Method and device for aligning satellites when there are dense obstructions on the top

Abstract

The present application discloses a method and device for aligning a satellite when there are dense obstructions on the top. The method obtains the top state of a satellite communication watch by responding to an alignment instruction; if the top state of the satellite communication watch is an obstructed state, the payload aircraft is controlled to fly until the top state becomes an unobstructed state; the alignment attitude of the satellite communication watch is determined according to the satellite operation information and the current positioning information; the flight attitude of the payload aircraft is adjusted until the current attitude of the satellite communication watch is the alignment attitude; and a target short message is sent to the target satellite corresponding to the alignment attitude. Since the satellite communication watch controls the payload aircraft to drive itself from an obstructed state to an unobstructed state, and then determines its own alignment attitude, the current attitude of the payload aircraft is adjusted to the alignment attitude to align with the target satellite by adjusting the flight attitude of the payload aircraft and sending a target short message, there is no need for the user to align the satellite in a high or open place, thereby improving the convenience of alignment and user experience.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a satellite alignment method and device when there are dense obstructions on the top. Background Art

[0002] When a satellite communication watch acquires satellite signals outdoors, it is necessary to avoid overhead obstructions and adjust the direction and tilt angle of the watch so that the antenna inside the watch is aligned with the satellite to achieve data transmission and interaction. In the prior art, users are required to place the watch in a high or open place as much as possible to avoid obstructions, and the direction and tilt angle of the watch need to be adjusted in a high or open place. Due to the complex outdoor environment, it is inconvenient for users to go to high or open places, resulting in a poor user experience. Therefore, how to improve the convenience of satellite communication and user experience has become a further problem that needs to be solved. Summary of the invention

[0003] The present application proposes a satellite alignment method and device when there are dense obstructions on the top, so as to solve the problems of low convenience of satellite alignment and poor user experience, and improve the convenience of satellite alignment and user experience.

[0004] In a first aspect, an embodiment of the present application provides a method for aligning a satellite when there are dense obstructions on the top, which is applied to a satellite communication watch in a aligning system, wherein the aligning system includes the satellite communication watch and a payload aircraft, and the satellite communication watch is physically connected to a communication port of the payload aircraft, and the method includes:

[0005] In response to the satellite pointing instruction, the top state of the satellite communication watch is obtained, wherein the top state includes an obstruction state and an unobstructed state;

[0006] If the top state of the satellite communication watch is the shielded state, controlling the payload aircraft to fly until the top state changes to the unshielded state;

[0007] Determine the satellite attitude of the satellite communication watch according to the satellite operation information and the current positioning information;

[0008] Adjusting the flight attitude of the payload aircraft until the current attitude of the satellite communication watch is the star-pointing attitude;

[0009] A target short message is sent to the target satellite corresponding to the alignment posture.

[0010] In a second aspect, an embodiment of the present application provides a star alignment device when there are dense obstructions on the top, which is applied to a satellite communication watch in a star alignment system. The star alignment system includes the satellite communication watch and a payload aircraft. The satellite communication watch is physically connected to a communication port of the payload aircraft. The device includes:

[0011] The first processing unit is used to respond to the satellite pointing instruction and obtain the top state of the satellite communication watch, wherein the top state includes an obstruction state and an unobstructed state; if the top state of the satellite communication watch is the obstruction state, the payload aircraft is controlled to fly until the top state changes to the unobstructed state;

[0012] The second processing unit is used to determine the satellite communication watch's star-pointing attitude according to the satellite operation information and the current positioning information; adjust the flight attitude of the payload aircraft until the current attitude of the satellite communication watch is the star-pointing attitude; and send a target short message to the target satellite corresponding to the star-pointing attitude.

[0013] In a third aspect, an embodiment of the present application provides a controller comprising a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program comprises instructions for executing the steps in the method described in any one of the first aspects.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, wherein the computer program / instruction, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements part or all of the steps of the method described in any one of the first aspects of the embodiments of the present application.

[0016] It can be seen that in this application, the satellite communication watch responds to the satellite alignment instruction and obtains the top state of the satellite communication watch, and the top state includes an obstructed state and an unobstructed state; if the top state of the satellite communication watch is an obstructed state, the payload aircraft is controlled to fly until the top state becomes an unobstructed state; the satellite communication watch's alignment attitude is determined according to the satellite operation information and the current positioning information; the flight attitude of the payload aircraft is adjusted until the current attitude of the satellite communication watch is the alignment attitude; and a target short message is sent to the target satellite corresponding to the alignment attitude. Since the satellite communication watch rides on the payload aircraft to continuously obtain the top state of the satellite communication watch, when the top state of the satellite communication watch is an unobstructed state, its own alignment attitude is determined according to the satellite operation information and the current positioning information, and then the current attitude of the satellite communication watch is adjusted to the alignment attitude by adjusting the flight attitude of the payload aircraft to align with the target satellite and send a target short message, so that the user does not need to go to a high place or an open place to adjust the watch attitude for alignment, which improves the convenience of alignment and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a schematic diagram of the structure of a star alignment system provided in an embodiment of the present application;

