Direct communication method, device, electronic equipment and medium between satellite and ground terminal

Abstract

The present application provides a direct communication method, device, electronic device and medium between a satellite and a ground terminal, and relates to the field of satellite communication technology. The direct communication method between a satellite and a ground terminal provided in the present application includes: obtaining the location information of the ground terminal and the area information of the area where the ground terminal is located; based on the location information and the area information, determining the empty area corresponding to the ground terminal, wherein the empty area is the area of ​​the sky that can be looked up at without being blocked by buildings with the location information as the reference point; based on the operation missions of the multiple initial satellites obtained, determining the operation trajectories of the multiple initial satellites; based on the operation trajectories and the empty area, selecting a target satellite from the multiple initial satellites, and controlling the target satellite to provide communication services for the ground terminal. The present application can improve the satellite communication quality of ground terminals located in areas with multiple buildings.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a direct communication method, device, electronic equipment and medium between a satellite and a ground terminal. Background Art

[0002] With the continuous development of low-orbit satellite technology, direct communication has been achieved between low-orbit satellites and ground terminals. At the same time, because the operating altitude of low-orbit satellites is lower than that of high-orbit satellites, when providing communication services, low-orbit satellites have lower communication latency, higher communication quality and stronger communication stability, making the use of low-orbit satellites to communicate directly with ground terminals more and more common.

[0003] However, the inventors of this application discovered that due to the accelerated pace of urbanization, when the ground terminal is located in an urban area, especially in an area with dense high-rise buildings, the mobile phone is in the shadow of the satellite coverage. If it is blocked by high-rise buildings, the communication quality between the low-orbit satellite and the ground terminal will deteriorate, and even communication interruption may occur, thereby affecting the communication experience of the ground terminal. Summary of the invention

[0004] In order to improve the satellite communication quality of ground terminals located in multi-building areas; the present application provides a direct communication method, device, electronic equipment and medium between a satellite and a ground terminal.

[0005] The present application provides a direct communication method between a satellite and a ground terminal, which adopts the following technical solution:

[0006] A direct communication method between a satellite and a ground terminal, applied to a server, comprises:

[0007] Obtaining location information of the ground terminal and area information of the area where the ground terminal is located;

[0008] Based on the location information and the area information, determine the empty area corresponding to the ground terminal, wherein the empty area is the sky area that can be seen upward without being blocked by buildings with the location information as a reference point;

[0009] Determining the operation trajectories of the multiple initial satellites based on the obtained operation missions of the multiple initial satellites;

[0010] Based on the trajectory and the empty area, the target satellite is selected from multiple initial satellites, and the target satellite is controlled to provide communication services to the ground terminal.

[0011] According to some embodiments, the above-mentioned area information includes building information and road information; the above-mentioned determination of the vacant area corresponding to the ground terminal based on the location information and the area information includes: constructing a three-dimensional area model based on the building information and the road information; inputting the location information into the three-dimensional area model, and generating multiple upward-looking virtual lines based on the location information; eliminating the upward-looking virtual lines that are blocked by the building features included in the three-dimensional area model from the generated multiple upward-looking virtual lines, and constructing the vacant area based on the upward-looking virtual lines that are not eliminated.

[0012] According to some embodiments, the above-mentioned construction of the empty area based on the upward-looking virtual line that has not been eliminated includes: obtaining the operating altitudes of multiple initial satellites and delineating multiple altitude areas; based on the operating altitudes, determining the altitude areas corresponding to the multiple initial satellites respectively; taking the altitude area containing the most initial satellites as the target area, and constructing the empty area based on the target area and the upward-looking virtual line that has not been eliminated.

[0013] According to some embodiments, the above-mentioned method of selecting a target satellite from multiple initial satellites based on the operation trajectory and the empty area includes: determining the time that multiple initial satellites stay in the empty area based on the operation trajectory, and defining the initial satellite that stays in the empty area the longest time as the target satellite.

