first coordinate system at the first moment; the origin of the first coordinate system is the center of mass of the earth, and the X-axis, Y-axis and Z-axis of the first coordinate system are respectively parallel and in the same direction with the X-axis, Y-axis and Z-axis of the satellite body coordinate system at the first moment; secondly, the rotation angle of the first coordinate system is determined according to the movement parameters of the target satellite, and a coordinate conversion matrix is ​​obtained based on the rotation angle of the first coordinate system, and the position coordinates of the target wave position in the second coordinate system at the second moment are obtained based on the coordinate conversion matrix and the position coordinates of the target wave position in the first coordinate system at the first moment. The second coordinate system is established based on the satellite body coordinate system at the second moment, the origin of the second coordinate system is the center of mass of the earth, and the X-axis, Y-axis and Z-axis of the second coordinate system are respectively parallel to the X-axis, Y-axis and Z-axis of the satellite body coordinate system at the second moment. The axis is parallel; when the target satellite moves on its orbit, the attitude change of the target satellite is mainly caused by the rotation of the target satellite around the normal axis of its orbital plane, and the orbital plane itself will not be changed, that is, the Y axis of the first coordinate system remains stationary, and the XOZ plane of the first coordinate system is rotated by the rotation angle of the target satellite from the first moment to the second moment, so as to obtain the second coordinate system corresponding to the satellite body coordinate system at the second moment. Therefore, based on the coordinate conversion matrix and the position coordinates of the target wave position in the first coordinate system at the first moment, the position coordinates of the target wave position in the second coordinate system at the second moment can be obtained; the position transformation in the satellite body coordinate system from the first moment to the second moment, and the position transformation between the satellite body coordinates and the second coordinate system at the second moment are simplified to the rotation transformation of the two-dimensional plane in the first coordinate system, so as to quickly obtain the position coordinates of the target wave position in the second coordinate system with a small amount of calculation; finally, the wave control parameters of the target satellite are determined according to the position coordinates of the earth's center of mass, the target satellite and the target wave position in the second coordinate system at the second moment. Compared with the prior art, the satellite beam control parameter determination method provided in the present application has a small amount of computation and does not need to calculate the satellite position and target beam position at the second moment based on the satellite position and target beam position at the first moment, thereby effectively improving the accuracy of the calculated satellite beam control parameters.

[0073] Next, some specific embodiments and drawings are used to describe in detail how the present application solves the problem that the calculation amount is large when calculating the beam control parameters of the above-mentioned satellite and the accuracy of the calculated beam control parameters of the satellite is low.

[0074] Figure 1 A schematic diagram of a flow chart of a method for determining satellite beam control parameters provided in an embodiment of the present application. Figure 1As shown, the satellite beam control parameter determination method provided in the embodiment of the present application specifically includes S101 to S106, and S101 to S106 are described in detail below.

[0075] It should be noted that the executor of the satellite beam control parameter determination method provided in the embodiment of the present application may be a satellite-borne base station.

[0076] S101. The satellite-borne base station determines a first coordinate system.

[0077] The origin of the first coordinate system is the center of mass of the earth, and the X-axis, Y-axis, and Z-axis of the first coordinate system are respectively parallel and in the same direction as the X-axis, Y-axis, and Z-axis of the satellite body coordinate system at the first moment.

[0078] The origin of the satellite body coordinate system is the center of mass of the target satellite, the X-axis of the satellite body coordinate system points to the flight direction of the target satellite, the Y-axis of the satellite body coordinate system points to the negative normal of the orbital plane of the target satellite, and the Z-axis of the satellite body coordinate system points to the center of mass of the earth.

[0079] It should be noted that the satellite body coordinate system is a coordinate system with the target satellite as a reference, and is used to describe and calculate various parameters related to the target satellite attitude and the orbit of the target satellite.

[0080] In one embodiment, the origin of the satellite body coordinate system is the center of mass of the target satellite, the X-axis of the satellite body coordinate system points to the flight direction of the target satellite, the Y-axis of the satellite body coordinate system points to the negative normal of the orbital plane of the target satellite, and the Z-axis of the satellite body coordinate system points to the center of mass of the earth.

[0081] In another embodiment, the origin of the satellite body coordinate system is the center of mass of the target satellite, the X-axis of the satellite body coordinate system points to the flight direction of the target satellite, the Y-axis of the satellite body coordinate system points to the positive normal of the orbital plane of the target satellite, and the Z-axis of the satellite body coordinate system points from the center of mass of the earth to the center of mass of the target satellite.

[0082] It should be noted that any one of the above two implementation methods for establishing the satellite body coordinate system can be selected according to actual usage requirements, and this embodiment does not make any specific limitation to this.

[0083] The satellite body coordinate system of the target satellite is fixed on the target satellite and will not change over time. However, since the target satellite may need to adjust its attitude to aim at the Earth, a specific area, other celestial bodies, or to perform specific tasks (such as taking photos, transmitting data), or the target satellite may perform orbital maneuvers to change the satellite's flight direction and attitude in order to adjust its orbit or avoid space debris, the attitude and direction of the satellite body coordinate system in space will change due to the attitude adjustment or orbit change of the target satellite.

[0084] S102: The satellite-borne base station obtains first position information based on ephemeris data of the target satellite.

[0085] The satellite-borne base station obtains the ephemeris data of the target satellite once per second, and obtains the first position information based on the ephemeris data of the target satellite obtained at the first moment. The first position information includes the position coordinates of the earth's mass center, the target satellite and the target wave position in the first coordinate system at the first moment.

[0086] It should be noted that the ephemeris data of the target satellite includes orbital parameters of the target satellite, position and velocity information of the target satellite, time-related parameters of the target satellite, satellite health status information of the target satellite, and other auxiliary data.

[0087] The orbital parameters usually include 6 Kepler roots. The description of the 6 Kepler roots is detailed in the above embodiment, and will not be repeated in this embodiment.

[0088] The position and velocity information of the target satellite are used to describe the position of the target satellite in the ECEF coordinate system. The ECEF coordinates of the target satellite are used to describe the position of the target satellite in the ECEF coordinate system, and the velocity components (Vx, Vy, Vz) of the target satellite are used to describe the velocity components of the target satellite in the ECEF coordinate system.

[0089] The time-related parameters of the target satellite are used to determine the time validity of the target satellite data and perform time synchronization. The time-related parameters of the target satellite include reference time and time deviation parameters; the reference time is usually GPS time or other standard time; the time deviation parameter is used to correct the satellite clock deviation and drift parameters.