[0019] Figure 2 It is a structural schematic diagram of a satellite communication watch in a star alignment system provided by an embodiment of the present application;

[0020] Figure 3 It is a structural schematic diagram of a controller in a satellite communication watch provided in an embodiment of the present application;

[0021] Figure 4 It is a flowchart of a method for aligning a star when there are dense obstructions on the top provided by an embodiment of the present application;

[0022] Figure 5 This is an example diagram of a reminder interface provided by an embodiment of the present application;

[0023] Figure 6 This is a block diagram of the functional units of a star alignment device provided by an embodiment of the present application when there are dense obstructions on the top;

[0024] Figure 7 This is a block diagram of the functional units of another star alignment device provided by an embodiment of the present application when there are dense obstructions on the top;

[0025] Figure 8 It is a structural block diagram of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the present application, 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 only 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.

[0027] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0028] 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 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.

[0029] In the embodiments of the present application, "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist at the same time; B exists alone. Among them, A and B can be singular or plural.

[0030] In the embodiment of the present application, the symbol " / " can indicate that the objects associated with each other are in an "or" relationship. In addition, the symbol " / " can also indicate a division sign, that is, performing a division operation. For example, A / B can indicate A divided by B.

[0031] In the embodiments of the present application, "at least one item" or similar expressions refer to any combination of these items, including any combination of single items or plural items, and refer to one or more, and multiple refers to two or more. For example, at least one item of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0032] In the embodiments of the present application, "equal to" can be used in conjunction with greater than, and is applicable to the technical solution adopted when greater than, and can also be used in conjunction with less than, and is applicable to the technical solution adopted when less than. When equal to is used in conjunction with greater than, it is not used in conjunction with less than; when equal to is used in conjunction with less than, it is not used in conjunction with greater than.

[0033] In order to better understand the solutions of the embodiments of the present application, the terminal devices, related concepts and backgrounds that may be involved in the embodiments of the present application are first introduced below.

[0034] At present, when satellite communication watches acquire satellite signals outdoors, they need to avoid overhead obstructions and adjust the direction and tilt angle of the watch so that the antenna inside the watch is aligned with the satellite to achieve data transmission and interaction. In the prior art, users are required to place the watch in a high or open place as much as possible to avoid obstructions, and need to adjust the direction and tilt angle of the watch in a high or open place. Due to the complex outdoor environment, it is not convenient for users to go to high or open places, resulting in a poor user experience.

[0035] To solve the above problems, an embodiment of the present application provides a method and device for alignment when there are dense obstructions on the top, which is applied to a satellite communication watch of the alignment system. In this method, the satellite communication watch rides on a payload aircraft to continuously obtain the top status of the satellite communication watch. When the top status of the satellite communication watch is unobstructed, its own alignment attitude is determined according to the satellite operation information and the current positioning information, and then the current attitude of the satellite communication watch is adjusted to the alignment attitude by adjusting the flight attitude of the payload aircraft to align with the target satellite and send a target short message, thereby eliminating the need for the user to go to a high or open place to adjust the watch attitude for alignment, thereby improving the convenience of alignment and user experience.

[0036] See also Figure 1 , Figure 1 Schematic diagram of the structure of a star alignment system provided in an embodiment of the present application. Figure 1 As shown, the satellite alignment system 100 includes a satellite communication watch 110 and a payload aircraft 120, and the payload aircraft 120 includes a communication port 121. The satellite communication watch 110 is physically connected to the communication port 121 to achieve communication connection with the payload aircraft 120.

[0037] In daily use of the alignment system 100, the satellite communication watch 110 responds to the alignment command to obtain the top state of the satellite communication watch 110, which includes an obstructed state and an unobstructed state; if the top state of the satellite communication watch 110 is an obstructed state, the payload aircraft 120 is controlled to fly until the top state becomes an unobstructed state; the alignment attitude of the satellite communication watch 110 is determined according to the satellite operation information and the current positioning information; the flight attitude of the payload aircraft 120 is adjusted until the current attitude of the satellite communication watch 110 is the alignment attitude; and a target short message is sent to the target satellite corresponding to the alignment attitude.