[0014] According to some embodiments, the above-mentioned method of selecting a target satellite from the multiple initial satellites based on the operating trajectory and the empty area includes: obtaining position information of multiple initial satellites; based on the position information and the empty area, preliminarily screening the multiple initial satellites, and eliminating the initial satellites whose position information is not located in the empty area, and retaining the initial satellites whose position information is located in the empty area, to obtain multiple preliminary screening satellites; when the ground terminal is in operation, obtaining the road travel direction of the road where the ground terminal is located; based on the operating trajectory and the road travel direction, determining the angles between the road travel directions and the operating trajectories of multiple preliminary screening satellites; defining the preliminary screening satellite corresponding to the smallest angle as the target satellite.

[0015] According to some embodiments, the above-mentioned area information includes road information; after determining the empty area corresponding to the ground terminal based on the location information and the area information, the above-mentioned method also includes: when the ground terminal is in operation, predicting the pre-operation trajectory of the ground terminal based on the location information and the road information; determining multiple pre-position points of the pre-operation trajectory, wherein the pre-position point is a position point that the ground terminal is about to arrive at; based on the pre-position point and its corresponding area information, determining the empty areas corresponding to the multiple pre-position points respectively.

[0016] According to some embodiments, after determining the empty areas corresponding to the multiple pre-position points respectively based on the pre-position points and their corresponding area information, the above-mentioned method also includes: determining the time required for the ground terminal to reach the multiple pre-position points respectively, and determining the pre-target satellites corresponding to the multiple pre-position points respectively based on the time; sorting the pre-target satellites corresponding to the multiple pre-position points in the order in which the ground terminal arrives at the multiple pre-position points, and generating multiple delay control instructions, wherein the multiple delay control instructions correspond to the multiple pre-position points; each time the ground terminal arrives at a pre-position point, based on its corresponding delay control instruction, controlling its corresponding pre-target satellite to provide communication services for the ground terminal.

[0017] The present application provides a device for controlling direct communication between a satellite and a ground terminal, which adopts the following technical solution:

[0018] A device for controlling a satellite to directly communicate with a ground terminal comprises: an information acquisition module, a first empty area determination module, a running track determination module and a first satellite control module, wherein:

[0019] An information acquisition module is used to acquire the location information of the ground terminal and the area information of the area where the ground terminal is located;

[0020] A first vacant area determination module is used to determine a vacant area corresponding to the ground terminal based on the location information and the area information, wherein the vacant area is a sky area that can be seen upward without being blocked by buildings with the location information as a reference point;

[0021] An operation trajectory determination module, used for determining the operation trajectories of the multiple initial satellites based on the acquired operation missions of the multiple initial satellites;

[0022] The first satellite control module is used to select a target satellite from multiple initial satellites based on regional information, operating trajectory and empty area, and control the target satellite to provide communication services for the ground terminal.

[0023] According to some embodiments, the above-mentioned area information includes building information and road information; the above-mentioned first vacant area determination module is specifically used to: construct a three-dimensional area model based on the building information and road information; input the position information into the three-dimensional area model, and generate multiple upward-looking virtual lines based on the position information; eliminate the upward-looking virtual lines that are blocked by the building features included in the three-dimensional area model from the generated multiple upward-looking virtual lines, and construct a vacant area based on the upward-looking virtual lines that are not eliminated.

[0024] According to some embodiments, the above-mentioned first empty area determination module is specifically used to: obtain the operating altitudes of multiple initial satellites and define multiple altitude areas; determine the altitude areas corresponding to the multiple initial satellites based on the operating altitudes; take the altitude area containing the most initial satellites as the target area, and construct an empty area based on the target area and the upward-looking virtual lines that have not been eliminated.

[0025] According to some embodiments, the first satellite control module is specifically used to: determine the time that multiple initial satellites stay in the empty area based on the operation trajectory, and define the initial satellite that stays in the empty area the longest time as the target satellite.