[0090] The satellite health status information of the target satellite is used to describe the operating status and health status of the target satellite.

[0091] Other auxiliary data of the target satellite include some supplementary parameters used to improve the accuracy of the orbit calculation of the target satellite.

[0092] S103: The satellite-borne base station determines a rotation angle of the first coordinate system according to movement parameters of the target satellite.

[0093] The rotation angle is used to indicate the rotation angle corresponding to the movement of the target satellite in the time period from the first moment to the second moment in the XOZ plane of the first coordinate system.

[0094] It should be noted that when the target satellite is operating in its orbit, the attitude change of the target satellite is mainly caused by the rotation of the target satellite around the normal axis of its orbital plane, and the orbital plane itself will not be changed, that is, the Y axis of the first coordinate system remains stationary, and the movement of the target satellite in the time period from the first moment to the second moment can be regarded as the rotation angle corresponding to the XOZ plane of the first coordinate system.

[0095] The rotation angle of the first coordinate system describes the attitude change of the target satellite between the first moment and the second moment, that is, the rotation angle of the first coordinate system describes how the target satellite rotates around the Y axis of the first coordinate system from the first moment to the second moment.

[0096] It should be noted that the rotation angle of the first coordinate system refers to the rotation angle of the first coordinate system transformed into the second coordinate system, and may also refer to the rotation angle of the target satellite relative to the center of mass of the earth when the target satellite moves in its orbit.

[0097] In this embodiment, the rotation angle of the target satellite from the first moment to the second moment is determined by the movement parameters of the target satellite, ensuring that the attitude change of the target satellite between the first moment and the second moment can be accurately calculated, providing necessary data support for the subsequent position coordinate calculation of the target wave position in the second coordinate system at the second moment, improving the accuracy and real-time performance of the calculation, and solving the problems caused by complex coordinate transformation and large amount of calculation in traditional methods.

[0098] S104: The satellite-borne base station obtains a coordinate transformation matrix based on the rotation angle of the first coordinate system.

[0099] It should be noted that the coordinate transformation matrix is ​​used to describe the transformation relationship between the first coordinate system and the second coordinate system, and the coordinate transformation matrix is ​​a 3×3 rotation matrix.

[0100] In a possible embodiment, the coordinate transformation matrix is:

[0101] Wherein, α is the rotation angle of the first coordinate system.

[0102] Coordinate transformation matrix R y (α) is a 3×3 rotation matrix used to describe the rotation transformation of the second coordinate system around the Y axis of the first coordinate system.

[0103] It should be noted that the rotation angle of the first coordinate system is the same as the rotation angle of the target satellite, that is, α=θ.

[0104] By specifying the coordinate transformation matrix R y The form of (α) standardizes and systematizes the coordinate transformation process between the first coordinate system and the second coordinate system around the Y-axis. The standardized coordinate transformation matrix not only simplifies the coordinate transformation calculation and improves the calculation efficiency, but also reduces the calculation error.

[0105] In this embodiment, the satellite-borne base station calculates the coordinate transformation matrix based on the rotation angle of the first coordinate system, which can ensure the accuracy of the coordinate transformation between the first coordinate system and the second coordinate system, and can simplify complex coordinate transformation calculations, thereby improving calculation efficiency and real-time performance.

[0106] S105. The satellite-borne base station obtains the position coordinates of the target wave position at the second moment in the second coordinate system based on the coordinate conversion matrix and the position coordinates of the target wave position at the first moment in the first coordinate system.

[0107] Among them, the second coordinate system is established based on the satellite body coordinate system at the second moment, the origin of the second coordinate system is the center of mass of the earth, and the X-axis, Y-axis, and Z-axis of the second coordinate system are respectively parallel to the X-axis, Y-axis, and Z-axis of the satellite body coordinate system at the second moment.

[0108] S106. The satellite-borne base station determines the beam control parameters of the target satellite according to the second position information.

[0109] The second position information includes: the position coordinates of the earth's center of mass, the target satellite and the target wave position in the second coordinate system at the second moment.

[0110] It should be noted that the position coordinates of the earth's center of mass at the second moment in the second coordinate system are the position coordinates of the origin of the second coordinate system, that is, the position of the earth's center of mass at the second moment in the second coordinate system is (0, 0, 0).

[0111] The position of the target satellite remains unchanged from the first moment to the second moment. Based on the position coordinates of the target satellite in the first coordinate system at the first moment and the coordinate conversion matrix, the position coordinates of the target satellite in the second coordinate system at the second moment can be obtained.

[0112] Among them, the beam control parameters include the angle, delay and Doppler frequency shift of the beam transmitted by the target satellite.

[0113] It should be noted that since the target satellite and electronic equipment are constantly moving, the onboard base station must calculate and adjust the angle of the beam transmitted by the target satellite in real time to accurately align the beam transmitted by the target satellite with the target wave position, ensuring that the signal of the target satellite can cover the target wave position, thereby ensuring the stability and reliability of the communication of the electronic equipment in the target wave position.

[0114] As the distance between the target satellite and the electronic device is constantly changing, the delay of the beam emitted by the target satellite is also constantly changing. In order to ensure the real-time and synchronization of data transmission, it is necessary to accurately estimate and compensate for the delay of the beam emitted by the target satellite to optimize data transmission efficiency, reduce delays, and improve the satellite communication quality of electronic equipment.

[0115] When the target satellite moves at high speed, it will produce a significant Doppler effect, which will cause the signal frequency perceived by the electronic equipment to change, resulting in the unreliability of the communication link and increased bit error rate. By estimating the Doppler shift in real time, the frequency of the target satellite signal can be dynamically adjusted and frequency compensation can be performed to ensure that the signal frequency received by the electronic equipment remains stable, improve the reliability of the communication link, reduce the bit error rate, and enhance the satellite communication quality of the electronic equipment.