[0038] For further information, see Figure 2 , Figure 2 Schematic diagram of the structure of a satellite communication watch in a star-pairing system provided by an embodiment of the present application. Figure 2As shown, the satellite communication watch 110 includes a controller 111 and a satellite alignment antenna 112. The controller 111 is communicatively connected to the satellite alignment antenna 112. The controller 111 is used to execute instructions for each step of the satellite alignment method when there are dense obstructions on the top involved in the embodiment of the present application. The satellite alignment antenna 112 is used to send electromagnetic waves to the satellite and receive electromagnetic waves sent by the satellite.

[0039] See also Figure 3 , Figure 3 1 is a schematic diagram of the structure of a controller in a satellite communication watch provided in an embodiment of the present application. Figure 2 As shown, the controller 111 includes a processor 310 and a memory 320, and the processor 310 is in communication with the memory 320. Among them, one or more programs are stored in the memory 320, and the one or more programs are configured to be executed by the processor 310. The function of the one or more programs is to respond to the satellite pointing instruction, obtain the top state of the satellite communication watch, and the top state includes an obstructed state and an unobstructed state; if the top state of the satellite communication watch is an obstructed state, control the payload aircraft to fly until the top state becomes an unobstructed state; determine the satellite pointing attitude of the satellite communication watch according to the satellite operation information and the current positioning information; adjust the flight attitude of the payload aircraft until the current attitude of the satellite communication watch is the satellite pointing attitude; send a target short message to the target satellite corresponding to the satellite pointing attitude.

[0040] The following describes a method for aligning a satellite when there are dense obstructions on the top, provided in an embodiment of the present application.

[0041] See also Figure 4 , Figure 4 This is a flowchart of a method for aligning a satellite when there are dense obstructions on the top provided by an embodiment of the present application, which is applied to Figure 1 The satellite communication watch 110 in the star alignment system 100 shown in the figure comprises the satellite communication watch 110 and a payload aircraft 120, and the payload aircraft 120 comprises a communication port 121. The satellite communication watch 110 is physically connected to the communication port 121 to achieve communication connection with the payload aircraft 120; as shown in the figure, the method comprises the following steps:

[0042] Step S401, responding to the satellite pointing instruction, obtaining the top status of the satellite communication watch.

[0043] The top state refers to the state of the transmission range of the satellite antenna of the satellite communication watch.

[0044] The top state includes an obstructed state and an unobstructed state.

[0045] The obstructed state refers to the presence of an obstruction within the transmission range of the satellite-aiming antenna of the satellite communication watch that blocks the antenna from sending and receiving electromagnetic waves.

[0046] The unobstructed state means that there are no obstructions in the transmission range of the satellite antenna of the satellite communication watch that block the antenna from sending and receiving electromagnetic waves.

[0047] Among them, the alignment instruction is used to represent the preset operation performed by the user on the satellite communication watch after the satellite communication watch successfully communicates with the payload aircraft through the communication port. The preset operation includes pressing the physical alignment button of the satellite communication watch or clicking the target function area displayed on the satellite communication watch.

[0048] In a possible embodiment, obtaining the top state of the satellite communication watch includes: obtaining a top image of the satellite communication watch; and determining the top state of the satellite communication watch according to the top image.

[0049] The top image refers to an image of the transmission range of the satellite antenna of the satellite communication watch taken by the image capture module of the satellite communication watch.

[0050] Among them, when the satellite communication watch is physically connected to the payload aircraft, the shooting direction of the image shooting module of the satellite communication watch is upward, that is, the shooting range of the image shooting module of the satellite communication watch is not blocked by the payload aircraft.

[0051] It can be seen that in this example, by obtaining the top image of the satellite communication watch, the top state of the satellite communication watch is determined according to the top image, and then when the top state of the satellite communication watch is unobstructed, the satellite operation information and the current positioning information are used to determine its own pointing attitude, and then the current attitude of the satellite communication watch is adjusted to the pointing attitude by adjusting the flight attitude of the payload aircraft to align with the target satellite and send a target short message, thereby eliminating the need for the user to go to a high or open place to adjust the watch attitude for pointing, thereby improving the convenience of pointing and user experience.

[0052] In a possible embodiment, before acquiring the top image of the satellite communication watch, the method further includes: sending a first flight instruction to the payload aircraft, the first flight instruction being used to instruct the payload aircraft to fly vertically upward from an initial position to a first position, and the distance between the first position and the initial position being a first preset distance.

[0053] Among them, the initial position is the position where the payload aircraft is ready to take off. For example, it can be: after the user connects the satellite communication watch to the communication port of the payload aircraft, the user places the payload aircraft carrying the satellite communication watch at location A to prepare for takeoff, then location A is the initial position.