[0026] According to some embodiments, the above-mentioned first satellite control module is specifically used to: obtain the position information of multiple initial satellites; based on the position information and the empty area, preliminarily screen the multiple initial satellites, and eliminate the initial satellites whose position information is not located in the empty area, and retain the initial satellites whose position information is located in the empty area, to obtain multiple preliminary screening satellites; when the ground terminal is in operation, obtain the road travel direction of the road where the ground terminal is located; based on the operation trajectory and the road travel direction, determine the angles between the road travel directions and the operation trajectories of multiple preliminary screening satellites; define the preliminary screening satellite corresponding to the minimum angle as the target satellite.

[0027] According to some embodiments, the above-mentioned regional information includes road information; the above-mentioned device for controlling the satellite to directly communicate with the ground terminal further includes: a trajectory prediction module, a pre-position point determination module and a second empty area determination module, wherein:

[0028] A trajectory prediction module, used to predict the pre-operation trajectory of the ground terminal based on the location information and the road information when the ground terminal is in operation;

[0029] A pre-position point determination module is used to determine a plurality of pre-position points of a pre-operation trajectory, wherein the pre-position point is a position point that the ground terminal is about to arrive at;

[0030] The second vacant area determination module is used to determine the vacant areas corresponding to the plurality of pre-position points respectively based on the pre-position points and the area information corresponding thereto.

[0031] According to some embodiments, the above-mentioned device for controlling a satellite to directly communicate with a ground terminal further includes: a pre-target satellite determination module, a delay control instruction generation module and a second satellite control module, wherein:

[0032] A pre-target satellite determination module is used to determine the time required for the ground terminal to reach multiple pre-position points respectively, and determine the pre-target satellites corresponding to the multiple pre-position points respectively based on the time;

[0033] A delay control instruction generation module is used to sort the pre-target satellites corresponding to the multiple pre-position points according to the order in which the ground terminal arrives at the multiple pre-position points, and generate multiple delay control instructions, wherein the multiple delay control instructions correspond to the multiple pre-position points;

[0034] The second satellite control module is used to control the corresponding pre-target satellite to provide communication services for the ground terminal based on the corresponding delay control instruction each time the ground terminal arrives at a pre-position point.

[0035] The present application provides an electronic device, which adopts the following technical solution:

[0036] An electronic device, comprising:

[0037] processor;

[0038] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned direct communication method between the satellite and the ground terminal.

[0039] The present application provides a computer-readable medium, which adopts the following technical solution:

[0040] A computer readable medium stores a computer program, and when the computer program is executed by a processor, the processor executes the above-mentioned direct communication method between a satellite and a ground terminal.

[0041] According to the above-mentioned embodiment provided by the present application, the empty area at the current position of the ground terminal is determined by utilizing the location information of the ground terminal and the area information of the area where the ground terminal is located; at the same time, the mission information of multiple initial satellites currently in operation is obtained, and the operation trajectory of each initial satellite is determined based on the mission information; then, by determining the positional relationship between the operation trajectory and the empty area, the target satellite that can currently provide stable communication services to the ground terminal is selected from the multiple initial satellites, and the target satellite is controlled to provide communication services to the ground terminal at the current moment; thereby improving the satellite communication quality of the ground terminal located in a multi-building area. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a block diagram of a direct communication method between a satellite and a ground terminal according to an embodiment of the present application;

[0043] Figure 2 It is a block diagram of a direct communication device between a satellite and a ground terminal according to an embodiment of the present application;

[0044] Figure 3 It is a schematic diagram of an electronic device according to an embodiment of the present application.

[0045] Description of reference numerals:

[0046] 20: direct communication device between satellite and ground terminal; 201: information acquisition module; 202: first empty area determination module; 203: operation trajectory determination module; 204: first satellite control module; 30: electronic device; 301: processor; 302: bus; 303: memory; 304: transceiver. DETAILED DESCRIPTION

[0047] The following is combined with Figure 1-Figure 3 This application is described in further detail.