[0116] In an embodiment of the present application, first, a first coordinate system is determined, and first position information is obtained based on the ephemeris data of the target satellite, the first position information including the position coordinates of the earth's center of mass, the target satellite and the target wave position in the first coordinate system at the first moment; the origin of the first coordinate system is the earth's center of mass, and the X-axis, Y-axis and Z-axis of the first coordinate system are respectively parallel and in the same direction as the X-axis, Y-axis and Z-axis of the satellite body coordinate system at the first moment; secondly, the rotation angle of the first coordinate system is determined according to the movement parameters of the target satellite, and a coordinate conversion matrix is ​​obtained based on the rotation angle of the first coordinate system, and the position coordinates of the target wave position in the second coordinate system at the second moment are obtained based on the coordinate conversion matrix and the position coordinates of the target wave position in the first coordinate system at the first moment, the second coordinate system is established based on the satellite body coordinate system at the second moment, the origin of the second coordinate system is the earth's center of mass, and the X-axis, Y-axis and Z-axis of the second coordinate system are respectively parallel to the X-axis, Y-axis and Z-axis of the satellite body coordinate system at the second moment; the target satellite is in its orbit When the target satellite is operating on the orbit, the attitude change of the target satellite is mainly caused by the rotation of the target satellite around the normal axis of its orbital plane, and the orbital plane itself will not be changed, that is, the Y axis of the first coordinate system remains stationary. The XOZ plane of the first coordinate system is rotated by the rotation angle of the target satellite from the first moment to the second moment, and the second coordinate system corresponding to the satellite body coordinate system at the second moment can be obtained. Therefore, based on the coordinate conversion matrix and the position coordinates of the target wave position in the first coordinate system at the first moment, the position coordinates of the target wave position in the second coordinate system at the second moment can be obtained; the position transformation in the satellite body coordinate system from the first moment to the second moment, and the position transformation between the satellite body coordinates at the second moment and the second coordinate system are simplified to the rotation transformation of the two-dimensional plane in the first coordinate system, so as to quickly obtain the position coordinates of the target wave position in the second coordinate system with a small amount of calculation; finally, the wave control parameters of the target satellite are determined according to the position coordinates of the earth's mass center, the target satellite and the target wave position in the second coordinate system at the second moment. Compared with the prior art, the satellite beam control parameter determination method provided in the present application has a small amount of computation and does not need to calculate the satellite position and target beam position at the second moment based on the satellite position and target beam position at the first moment, thereby effectively improving the accuracy of the calculated satellite beam control parameters.

[0117] In another embodiment of the present application, it should be noted that the satellite operation and control system is used to manage and control various aspects of the satellite's in-orbit operation. The satellite operation and control system combines the ground control system and the onboard control system to ensure that the satellite can perform its mission according to the predetermined plan by commanding and controlling the satellite's mission, orbit, attitude, etc.

[0118] The ground control system mainly includes the ground control center and the ground station. The ground control center is the core of the entire satellite operation and control system, responsible for the overall monitoring and command of the satellite. The tasks of the ground control center include sending instructions, receiving and processing satellite telemetry data, calculating and adjusting orbits and attitudes, and responding to emergencies. The ground station is the communication node between the satellite and the ground control center. It exchanges data with the satellite through antennas and radio frequency systems. The ground station can communicate with the satellite when the satellite is within the coverage of the ground station.

[0119] The onboard control system is an autonomous control system located on the satellite, responsible for executing commands sent from the ground in real time and managing the satellite's attitude, orbit, power, power supply, communication and other subsystems. In the event of communication interruption or emergency, the onboard control system can autonomously execute preset tasks or take protective measures.

[0120] Figure 2 A flowchart of another method for determining satellite beam control parameters provided in an embodiment of the present application. Figure 2 As shown, the satellite beam control parameter determination method provided in the embodiment of the present application includes steps f1 to f7, and steps f1 to f7 are described in detail below.

[0121] Step f1: The ground control system calculates the ephemeris data and the wave position data of the target satellite at multiple times after the third moment based on the ephemeris data of the target satellite at the third moment.

[0122] The third moment is the current moment, and the ground control system can use the orbital mechanics model to calculate the ephemeris data of the target satellite at multiple moments after the third moment (i.e., multiple moments in the future) based on the ephemeris data of the target satellite at the third moment. In addition, the ground control system also calculates the wave position data corresponding to the target satellite at multiple moments after the third moment.

[0123] It should be noted that the beam position data of the target satellite at each moment refers to the beam position corresponding to the beam transmitted by the target satellite at each moment and requiring the target satellite to provide communication services, that is, the beam position covered by the beam transmitted by the target satellite at each moment.

[0124] The ground control system can calculate the wave position data of the target satellite at multiple times after the third moment based on the ephemeris data of the target satellite at the third moment and the antenna model of the target satellite. The method in which the ground control system calculates the wave position data of the target satellite at multiple times after the third moment based on the ephemeris data of the target satellite at the third moment and the antenna model of the target satellite is an existing method and will not be described in detail in this embodiment.

[0125] In this embodiment, the ground control system pre-calculates the ephemeris data and wave position data of the target satellite at multiple times in the future, which can effectively reduce the burden of real-time calculation of the subsequent on-orbit control system and improve the operating efficiency and response speed of the satellite operation and control system.

[0126] Step f2: The ground control system sends the ephemeris data and the wave position data of the target satellite at multiple time points after the third time point to the onboard control system.

[0127] It should be noted that a measurement and control channel is set between the ground control system and the satellite control system, and the ground control system can send the ephemeris data and wave position data of the target satellite at multiple moments after the third moment to the satellite control system through the measurement and control channel.

[0128] In this embodiment, the ground control system sends the calculated ephemeris data and beam position data to the onboard control system through measurement and control, so that the onboard control system can obtain the ephemeris data and beam position data of multiple moments in the future in advance, and prepare for the subsequent beam control parameter calculation and beam adjustment. Through the coordinated work of the ground control system and the onboard control system, the demand for on-orbit real-time calculation of the onboard control system is reduced, so that the onboard control system can concentrate resources for more critical real-time operations, thereby improving the overall reliability and response speed of the satellite operation and control system.

[0129] Step f3: The onboard control system stores the ephemeris data and the wave position data of the target satellite at multiple moments after the third moment.

[0130] In this embodiment, the onboard control system stores the ephemeris data and the wave position data of the target satellite at multiple moments after the third moment, so that the subsequent onboard control system can call the ephemeris data and the wave position data of the target satellite at multiple moments after the third moment at any time, ensuring that the onboard control system can respond quickly when the target satellite needs to use the ephemeris data and the wave position data of multiple moments after the third moment.

[0131] Step f4, the satellite-borne control system sends the ephemeris data and the wave position data of the first moment to the satellite-borne base station; the first moment is one of the multiple moments after the third moment.

[0132] It should be noted that when the satellite base station needs to calculate the beam control parameters of the target satellite at the second moment based on the ephemeris data and the beam position data at the first moment, the satellite control system sends the ephemeris data and the beam position data at the first moment to the satellite base station.