[0054] Among them, the first preset distance can be specifically set according to the average value of the tree height at the user's location. For example: the satellite communication watch locates the user in Forest A. By querying the preset forest tree height table, it is obtained that the average value of the tree height in Forest A is 5m. According to the farthest shooting distance of the image shooting module of the satellite communication watch is 4m, the first preset distance is set to 5m-4m=1m.

[0055] The first position is the position where the satellite communication watch takes the first top image.

[0056] It can be seen that in this example, by sending the first flight instruction to the payload aircraft, the payload aircraft brings the satellite communication watch to the first position and then takes a picture, which can improve the clarity of the acquired top image, thereby improving the efficiency of determining the top state of the satellite communication watch, thereby improving the convenience of satellite navigation and user experience.

[0057] In a possible embodiment, determining the top state of the satellite communication watch based on the top image includes: grayscale processing the top image to obtain a top grayscale image; judging whether there is a first pixel in the top grayscale image and the density of the first pixel is greater than a preset density, the first pixel refers to a pixel whose grayscale value is less than a preset value; if so, determining that the top state of the satellite communication watch is the obstructed state; if not, determining that the top state of the satellite communication watch is the unobstructed state.

[0058] Among them, the grayscale processing refers to converting the top image into a top grayscale image, and the specific processing methods include the maximum method, the average method and the weighted average method. The maximum method refers to making the R, G, and B values ​​of the converted top grayscale image equal to the largest one of the R, G, and B values ​​before the conversion. The average method refers to the R, G, and B values ​​of the converted top grayscale image being the average of the R, G, and B values ​​of the top image. The weighted average method refers to weighted averaging of the R, G, and B values ​​according to certain weights.

[0059] The maximum grayscale value of a pixel is 255 and the minimum is 0; the brighter the pixel, the larger the grayscale value of the pixel; the darker the pixel, the smaller the grayscale value of the pixel.

[0060] Among them, when the grayscale value of a pixel point is less than the preset value, the pixel point is obtained by the picture shooting module of the satellite communication watch receiving the light reflected from the obstruction; when the grayscale value of the pixel point is greater than the preset value, the pixel point is obtained by the picture shooting module of the satellite communication watch receiving the light reflected from the sky.

[0061] Among them, the preset value is empirical data obtained based on statistical analysis of historical data for characterizing the grayscale values ​​of pixels corresponding to the obstruction and the grayscale values ​​of pixels corresponding to the sky. That is, in this example, it can be confirmed that the image corresponding to pixels with grayscale values ​​less than the preset value is the obstruction image, and it can be confirmed that the image corresponding to pixels with grayscale values ​​greater than the preset value is the sky image.

[0062] The image portion corresponding to the first pixel point is an occlusion image.

[0063] The density of the first pixel points is used to characterize the density of obstructions on the top of the satellite communication watch.

[0064] The preset density is also an empirical value obtained through statistical analysis of historical data. In this example, when the density of the first pixel points is greater than the preset density, it can be determined that the transmission range of the satellite antenna is blocked by an obstruction; when the density of the first pixel points is less than the preset density, it can be determined that the transmission range of the satellite antenna is not blocked by an obstruction.

[0065] It can be seen that in this example, the top grayscale image is obtained by performing grayscale processing on the top image, and then the first pixel point obtained by imaging the light reflected by the obstruction is determined in the top grayscale image, thereby determining the top state of the satellite communication watch. When the top state of the satellite communication watch is unobstructed, the satellite operation information and the current positioning information determine its own alignment attitude, and then the current attitude of the satellite communication watch is adjusted to the alignment attitude by adjusting the flight attitude of the payload aircraft to align with the target satellite and send a target short message, thereby eliminating the need for users to go to high or open places to adjust the watch attitude for alignment, thereby improving the convenience of alignment and user experience.

[0066] Step S402: If the top state of the satellite communication watch is the shielded state, control the payload aircraft to fly until the top state changes to the unshielded state.

[0067] The satellite communication watch controls the flight of the payload aircraft by sending flight instructions to the payload aircraft, so that the satellite communication watch can fly together with the payload aircraft, thereby adjusting the top state of the satellite communication watch.

[0068] In a possible embodiment, the top state of the satellite communication watch is the obstructed state, and before the control payload aircraft flies until the top state becomes the unobstructed state, the method further includes: determining at least one reference image area from the top grayscale image, the reference image area refers to an image area in the top grayscale image that only contains second pixels, and the second pixel refers to a pixel with a grayscale value greater than the preset value; calculating the image area of ​​each reference image area; determining a target image area in the at least one reference image area, the target image area refers to an image area in the at least one reference image area that has an image area greater than the preset image area.