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the drawings in the embodiments of the present application are collected below to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] An embodiment of the present application provides a direct communication method between a satellite and a ground terminal, which can be executed by an electronic device, wherein the electronic device can be a server, wherein the server can be an independent physical server, or a server cluster or distributed device composed of multiple physical servers, or a cloud server that provides cloud computing services; the server can be installed on a ground communication terminal or on a satellite.

[0050] Reference Figure 1 A direct communication method between a satellite and a ground terminal includes: step S101, step S102, step S103 and step S104, wherein:

[0051] S101, obtaining location information of a ground terminal and area information of an area where the ground terminal is located.

[0052] In some embodiments, the ground terminal can be a satellite phone, a vehicle-mounted device, etc.; the electronic device can obtain the location information of the ground terminal through the Beidou satellite positioning system or the global positioning system; in addition, the electronic device can determine the area where the ground terminal is located at the current moment through the location information; then, use the point cloud device to perform a point cloud scan on the area; the point cloud device sends the point cloud information to the electronic device, and the electronic device uses the point cloud information as the area information of the area; or, the electronic device can also determine the area where the ground terminal is located at the current moment through the location information, and then the electronic device retrieves the building planning map and the traffic planning map of the area, and obtains the area information of the area by analyzing the building planning map and the traffic planning map.

[0053] S102, determining an empty area corresponding to the ground terminal based on the location information and the area information.

[0054] In some embodiments, the vacant area is a sky area that is not blocked by buildings and can be seen by looking up based on the location information.

[0055] In order to ensure high-quality communication between the low-orbit satellite and the ground terminal, the optimal communication method is that there is no obstruction between the low-orbit satellite and the ground terminal, and the communication beam can be directly transmitted between the two; in addition, since the ground terminal is located in an area with dense high-rise buildings, with the location information as the reference point, there is a part of the sky area that is blocked by high-rise buildings; therefore, the electronic equipment can determine the area that is not blocked by high-rise buildings from the sky area through the location information and area information, that is, the empty area, and select the target satellite from the area to provide communication services for the ground terminal.

[0056] The electronic device can determine the vacant area corresponding to the ground terminal based on the location information and area information and through simulation technology, wherein a three-dimensional area model is constructed based on the area information simulation, and the location information is substituted into the three-dimensional area model, and an upward-looking virtual line is constructed using the location information as a reference point. The vacant area corresponding to the ground terminal is constructed through the upward-looking virtual line and the building model in the three-dimensional area model.

[0057] S103, determining the operation trajectories of the multiple initial satellites based on the acquired operation missions of the multiple initial satellites.

[0058] In some embodiments, the electronic device obtains the operating tasks of multiple initial satellites when the ground terminal is located at the location information, wherein the operating tasks include operating direction, operating altitude, etc.; the electronic device predicts the operating trajectory corresponding to each initial satellite based on the operating direction and operating altitude.

[0059] In some embodiments, the operating directions of the initial satellites may be different directions, the operating altitudes may be different, and the multiple initial satellites may belong to the same Starlink or may not belong to the same Starlink.

[0060] S104, based on the running track and the empty area, select a target satellite from multiple initial satellites, and control the target satellite to provide communication services for the ground terminal.

[0061] In some embodiments, the operation trajectory reflects the operation path of the initial satellite; the empty area represents an area that can provide high-quality communication services to the ground terminal or is not affected by buildings; therefore, the electronic device can determine the relationship between the operation trajectory and the empty area by analysis, and based on the analysis results, select a target satellite from multiple initial satellites that can provide high-quality communication services to the ground terminal or is not affected by buildings at the current moment; after the electronic device determines the target satellite, the electronic device generates a satellite service instruction and sends the satellite service instruction to the target satellite to control the target satellite to establish a communication connection with the ground terminal, thereby realizing a direct communication service between the ground terminal and the target satellite, thereby reducing the impact of buildings on ground terminal communications and improving satellite communication quality.