[0133] Step f5: The satellite-borne base station calculates the beam control parameters of the target satellite at the second moment based on the ephemeris data at the first moment.

[0134] It should be noted that the method for the satellite-borne base station to calculate the beam control parameters of the target satellite at the second moment based on the ephemeris data at the first moment is detailed in the methods shown in S101 to S106 above, and will not be described in detail in this embodiment.

[0135] Step f6: The satellite-borne base station sends the beam control parameters of the target satellite at the second moment and the beam position data of the target satellite at the first moment to the phased array antenna of the target satellite.

[0136] Step f7: The phased array antenna controls the angle of the beam transmitted by the target satellite based on the beam control parameters of the target satellite at the second moment and the beam position data of the target satellite at the first moment.

[0137] Phased array antennas achieve dynamic adjustment and electronic scanning of beams by controlling the phase of signals transmitted or received by multiple antenna units. Unlike traditional mechanically rotating antennas, phased array antennas can quickly change the direction and shape of beams without moving the antenna structure.

[0138] In satellite communication systems, phased array antennas can dynamically adjust beams to provide stable communication links and adapt to the movement of satellites relative to the ground.

[0139] It should be noted that the phased array antenna receives the beam control parameters of the target satellite at the second moment sent by the satellite base station, and determines the phase adjustment amount of each antenna unit in combination with the beam position data of the target satellite at the first moment, and dynamically adjusts the phase of each antenna unit based on the phase adjustment amount of each antenna unit, so that the beam emitted by the target satellite at the second moment can accurately point to the area corresponding to the target beam position at the second moment, so as to meet the communication needs of the target satellite.

[0140] In the above embodiment, the satellite-borne base station needs to obtain the first position information based on the ephemeris data of the target satellite. Next, the specific process of the satellite-borne base station obtaining the first position information based on the ephemeris data of the target satellite is described in detail.

[0141] Figure 3 A schematic diagram of the relationship between the satellite body coordinate system and the first coordinate system at a first moment provided in an embodiment of the present application. Figure 3 As shown, in a possible embodiment, the Z axis of the first coordinate system coincides with the Z axis of the satellite body coordinate system at the first moment.

[0142] It should be noted that the Z axis of the first coordinate system coincides with the Z axis of the satellite body coordinate system at the first moment, which ensures the consistency of the first coordinate system and the satellite body coordinate system at the first moment in the Z axis direction, and helps to simplify the position conversion between the satellite body coordinate system at the first moment and the first coordinate system.

[0143] S102, the satellite-borne base station obtains first position information based on the ephemeris data of the target satellite, which can be implemented through S1021 and S1022. S1021 and S1022 are described in detail below.

[0144] S1021. The satellite-borne base station obtains third position information based on the ephemeris data of the target satellite.

[0145] The third position information includes the position coordinates of the center of mass of the earth, the target satellite and the target wave position in the satellite body coordinate system at the first moment.

[0146] The position coordinates of the earth's center of mass in the ECEF coordinate system are usually the origin of the ECEF coordinate system. Based on the relationship between the ECEF coordinate system and the satellite body coordinate system at the first moment, the position coordinates of the earth's center of mass at the first moment in the satellite body coordinate system at the first moment can be obtained.

[0147] The above-mentioned method for obtaining the position coordinates of the earth's center of mass at the first moment in the satellite body coordinate system at the first moment based on the position coordinates of the earth's center of mass in the ECEF coordinate system and the relationship between the ECEF coordinate system and the satellite body coordinate system at the first moment is an existing method and will not be repeated in this application.

[0148] Based on the orbital parameters and time-related parameters in the ephemeris data of the target satellite at the first moment, the position coordinates of the target satellite in the ECEF coordinate system at the first moment can be calculated; based on the relationship between the ECEF coordinate system and the satellite body coordinate system at the first moment, the position coordinates of the target satellite in the ECEF coordinate system at the first moment are transformed to obtain the position coordinates of the target satellite in the satellite body coordinate system at the first moment.

[0149] It should be noted that the position coordinates of the target satellite at the first moment in the satellite body coordinate system at the first moment are the coordinate origin of the satellite body coordinate system, that is, the position coordinates of the target satellite at the first moment in the satellite body coordinate system are (0, 0, 0).

[0150] The above-mentioned method of calculating the position coordinates of the target satellite in the ECEF coordinate system at the first moment based on the orbital parameters and time-related parameters in the ephemeris data of the target satellite at the first moment, and the method of performing coordinate transformation on the position coordinates of the target satellite in the ECEF coordinate system at the first moment based on the relationship between the ECEF coordinate system and the satellite body coordinate system at the first moment to obtain the position coordinates of the target satellite at the first moment in the satellite body coordinate system at the first moment are both existing methods and will not be described in detail in this application.

[0151] The earth's surface is divided into many service areas based on the earth. Each service area corresponds to a wave position, which is fixed to the earth. When any wave position needs satellite communication services, the satellite phased array antenna continuously adjusts the beam pointing to achieve coverage of the wave position until the wave position no longer needs service. The target wave position is the wave position on the earth's surface corresponding to the service area where the electronic equipment that needs to establish a connection with the target satellite is located.

[0152] Based on the geographic coordinates (longitude, latitude and altitude) of the target wave position, the position coordinates of the target wave position in the ECEF coordinate system can be obtained; based on the position coordinates of the target wave position in the ECEF coordinate system and the relationship between the ECEF coordinate system and the satellite body coordinate system at the first moment, the position coordinates of the target wave position in the satellite body coordinate system at the first moment can be obtained.

[0153] The above-mentioned method of obtaining the position coordinates of the target wave position in the ECEF coordinate system based on the geographic coordinates (longitude, latitude and altitude) of the target wave position, and the method of obtaining the position coordinates of the target wave position in the satellite body coordinate system at the first moment based on the position coordinates of the target wave position in the ECEF coordinate system and the relationship between the ECEF coordinate system and the satellite body coordinate system at the first moment are both existing methods and will not be repeated in this application.

[0154] S1022. The satellite-borne base station obtains the first position information based on the third position information and the relationship between the first coordinate system and the satellite body coordinate system at the first moment.