[0069] Among them, the image part corresponding to the second pixel point is a sky image. It can be understood that the sky image essentially refers to the gap between the obstructions, and the gap is the flight path for the payload aircraft to fly above the obstructions. Among them, the crisscrossing leaves may divide a plurality of sky images of different sizes and shapes, that is, a plurality of flight paths of different sizes and shapes, but the payload aircraft itself has a certain shape and size, and not all flight paths can allow the payload aircraft to pass smoothly. Therefore, in this example, at least one reference image area is first determined, that is, each flight path is first determined; then the image area of ​​each reference image area is calculated, that is, the size allowed to pass through each flight path is calculated; if there is a target image area with an image area larger than the preset image area, it means that there is a flight path that allows the payload aircraft to pass smoothly. At this time, the satellite communication watch controls the payload aircraft to fly, so that the payload aircraft can pass smoothly through the flight path corresponding to the target image area, and then the top state of the satellite communication watch can be changed to an unobstructed state. Among them, the preset image area can be specifically determined according to the image ratio between the obtained top grayscale image and the real environment and the shape and size of the payload aircraft itself.

[0070] It can be seen that in this example, the reference image area is determined from the top grayscale image, and the area of ​​the reference image area is calculated to determine the target image area in the reference image area. In this way, after determining the target image area, the payload aircraft is controlled to fly to ensure that the payload aircraft can smoothly fly out of the flight path corresponding to the target image area, so that the top state of the satellite communication watch can be changed to an unobstructed state, avoiding the situation where the payload aircraft flies to the top obstruction but cannot fly out and wastes the power of the payload aircraft, thereby improving the satellite alignment efficiency and optimizing the user experience.

[0071] In a possible embodiment, controlling the payload aircraft to fly until the top state changes to the unobstructed state includes: sending a second flight instruction to the payload aircraft, the second flight instruction being used to instruct the payload aircraft to fly from the first position to a second position corresponding to the target image area, and to fly vertically upward a second preset distance; obtaining the current top state of the satellite communication watch, and determining that the current top state of the satellite communication watch is the unobstructed state.

[0072] The second position may refer to the position of the target image area, or may refer to the position of the third preset distance directly below the target image area, wherein the third preset distance is less than the second preset distance. In this example, the payload aircraft flies from the first position to the second position according to the instruction issued by the satellite communication watch, and then flies vertically upward for the second preset distance to ensure that the satellite communication watch can fly completely above the obstruction on the payload aircraft; at this time, the current top state of the satellite communication watch is obtained again, and it is determined to be an unobstructed state.

[0073] It can be seen that in this example, the satellite communication watch controls the payload aircraft to fly from the first position to the second position corresponding to the target image area, and to fly vertically upward for a second preset distance, so that the satellite communication watch can fly out of the flight path corresponding to the target image area on the payload aircraft, thereby making the current top state of the satellite communication watch become an unobstructed state. In this way, the problem that users cannot send satellite communication watches to high or open places for star alignment due to the complex outdoor environment is solved, and the user experience is optimized.

[0074] In a possible embodiment, after calculating the image area of ​​each reference image area, the method further includes: determining that the target image area does not exist in the at least one reference image area, controlling the payload aircraft to fly from the first position to the initial position; and displaying a target reminder message, wherein the target reminder message is used to remind the user to change the pointing location.

[0075] Among them, when the target image area does not exist in at least one reference image area, it indicates that the density of the top obstructions in the actual environment of the current area is too large, and there is no flight path that can allow the payload aircraft to fly out smoothly. At this time, the satellite communication watch sends a return instruction to the payload aircraft. After receiving the return instruction, the payload aircraft flies back to the initial position from the first position. After reaching the initial position, the satellite communication watch displays a target reminder message to remind the user that there is no flight path that can allow the payload aircraft to fly out smoothly in the current area, and instructs the user to change the satellite alignment point. For example, please refer to Figure 5 , Figure 5 This is an example diagram of a reminder interface provided by an embodiment of the present application. Figure 5As shown, the reminder interface 50 includes a reminder message display area 51, and the reminder message display area 51 is used to display the target reminder message. In this example, the target reminder message is: "Please try to find an area with a larger gap in the top obstruction."

[0076] It can be seen that in this example, when there is no target image area in at least one reference image area, the satellite communication watch controls the payload aircraft to fly back from the first position to the initial position, and displays a target reminder message to remind the user to change the satellite pointing point. In this way, the intelligence and flexibility of the system are improved.

[0077] Step S403, determining the satellite alignment attitude of the satellite communication watch according to the satellite operation information and the current positioning information.

[0078] The satellite operation information is ephemeris information, which records various parameters of the satellite operation, such as time, coordinates, and speed.