[0062] In some embodiments, the area information includes building information and road information; then in step S102, based on the location information and the area information, the vacant area corresponding to the ground terminal is determined, including: constructing a three-dimensional area model based on the building information and the road information; inputting the location information into the three-dimensional area model, and generating multiple upward-looking virtual lines based on the location information; eliminating the upward-looking virtual lines blocked by the building features included in the three-dimensional area model, and constructing a vacant area based on the upward-looking virtual lines that have not been eliminated.

[0063] In some embodiments, the building information is high-rise building information in the area, wherein the high-rise building information includes building location information, building area information, building height information, etc.; the road information includes road location information, road width information, road length information, etc.

[0064] In some embodiments, the electronic device area information is analyzed to determine the building information and road information it contains; the electronic device then uses the three-dimensional model building software to input the building information and road information into the three-dimensional model building software to build a three-dimensional area model, wherein the constructed three-dimensional area model is in an integer proportional relationship with the actual conditions of the buildings and roads in the area, to facilitate data processing by the electronic device.

[0065] Afterwards, the electronic device substitutes the position information into the three-dimensional area model, and generates multiple upward-looking virtual lines using the position information as a reference point. Subsequently, the electronic device determines whether the multiple virtual lines are blocked by building features in the three-dimensional area model, and removes the upward-looking virtual lines blocked by the building model, retaining the upward-looking virtual lines that are not blocked by the building features. Afterwards, the electronic device constructs a preliminary vacant area in the area of ​​multiple initial satellite operating altitudes, wherein the preliminary vacant area is a three-dimensional area, and the three-dimensional area includes the area at the operating altitudes of all initial satellites; subsequently, the electronic device determines the final vacant area from the preliminary vacant area, wherein the final vacant area is a two-dimensional area.

[0066] In some embodiments, a clearing area is constructed based on a retained upward-looking virtual line, including: obtaining the operating altitudes of multiple initial satellites and delineating multiple altitude areas; determining the altitude areas corresponding to the multiple initial satellites based on the operating altitudes; taking the altitude area containing the most initial satellites as the target area, and constructing a clearing area based on the target area and the upward-looking virtual lines that have not been eliminated.

[0067] In some embodiments, since multiple initial satellites may be located at the same operating altitude or at different operating altitudes, in order to improve the practicality of determining the empty area, the electronic device needs to determine the final empty area from the preliminary empty area, that is, the electronic device first obtains the operating altitudes of multiple initial satellites, and at the same time, the electronic device delineates the heights of the preliminary empty area, delineates multiple altitude areas of the preliminary empty area, and constructs a two-dimensional empty area for each altitude area, that is, determines the altitude areas corresponding to the multiple initial satellites respectively; then, the electronic device determines the number of initial satellites located in each altitude area, and takes the altitude area with the most initial satellites located in the same altitude area as the target area, and constructs the final empty area at the target area based on the retained upward-looking virtual line.

[0068] In step S104, based on the running trajectory and the empty area, a target satellite is selected from multiple initial satellites, including: based on the running trajectory, determining the time that multiple initial satellites stay in the empty area, and defining the initial satellite that stays in the empty area the longest as the target satellite.

[0069] In some embodiments, only one satellite is needed to provide communication services to ground terminals. Therefore, after preliminary screening of multiple initial satellites is completed and multiple preliminary screening satellites are obtained, the electronic device needs to determine the target satellite that will provide services to the final ground terminal from the multiple preliminary screening satellites. In the process of determining the target satellite, considering the satellite switching problem, in order to reduce the frequency of satellite switching as much as possible, it is possible to consider determining the preliminary screening satellite that has been in the empty area for the longest time from the multiple preliminary screening satellites as the target satellite. Therefore, the electronic device determines the time that the multiple preliminary screening satellites stay in the empty area based on the operating trajectories of the multiple preliminary screening satellites, judges the time corresponding to the multiple preliminary screening satellites, and defines the initial satellite that has stayed in the empty area for the longest time as the target satellite.