[0155] like Figure 3As shown, the three-dimensional coordinate system X′Y′Z′ is the satellite body coordinate system at the first moment, the three-dimensional coordinate system X″Y″Z″ is the first coordinate system, the X″O″Y″ plane of the first coordinate system is parallel to the X′0′Y′ plane of the satellite body coordinate system at the first moment, the Z axis of the first coordinate system coincides with the Z axis of the satellite body coordinate system at the first moment, the coordinate origin O″ of the first coordinate system is located at the center of mass of the earth, and the coordinate origin 0′ of the satellite body coordinate system at the first moment is located at the center of mass of the target satellite. At this time, the difference between the coordinate origin O″ of the first coordinate system and the coordinate origin 0′ of the satellite body coordinate system at the first moment is the sum of the earth radius and the flight height of the target satellite, that is, the difference between the coordinate origin O″ of the first coordinate system and the coordinate origin 0′ of the satellite body coordinate system at the first moment is the orbital radius of the target satellite. Therefore, the satellite-borne base station can obtain the first position information based on the third position information and the orbital radius of the target satellite.

[0156] It should be noted that the position coordinates of the center of mass of the earth in the first coordinate system at the first moment are (0, 0, 0).

[0157] The X-axis coordinate of the target satellite at the first moment in the first coordinate system is equal to the X-axis coordinate of the target satellite at the first moment in the satellite body coordinate system at the first moment; the Y-axis coordinate of the target satellite at the first moment in the first coordinate system is equal to the Y-axis coordinate of the target satellite at the first moment in the satellite body coordinate system at the first moment; the Z-axis coordinate of the target satellite at the first moment in the first coordinate system is the difference between the Z-axis coordinate of the target satellite at the first moment in the satellite body coordinate system at the first moment and the orbital radius of the target satellite.

[0158] For example, the position of the target satellite at the first moment in the satellite body coordinate system at the first moment is (X1, Y1, Z1), then the position of the target satellite at the first moment in the first coordinate system is (X1, Y1, Z1-r); r represents the orbital radius of the target satellite.

[0159] The X-axis coordinate of the target wave position at the first moment in the first coordinate system is equal to the X-axis coordinate of the target wave position at the first moment in the satellite body coordinate system at the first moment; the Y-axis coordinate of the target wave position at the first moment in the first coordinate system is equal to the Y-axis coordinate of the target wave position at the first moment in the satellite body coordinate system at the first moment; the Z-axis coordinate of the target wave position at the first moment in the first coordinate system is the difference between the Z-axis coordinate of the target wave position at the first moment in the satellite body coordinate system at the first moment and the orbital radius of the target satellite.

[0160] For example, if the position of the target wave position at the first moment in the satellite body coordinate system at the first moment is (X2, Y2, Z2), then the position of the target wave position at the first moment in the first coordinate system is (X2, Y2, Z2-r).

[0161] In the implementation of the present application, the satellite-borne base station first obtains the position coordinates of the earth's center of mass, the target satellite, and the target wave position in the satellite body coordinate system at the first moment based on the ephemeris data of the target satellite; then, based on the position coordinates of the earth's center of mass, the target satellite, and the target wave position in the satellite body coordinate system at the first moment, and the orbital radius of the target satellite, the position coordinates of the earth's center of mass, the target satellite, and the target wave position in the first coordinate system at the first moment are calculated, which simplifies the coordinate conversion process from the satellite body coordinate system to the first coordinate system at the first moment, and further simplifies the process of obtaining the position coordinates of the earth's center of mass, the target satellite, and the target wave position in the first coordinate system at the first moment, thereby reducing the computational complexity and improving the computational efficiency.

[0162] In the above embodiment, the satellite-borne base station needs to determine the rotation angle of the first coordinate system according to the movement parameters of the target satellite. Next, the specific process of the satellite-borne base station determining the rotation angle of the first coordinate system according to the movement parameters of the target satellite is described in detail.

[0163] The moving parameters of the target satellite include the linear velocity of the target satellite or the angular velocity of the target satellite. The linear velocity of the target satellite refers to the moving speed of the target satellite in its orbit, measured in meters per second (m / s); the angular velocity of the target satellite refers to the speed at which the satellite rotates around the center of mass of the earth, measured in radians per second (rad / s).

[0164] In a possible embodiment, when the movement parameters of the target satellite include the linear velocity of the target satellite, S103, the satellite-borne base station determines the rotation angle of the first coordinate system according to the movement parameters of the target satellite, which can be achieved through steps a1 and a2. Steps a1 and a2 are described in detail below.

[0165] Step a1: The satellite-borne base station determines the angular velocity of the target satellite according to the linear velocity of the target satellite.

[0166] The angular velocity of the target satellite is the ratio of the linear velocity of the target satellite to the orbital radius of the target satellite. That is, when the linear velocity v of the target satellite is known, the satellite-borne base station can calculate the angular velocity of the target satellite according to the formula: Determine the angular velocity ω of the target satellite.

[0167] It should be noted that r represents the orbital radius of the target satellite. The orbital radius of the target satellite refers to the distance from the target satellite to the center of mass of the earth, in meters (m).

[0168] Step a2: The satellite-borne base station determines the rotation angle of the first coordinate system according to the angular velocity of the target satellite.

[0169] Among them, the rotation angle α of the first coordinate system from the first moment to the second moment is equal to the rotation angle θ of the target satellite from the first moment to the second moment; that is, the rotation angle α of the first coordinate system is the product of the angular velocity of the target satellite and the time length from the first moment to the second moment.

[0170] It should be noted that, when the angular velocity ω of the target satellite is known, the satellite-borne base station can determine the rotation angle θ of the target satellite from the first moment to the second moment according to the formula θ=ω×t, and further determine the rotation angle α of the first coordinate system from the first moment to the second moment. t represents the duration from the first moment to the second moment.

[0171] When the movement parameters of the target satellite include the angular velocity of the target satellite, S103, the satellite-borne base station determines the rotation angle of the first coordinate system according to the movement parameters of the target satellite, which can be directly implemented through the above step a2 and will not be described in detail in this embodiment.

[0172] In the embodiment of the present application, the rotation angle of the first coordinate system is determined based on the linear velocity or angular velocity of the target satellite, thereby ensuring the accuracy and reliability of the rotation angle of the first coordinate system.

[0173] In the above embodiment, the satellite-borne base station determines the rotation angle of the first coordinate system according to the movement parameters of the target satellite. Next, the relationship satisfied by the rotation angle of the first coordinate system is described in detail.

[0174] Figure 4 A schematic diagram of the relationship between a first coordinate system and a second coordinate system provided in an embodiment of the present application. Figure 4 As shown, in a possible embodiment, the rotation angle satisfies: the angle between the X-axis in the first coordinate system and the X-axis in the second coordinate system; or the angle between the Z-axis in the first coordinate system and the Z-axis in the second coordinate system.