[0079] The current positioning information is the longitude and latitude of the current location of the satellite communication watch.

[0080] Among them, the star-pointing attitude includes an azimuth angle and a pitch angle, and determining the star-pointing attitude of the satellite communication watch according to the satellite operation information and the current positioning information includes: determining the target satellite according to the satellite operation information and the current positioning information; determining the azimuth angle and the pitch angle according to the target satellite and the current positioning information.

[0081] The current satellite position information includes the latitude and longitude of the satellite.

[0082] Among them, the target satellite is determined according to the current satellite position information and the current positioning information corresponding to each satellite of the multiple satellites. Specifically, the distance of each satellite from the satellite communication watch can be determined according to the current satellite position information and the current positioning information corresponding to each satellite; and the satellite with the shortest distance from the watch is determined as the target satellite.

[0083] The direction angle is determined by the following steps: obtaining a preset first model and a magnetic declination calculation model; importing the current satellite position information and the current positioning information corresponding to the target satellite into the first model to obtain the first theoretical angle; importing the current positioning information into the magnetic declination calculation model to obtain the target magnetic declination; determining the direction angle according to the first theoretical angle and the target magnetic declination.

[0084] The first theoretical angle is used to indicate the angle at which the satellite antenna needs to be pointed in the horizontal direction based on the true north.

[0085] The direction angle is used to indicate the angle at which the satellite antenna needs to be pointed in the horizontal direction based on the magnetic north.

[0086] The pitch angle is determined by the following steps: obtaining a preset second model; importing the current satellite position information and the current positioning information corresponding to the target satellite into the second model to obtain the pitch angle.

[0087] The elevation angle is used to indicate the angle at which the antenna needs to point in the vertical direction based on the ground plane.

[0088] Step S404, adjusting the flight attitude of the payload aircraft until the current attitude of the satellite communication watch is the star-pointing attitude.

[0089] Among them, the adjusting the flight attitude of the payload aircraft until the current attitude of the satellite communication watch is the star-pointing attitude includes: determining the target flight attitude of the payload aircraft according to the star-pointing attitude; adjusting the current flight attitude of the payload aircraft according to the target flight attitude, so that the flight attitude of the payload aircraft is the target flight attitude, thereby driving the current attitude of the satellite communication watch to be the star-pointing attitude.

[0090] Step S405: sending a target short message to the target satellite corresponding to the alignment attitude.

[0091] Wherein, determining the target satellite according to the satellite operation information and the current positioning information includes: determining the current satellite position information corresponding to multiple satellites according to the satellite operation information; and determining the target satellite according to the current satellite position information and the current positioning information corresponding to each satellite in the multiple satellites.

[0092] It can be seen that in this application, the satellite communication watch responds to the satellite alignment instruction and obtains the top state of the satellite communication watch, and the top state includes an obstructed state and an unobstructed state; if the top state of the satellite communication watch is an obstructed state, the payload aircraft is controlled to fly until the top state becomes an unobstructed state; the satellite communication watch's alignment attitude is determined according to the satellite operation information and the current positioning information; the flight attitude of the payload aircraft is adjusted until the current attitude of the satellite communication watch is the alignment attitude; and a target short message is sent to the target satellite corresponding to the alignment attitude. Since the satellite communication watch rides on the payload aircraft to continuously obtain the top state of the satellite communication watch, when the top state of the satellite communication watch is an unobstructed state, its own alignment attitude is determined according to the satellite operation information and the current positioning information, and then the current attitude of the satellite communication watch is adjusted to the alignment attitude by adjusting the flight attitude of the payload aircraft to align with the target satellite and send a target short message, so that the user does not need to go to a high place or an open place to adjust the watch attitude for alignment, which improves the convenience of alignment and user experience.

[0093] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that, in order to realize the above functions, the controller includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0094] In accordance with the above-mentioned embodiments, please refer to Figure 6 , Figure 6 is a block diagram of the functional units of a star alignment device provided by an embodiment of the present application when there are dense obstructions on the top, such as Figure 6 As shown, the alignment device 600 when there are dense obstructions on the top includes: a first processing unit 601, used to respond to the alignment instruction, obtain the top state of the satellite communication watch, and the top state includes an obstructed state and an unobstructed state; if the top state of the satellite communication watch is the obstructed state, control the payload aircraft to fly until the top state becomes the unobstructed state; a second processing unit 602, used to determine the alignment attitude of the satellite communication watch according to the satellite operation information and the current positioning information; adjust the flight attitude of the payload aircraft until the current attitude of the satellite communication watch is the alignment attitude; and send a target short message to the target satellite corresponding to the alignment attitude.

[0095] In a possible embodiment, in terms of obtaining the top state of the satellite communication watch, the first processing unit 601 is specifically used to: obtain a top image of the satellite communication watch; and determine the top state of the satellite communication watch according to the top image.

[0096] In a possible embodiment, before acquiring the top image of the satellite communication watch, the star alignment device 600 when there are dense obstructions on the top is also specifically used to: send a first flight instruction to the payload aircraft, wherein the first flight instruction is used to instruct the payload aircraft to fly vertically upward from an initial position to a first position, and the distance between the first position and the initial position is a first preset distance.

[0097] In one possible embodiment, in terms of determining the top state of the satellite communication watch based on the top image, the first processing unit 601 is specifically used to: perform grayscale processing on the top image to obtain a top grayscale image; determine whether there is a first pixel in the top grayscale image and the density of the first pixel is greater than a preset density, and the first pixel refers to a pixel whose grayscale value is less than a preset value; if so, determine that the top state of the satellite communication watch is the obstructed state; if not, determine that the top state of the satellite communication watch is the unobstructed state.

[0098] In a possible embodiment, the top state of the satellite communication watch is the obstructed state, and before the control payload aircraft flies until the top state becomes the unobstructed state, the star alignment device 600 when the top has dense obstructions is specifically used to: determine at least one reference image area from the top grayscale image, the reference image area refers to an image area in the top grayscale image that only contains second pixels, and the second pixel refers to a pixel with a grayscale value greater than the preset value; calculate the image area of ​​each reference image area; determine the target image area in the at least one reference image area, and the target image area refers to an image area in the at least one reference image area that has an image area greater than the preset image area.

[0099] In one possible embodiment, in terms of controlling the payload aircraft to fly until the top state becomes the unobstructed state, the first processing unit 601 is specifically further used to: send a second flight instruction to the payload aircraft, the second flight instruction being used to instruct the payload aircraft to fly from the first position to a second position corresponding to the target image area, and fly vertically upward a second preset distance; obtain the current top state of the satellite communication watch, and determine that the current top state of the satellite communication watch is the unobstructed state.

[0100] In a possible embodiment, after calculating the image area of ​​each reference image area, the alignment device 600 when there are dense obstructions on the top is further used to: determine that the target image area does not exist in at least one reference image area, then control the payload aircraft to fly from the first position to the initial position; and display a target reminder message, wherein the target reminder message is used to remind the user to change the alignment location.

[0101] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part and will not be repeated here.

[0102] In the case of integrated units, such as Figure 7As shown, Figure 7 This is a functional unit block diagram of another satellite alignment device provided by an embodiment of the present application when there are dense obstructions on the top. Figure 7 In the embodiment, the star alignment device 600 when there are dense obstructions on the top of the plant includes: a processing module 712 and a communication module 711. The processing module 712 is used to control and manage the actions of the star alignment device 600 when there are dense obstructions on the top of the plant, for example, to execute the steps of the first processing unit 601 and the second processing unit 602, and / or other processes for executing the technology described herein. The communication module 711 is used to support the interaction between the star alignment device 600 when there are dense obstructions on the top of the plant and other devices. Figure 7 As shown, the star alignment device 600 when there are dense obstructions on the top may further include a storage module 713, and the storage module 713 is used to store program codes and data of the star alignment device 600 when there are dense obstructions on the top.

[0103] Among them, the processing module 712 can be a processor or a controller, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 711 can be a transceiver, an RF circuit or a communication interface, and the like. The storage module 713 can be a memory.

[0104] All relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. Figure 4 Alignment method shown with dense obstructions on top.

[0105] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented using software, the above embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium may be a solid-state hard disk.

[0106] Figure 8 is a structural block diagram of a controller provided in an embodiment of the present application. Figure 8 As shown, the controller 111 may include one or more of the following components: a processor 310, a memory 320 coupled to the processor 310, wherein the memory 320 may store one or more computer programs 321, and the one or more computer programs 321 may be configured to implement the methods described in the above embodiments when executed by one or more processors 310. The controller 111 may be the controller 111 in the above embodiments.

[0107] The processor 310 may include one or more processing cores. The processor 310 uses various interfaces and lines to connect various parts of the entire controller 111, and executes various functions and processes data of the controller 111 by running or executing instructions, programs, code sets or instruction sets stored in the memory 320, and calling data stored in the memory 320. Optionally, the processor 310 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 310 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 310, but may be implemented separately through a communication chip.

[0108] The memory 320 may include a random access memory (RAM) or a read-only memory (ROM). The memory 320 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 320 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the controller 111 during use, etc.