[0175] It should be noted that the rotation angle of the first coordinate system describes the change in the attitude of the target satellite from the first moment to the second moment.

[0176] The movement of the target satellite during the time period from the first moment to the second moment can be considered as the rotation angle corresponding to the XOZ plane of the first coordinate system, that is, the movement of the target satellite during the time period from the first moment to the second moment can be considered as the angle between the X-axis in the first coordinate system and the X-axis in the second coordinate system, and can also be considered as the angle between the Z-axis in the first coordinate system and the Z-axis in the second coordinate system.

[0177] like Figure 4As shown, the X″O″Y″ plane is a two-dimensional plane in the first coordinate system X″Y″Z″, the X″′O″′Y″′ plane is a two-dimensional plane in the second coordinate system X″′Y″′Z″′, and the coordinate transformation from the first coordinate system X″Y″Z″ to the second coordinate system X″′Y″′Z″′ is actually a rotation transformation from the X″O″Y″ plane of the first coordinate system X″Y″Z″ to the X″′O″′Y″′ plane of the second coordinate system X″′Y″′Z″′.

[0178] In an embodiment of the present application, by ensuring that the rotation angle can reflect the angle between the X-axis or Z-axis of the first coordinate system and the second coordinate system, the accuracy of the satellite attitude change description is further improved, and the coordinate conversion process between the first coordinate system and the second coordinate system is simplified.

[0179] In the above embodiment, the satellite-borne base station needs to determine the beam control parameters of the target satellite based on the second position information. Next, the specific process of determining the beam angle based on the second position information by the satellite-borne base station is described in detail.

[0180] In a possible embodiment, the angle of the beam includes an azimuth angle and an elevation angle of the beam.

[0181] It should be noted that the azimuth of the beam refers to the angle from the reference direction of the target satellite's antenna (the X-axis direction of the target satellite's satellite body coordinate system) to the beam direction clockwise. The beam azimuth describes the direction of the beam on the horizontal plane.

[0182] The pitch angle of a beam refers to the angle of the beam direction relative to the horizontal plane, and the pitch angle of a beam describes the direction of the beam in the vertical plane.

[0183] S106. The satellite-borne base station determines the beam control parameters of the target satellite according to the second position information. This can be achieved through steps b1 and b2. Steps b1 and b2 are described in detail below.

[0184] Step b1, the satellite-borne base station determines the azimuth of the beam at the second moment based on the position coordinates of the target beam at the second moment in the second coordinate system and the second coordinate system.

[0185] like Figure 3 As shown, P represents the position coordinate of the target wave position in the first coordinate system, and the angle between the projection of the target wave position P on the X″O″Y″ plane of the first coordinate system X″Y″Z″ and the X″ axis of the first coordinate system X″Y″Z″ is the azimuth of the beam at the first moment.

[0186] It should be noted that the method for calculating the azimuth angle of the beam at the second moment is the same as the method for calculating the azimuth angle of the beam at the first moment, and this embodiment will not go into details.

[0187] Step b2: The satellite-borne base station determines the pitch angle of the beam at the second moment based on the position coordinates of the earth's center of mass, the target satellite and the target wave position in the second coordinate system at the second moment.

[0188] like Figure 5 As shown, P represents the position coordinate of the target wave position, E represents the position coordinate of the earth's center of mass, S represents the position coordinate of the target satellite, and the angle between the beam of the target satellite S pointing to the target wave position P and the line connecting the target satellite S and the earth's center of mass E is the pitch angle of the beam, that is, the target satellite S, the target wave position P and the earth's center of mass E form a triangle EPS, and ∠ESP in the triangle OPS is the pitch angle of the beam.

[0189] At the second moment, the position coordinates of the target satellite S in the second coordinate system are (x S ,y S ,z S ), the position coordinates of the target wave position P in the second coordinate system are (x P ,y P ,z P ), the position coordinates of the Earth's center of mass E in the second coordinate system are (x E ,y E ,z E ), in this case, the satellite-borne base station first calculates the distance EP between the earth's center of mass E and the target wave position P, the distance ES between the earth's center of mass E and the target satellite S, and the distance PS between the target wave position P and the target satellite S according to the distance calculation formula between two points; secondly, the cosine value corresponding to ∠ESP is calculated based on the cosine theorem; finally, the angle of ∠ESP is obtained based on the cosine value corresponding to ∠ESP.

[0190] It should be noted that the distance EP between the Earth's center of mass E and the target wave position P, and the Earth's radius r are equal. The distance between the Earth's center of mass E and the target satellite S is ES. The distance between the target wave position P and the target satellite S is PS.

[0191] According to the law of cosines EP 2 =ES 2 +PS 2 -2×ES×PS×cos(∠ESP), we can get:

[0192] Right now,

[0193] In an embodiment of the present application, the azimuth of the beam is calculated by the position coordinates of the target wave position at the second moment in the second coordinate system, and the pitch angle of the beam is calculated in combination with the position coordinates of the earth's center of mass, the target satellite and the target wave position in the second coordinate system. This can ensure the accuracy and stability of the beam pointing and improve the efficiency and reliability of satellite communications.

[0194] In the above embodiment, the satellite-borne base station needs to determine the beam control parameters of the target satellite based on the second position information. Next, the specific process of determining the time delay of the beam by the satellite-borne base station based on the second position information is described in detail.

[0195] In a possible embodiment, S106, the satellite-borne base station determines the beam control parameters of the target satellite according to the second position information, which can be achieved through step c, and step c is described in detail below.

[0196] Step c: The satellite-borne base station determines the delay of the beam at the second moment based on the target wave position at the second moment, the position coordinates of the target satellite in the second coordinate system, and the propagation speed of the beam.

[0197] Among them, the time delay of the beam at the second moment refers to the vector difference between the position of the target satellite and the position of the target wave position at the second moment, that is, the distance PS between the target wave position P and the target satellite S; based on the distance PS between the target wave position P and the target satellite S, and the speed of the beam, the time delay of the beam at the second moment can be obtained.

[0198] It should be noted that the beam speed refers to the propagation speed of electromagnetic waves in space. For electromagnetic waves (usually microwaves or radio frequency waves) in satellite communications, their propagation speed in free space is approximately equal to the speed of light. That is, the beam propagation speed is c, c = 3×10 8 m / s.

[0199] The satellite base station can be based on the formula Calculate the beam delay T at the second moment de .

[0200] In an embodiment of the present application, the delay of the beam at the second moment is calculated by using the precise position information of the target satellite and the target beam at the second moment, as well as the propagation speed of the beam, so that the satellite communication system can more effectively manage and compensate for the beam delay, thereby improving the synchronization and reliability of satellite communications.

[0201] In the above embodiment, the satellite-borne base station needs to determine the beam control parameters of the target satellite based on the second position information. Next, the specific process of determining the Doppler frequency shift of the beam by the satellite-borne base station based on the second position information is described in detail.

[0202] In a possible embodiment, S106, the satellite-borne base station determines the beam control parameters of the target satellite according to the second position information, which can be achieved through step d, and step d is described in detail below.

[0203] Step d: The satellite-borne base station determines the Doppler frequency shift of the beam at the second moment based on the target wave position at the second moment and the position coordinates of the target satellite in the second coordinate system.

[0204] Among them, Doppler shift is used to describe the frequency change caused by the relative motion between the target satellite and the electronic equipment in the target wave position.

[0205] The satellite base station can be based on the formula Calculate the frequency f transmitted by the antenna of the target satellite s f0 represents the frequency received by the electronic device in the target wave position, v0 represents the moving speed of the electronic device in the target wave position, v s represents the moving speed of the target satellite, and c represents the propagation speed of the beam emitted by the antenna of the target satellite.

[0206] In satellite communications, it is usually assumed that the electronic equipment in the target wave position is stationary, that is, v0 = 0. In this case, the formula can be simplified to

[0207] In addition, the formula Simplified to v rel Indicates the relative speed of the target satellite relative to the electronic equipment within the target wave position.

[0208] Among them, the relative speed v of the target satellite relative to the electronic equipment in the target wave position rel Depends on the angle between the target satellite's velocity direction and the beam propagation direction, that is, represents the speed of the target satellite, and β represents the angle between the speed direction of the target satellite and the beam propagation direction.

[0209] It should be noted that represents the velocity vector of the target satellite, represents the unit vector from the target wave position P to the target satellite S. Therefore, the satellite-borne base station can determine the Doppler frequency shift of the beam at the second moment based on the target wave position at the second moment and the position coordinates of the target satellite in the second coordinate system.

[0210] In an embodiment of the present application, the Doppler frequency shift of the beam is accurately calculated through the position coordinates of the target wave position and the target satellite in the second coordinate system at the second moment, thereby compensating for the frequency offset caused by the relative motion between the target satellite and the target wave position, so as to ensure the quality and reliability of data transmission between the target satellite and the electronic equipment in the target wave position.

[0211] Figure 6 A schematic diagram of the structure of a satellite beam control parameter determination device provided in an embodiment of the present application. Figure 6 As shown, the satellite beam control parameter determination device 600 provided in this embodiment can exist independently and be used to implement the operations corresponding to the satellite-borne base station in the above method embodiment.

[0212] The satellite beam control parameter determination device 600 may include: a transceiver module 601 and a processing module 602. The processing module 602 is used for data processing, and the transceiver module 601 may implement corresponding communication functions. The transceiver module 601 may also be called a communication interface or a communication unit.

[0213] Optionally, the satellite beam control parameter determination device 600 may further include a storage unit, which may be used to store instructions and / or data, and the processing module 602 may read the instructions and / or data in the storage unit so that the satellite beam control parameter determination device 600 implements the steps implemented by the satellite-borne base station in the aforementioned method embodiment.

[0214] The transceiver module 601 is used to perform reception-related operations of the satellite base station in the above method embodiment, and the processing module 602 is used to perform processing-related operations of the satellite base station in the above method embodiment.

[0215] Optionally, the transceiver module 601 may include a sending module and a receiving module. The sending module is used to perform the sending operation in the above method embodiment. The receiving module is used to perform the receiving operation in the above method embodiment.

[0216] It should be noted that the satellite beam control parameter determination device 600 may include a sending module but not a receiving module. Alternatively, the satellite beam control parameter determination device 600 may include a receiving module but not a sending module. Specifically, it may depend on whether the above solution executed by the satellite beam control parameter determination device 600 includes a sending action and a receiving action.

[0217] As an example, the satellite beam control parameter determination device 600 is used to perform the above Figure 1 Actions performed by the satellite-borne base station in the illustrated embodiment.

[0218] The satellite beam control parameter determination device 600 may include: a processing module 602 .

[0219] Processing module 602 is used to determine a first coordinate system, the origin of the first coordinate system is the center of mass of the earth, and the X-axis, Y-axis, and Z-axis of the first coordinate system are respectively parallel and in the same direction as the X-axis, Y-axis, and Z-axis of the satellite body coordinate system at the first moment; wherein, the origin of the satellite body coordinate system is the center of mass of the target satellite, the X-axis of the satellite body coordinate system points to the flight direction of the target satellite, the Y-axis of the satellite body coordinate system points to the negative normal of the orbital plane of the target satellite, and the Z-axis of the satellite body coordinate system points to the center of mass of the earth.

[0220] The processing module 602 is further used to obtain first position information based on the ephemeris data of the target satellite, where the first position information includes: position coordinates of the earth's center of mass, the target satellite and the target wave position in the first coordinate system at the first moment.

[0221] The processing module 602 is also used to determine the rotation angle of the first coordinate system according to the movement parameters of the target satellite; the rotation angle is used to indicate the rotation angle corresponding to the movement of the target satellite in the time period from the first moment to the second moment in the XOZ plane of the first coordinate system.

[0222] The processing module 602 is further configured to obtain a coordinate transformation matrix based on the rotation angle of the first coordinate system.

[0223] The processing module 602 is also used to obtain the position coordinates of the target wave position at the second moment in the second coordinate system based on the coordinate conversion matrix and the position coordinates of the target wave position at the first moment in the first coordinate system; wherein the origin of the second coordinate system is the center of mass of the earth, and the X-axis, Y-axis, and Z-axis of the second coordinate system are respectively parallel to the X-axis, Y-axis, and Z-axis of the satellite body coordinate system at the second moment.

[0224] Processing module 602 determines the beam control parameters of the target satellite based on the second position information, the second position information including: the position coordinates of the center of mass of the earth, the target satellite and the target wave position in the second coordinate system at the second moment; wherein the beam control parameters include the angle, delay and Doppler frequency shift of the beam emitted by the target satellite.