[0109] It is understandable that the controller 111 may include more or fewer structural elements than those in the above structural block diagram, which is not limited here. The present application embodiment provides a computer-readable storage medium on which a computer program / instruction is stored, and when the computer program / instruction is executed by a processor, the steps of the method described in any possible embodiment are implemented.

[0110] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0111] In the several embodiments provided in the present application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the device embodiments described above are merely schematic; for example, the division of the unit is only a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0112] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0113] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be physically included separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0114] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM) and direct RAM bus random access memory (DR RAM), among other media that can store program code.

[0115] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various changes and modifications, including the combination of the above-mentioned different functions and implementation steps, including software and hardware implementation methods, all of which are within the scope of protection of the present invention.

Claims

1. A method for aligning a satellite when there are dense obstructions on the top, characterized in that: A satellite communication watch used in a star alignment system, wherein the star alignment system comprises the satellite communication watch and a payload aircraft, wherein the satellite communication watch is physically connected to a communication port of the payload aircraft, and the method comprises: In response to the satellite pointing instruction, the top state of the satellite communication watch is obtained, wherein the top state includes an obstruction state and an unobstructed state; If the top state of the satellite communication watch is the shielded state, controlling the payload aircraft to fly until the top state changes to the unshielded state; Determine the satellite attitude of the satellite communication watch according to the satellite operation information and the current positioning information; Adjusting the flight attitude of the payload aircraft until the current attitude of the satellite communication watch is the star-pointing attitude; A target short message is sent to the target satellite corresponding to the alignment posture.

2. The method according to claim 1, characterized in that The step of obtaining the top status of the satellite communication watch comprises: acquiring a top image of the satellite communication watch; A top state of the satellite communication watch is determined according to the top image.

3. The method according to claim 2, characterized in that Before acquiring the top image of the satellite communication watch, the method further includes: A first flight instruction is sent to the payload aircraft, where the first flight instruction is used to instruct the payload aircraft to fly vertically upward from an initial position to a first position, where the distance between the first position and the initial position is a first preset distance.

4. The method according to claim 3, characterized in that: The step of determining the top state of the satellite communication watch according to the top image comprises: Performing grayscale processing on the top image to obtain a top grayscale image; Determine whether there is a first pixel point in the top grayscale image and the density of the first pixel point is greater than a preset density, wherein the first pixel point refers to a pixel point whose grayscale value is less than a preset value; If yes, determining that the top state of the satellite communication watch is the obstructed state; If not, it is determined that the top state of the satellite communication watch is the unobstructed state.

5. The method according to claim 4, characterized in that The top state of the satellite communication watch is the shielded state, and before the load-carrying aircraft is controlled to fly until the top state changes to the unshielded state, the method further includes: Determine at least one reference image region from the top grayscale image, the reference image region refers to an image region in the top grayscale image that only contains second pixels, and the second pixels refer to pixels whose grayscale values ​​are greater than the preset value; Calculate the image area of ​​each reference image region; A target image region in the at least one reference image region is determined, where the target image region refers to an image region in the at least one reference image region where the image area is larger than a preset image area.

6. The method according to claim 5, characterized in that The controlling the load-bearing aircraft to fly until the top state changes to the unobstructed state includes: Sending a second flight instruction to the control payload aircraft, wherein the second flight instruction is used to instruct the payload aircraft to fly from the first position to a second position corresponding to the target image area and fly vertically upward for a second preset distance; The current top state of the satellite communication watch is obtained, and the current top state of the satellite communication watch is determined to be the unobstructed state.

7. The method according to claim 5, characterized in that After calculating the image area of ​​each reference image region, the method further comprises: Determining that the target image area does not exist in the at least one reference image area, then controlling the payload aircraft to fly from the first position to the initial position; A target reminder message is displayed, wherein the target reminder message is used to remind the user to change the aiming point.

8. A star alignment device when there are dense obstructions on the top, characterized in that: A satellite communication watch used in a star alignment system, wherein the star alignment system comprises the satellite communication watch and a payload aircraft, wherein the satellite communication watch is physically connected to a communication port of the payload aircraft, and the device comprises: The first processing unit is used to respond to the satellite pointing instruction and obtain the top state of the satellite communication watch, wherein the top state includes an obstruction state and an unobstructed state; if the top state of the satellite communication watch is the obstruction state, the payload aircraft is controlled to fly until the top state changes to the unobstructed state; The second processing unit is used to determine the satellite communication watch's star-pointing attitude according to the satellite operation information and the current positioning information; adjust the flight attitude of the payload aircraft until the current attitude of the satellite communication watch is the star-pointing attitude; and send a target short message to the target satellite corresponding to the star-pointing attitude.

9. A controller, characterized in that: The method comprises a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program / instruction is stored thereon, and when the computer program / instruction is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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