[0225] It should be understood that the execution of the above corresponding processes by each module has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0226] The processing module 602 in the above embodiment can be implemented by at least one processor or processor-related circuit. The transceiver module 601 can be implemented by a transceiver or a transceiver-related circuit. The transceiver module 601 can also be called a communication unit or a communication interface. The storage unit can be implemented by at least one memory.

[0227] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7As shown, the electronic device 700 provided in this embodiment includes: a memory 701 and a processor 702 .

[0228] The memory 701 may be an independent physical unit, and may be connected to the processor 702 via a bus 703. The memory 701 and the processor 702 may also be integrated together and implemented by hardware. The memory 701 is used to store program instructions, and the processor 702 calls the program instructions to execute the operations performed by the satellite base station in any of the above method embodiments.

[0229] Optionally, when part or all of the methods of the above embodiments are implemented by software, the electronic device 700 may also include only a processor 702. The memory 701 for storing programs is located outside the electronic device 700, and the processor 702 is connected to the memory through circuits / wires for reading and executing the programs stored in the memory. The processor 702 may be a central processing unit (CPU), a network processor (NP) or a combination of a CPU and a NP. The processor 702 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0230] The memory 701 may include a volatile memory, such as a random-access memory (RAM); the memory may also include a non-volatile memory, such as a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the memory may also include a combination of the above types of memory.

[0231] Exemplarily, the present application provides a satellite base station, comprising: a memory and at least one processor; the memory stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor performs the operations performed by the satellite base station in the above method embodiment.

[0232] Exemplarily, the present application provides a chip, comprising: an interface circuit and a logic circuit, wherein the interface circuit is used to receive signals from other chips outside the chip and transmit them to the logic circuit, or to send signals from the logic circuit to other chips outside the chip, and the logic circuit is used to execute the operations performed by the satellite base station in the above method embodiment.

[0233] Illustratively, the present application provides a computer-readable storage medium on which computer program instructions are stored. The computer program instructions are executed by a processor of an electronic device so that the electronic device executes the operations performed by the satellite base station in the above method embodiment.

[0234] Illustratively, the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the operations executed by the satellite base station in the above method embodiment.

[0235] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining satellite beam control parameters, characterized in that: The method comprises: Determine a first coordinate system, the origin of the first coordinate system is the center of mass of the earth, and the X-axis, Y-axis, and Z-axis of the first coordinate system are respectively parallel and in the same direction as the X-axis, Y-axis, and Z-axis of the satellite body coordinate system at the first moment; wherein the origin of the satellite body coordinate system is the center of mass of the target satellite, the X-axis of the satellite body coordinate system points to the flight direction of the target satellite, the Y-axis of the satellite body coordinate system points to the negative normal of the orbital plane of the target satellite, and the Z-axis of the satellite body coordinate system points to the center of mass of the earth; Based on the ephemeris data of the target satellite, first position information is obtained, wherein the first position information includes: position coordinates of the center of mass of the earth, the target satellite and the target wave position in the first coordinate system at the first moment; Determine a rotation angle of the first coordinate system according to the movement parameter of the target satellite; the rotation angle is used to indicate a rotation angle corresponding to the movement of the target satellite in the XOZ plane of the first coordinate system during a time period from the first moment to the second moment; Obtaining a coordinate transformation matrix based on the rotation angle of the first coordinate system; Based on the coordinate conversion matrix and the position coordinates of the target wave position at the first moment in the first coordinate system, the position coordinates of the target wave position at the second moment in the second coordinate system are obtained; wherein the origin of the second coordinate system is the center of mass of the earth, and the X-axis, Y-axis, and Z-axis of the second coordinate system are respectively parallel to the X-axis, Y-axis, and Z-axis of the satellite body coordinate system at the second moment; Based on the second position information, the beam control parameters of the target satellite are determined, and the second position information includes: the position coordinates of the earth's center of mass, the target satellite and the target wave position in the second coordinate system at the second moment; wherein the beam control parameters include the angle, delay and Doppler frequency shift of the beam emitted by the target satellite.

2. The method according to claim 1, characterized in that The Z axis of the first coordinate system coincides with the Z axis of the satellite body coordinate system at the first moment; The step of obtaining first position information based on the ephemeris data of the target satellite includes: Based on the ephemeris data of the target satellite, third position information is obtained, wherein the third position information includes: position coordinates of the center of mass of the earth, the target satellite and the target wave position in the satellite body coordinate system at the first moment respectively; The first position information is obtained based on the third position information and the relationship between the first coordinate system and the satellite body coordinate system at the first moment.

3. The method according to claim 1, characterized in that The step of determining the rotation angle of the first coordinate system based on the movement parameter of the target satellite comprises: Based on the linear velocity of the target satellite, determining the angular velocity of the target satellite; wherein the angular velocity of the target satellite is the ratio of the linear velocity of the target satellite to the orbital radius of the target satellite; Based on the angular velocity of the target satellite, the rotation angle of the first coordinate system is determined; wherein the rotation angle of the first coordinate system is the product of the angular velocity of the target satellite and the time length from the first moment to the second moment.

4. The method according to claim 1, characterized in that: The rotation angle satisfies: The angle between the X-axis in the first coordinate system and the X-axis in the second coordinate system; or The angle between the Z axis in the first coordinate system and the Z axis in the second coordinate system.

5. The method according to claim 1, characterized in that The angle of the beam includes the azimuth and elevation of the beam; Determining the beam control parameters of the target satellite according to the second position information includes: Determine the azimuth of the beam at the second moment based on the position coordinates of the target wave position at the second moment in the second coordinate system and the second coordinate system; Based on the position coordinates of the earth's center of mass, the target satellite and the target wave position in the second coordinate system at the second moment, the pitch angle of the beam at the second moment is determined.

6. The method according to claim 1, characterized in that Determining the beam control parameters of the target satellite according to the second position information includes: Based on the target beam position at the second moment and the position coordinates of the target satellite in the second coordinate system, and the propagation speed of the beam, the time delay of the beam at the second moment is determined.

7. The method according to claim 1, characterized in that Determining the beam control parameters of the target satellite according to the second position information includes: Based on the target beam position at the second moment and the position coordinates of the target satellite in the second coordinate system, the Doppler frequency shift of the beam at the second moment is determined.

8. A satellite-borne base station, characterized in that: include: memory and at least one processor; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the method according to any one of claims 1 to 7.

9. An electronic device, characterized in that: include: memory and at least one processor; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed, the method according to any one of claims 1 to 7 is implemented.

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