[0070] In some embodiments, in step S104, the target satellite is screened out from the initial satellites based on the running trajectory and the empty area, including: obtaining position information of multiple initial satellites; based on the position information and the empty area, preliminarily screening the multiple initial satellites, and eliminating the initial satellites whose position information is not located in the empty area, and retaining the initial satellites whose position information is located in the empty area, to obtain multiple preliminary screening satellites; when the ground terminal is in operation, obtaining the road travel direction of the road where the ground terminal is located; based on the running trajectory and the road travel direction, determining the angles between the road travel directions and the running trajectories of multiple preliminary screening satellites; defining the preliminary screening satellite corresponding to the smallest angle as the target satellite.

[0071] In some embodiments, the electronic device sends a position acquisition instruction to multiple initial satellites, and the multiple initial satellites respond to the position acquisition instruction and send the position information of the initial satellites to the electronic device; after acquiring the position information of the multiple initial satellites, the electronic device judges and analyzes the relative position relationship between the position information and the empty area, and when it is judged that the position information of any initial satellite among the multiple initial satellites is not located in the empty area, it indicates that if any initial satellite provides communication services for the ground terminal, there is a possibility that the communication quality between the ground terminal and any initial satellite will deteriorate due to obstruction by buildings, and then the electronic device eliminates any initial satellite.

[0072] When the electronic device determines that the position information of a certain initial satellite among multiple initial satellites is located in an empty area, it indicates that if the certain initial satellite provides communication services for the ground terminal, it will not be affected by the building. Therefore, the certain initial satellite can be used as a backup satellite; the electronic device reserves the certain initial satellite; until it is determined whether the position information of all the initial satellites is located in the empty area, the preliminary screening of the multiple initial satellites is completed.

[0073] After obtaining multiple preliminary screening satellites and when the ground terminal is in operation, the electronic device first obtains the road travel direction of the road where the ground terminal is located, which can objectively reflect the direction and path of the ground terminal's movement; then, the electronic device determines the angles between the road travel directions and the operation trajectories of the preliminary screening satellites based on the operation trajectories of the screening satellites and the road travel directions; then, the electronic device compares and analyzes the multiple angles obtained to determine the minimum angle; the minimum angle indicates that the corresponding preliminary screening satellite and the ground terminal have the most identical or opposite operation directions, that is, the preliminary screening satellite is the satellite with the longest communication time between the ground terminals that is not affected by buildings; therefore, the electronic device defines the preliminary screening satellite with the minimum angle as the target satellite.

[0074] In some embodiments, the area information includes road information; then in step S102, after determining the vacant area corresponding to the ground terminal based on the location information and the area information, it also includes: when the ground terminal is in operation, predicting the pre-operation trajectory of the ground terminal based on the location information and the road information; determining multiple pre-position points of the pre-operation trajectory, wherein the pre-position point is a position point that the ground terminal is about to arrive at; based on the pre-position point and its corresponding area information, determining the vacant areas corresponding to the multiple pre-position points respectively.

[0075] In some embodiments, there are two types of relationships between the ground terminal and the satellite that provides communication services to it. First, the ground terminal is in a stationary state and the satellite is in an operating state; second, the ground terminal is in a mobile state and the satellite is in an operating state. When the relationship between the two is one of the above relationships, it is only necessary to screen out the target satellite that provides communication services to the ground terminal at the current moment.

[0076] However, when the relationship between the two is the second one mentioned above, since the ground terminal is in a mobile state, the influence of the building will change with the position of the ground terminal at different times, and delays are likely to occur in the process of determining the corresponding target satellite during the movement of the ground terminal. Therefore, when the ground terminal is in an operating state, the target satellite corresponding to the subsequent position of the ground terminal can be predicted by predicting the operating trajectory of the ground terminal. When the ground terminal is at the corresponding position, the corresponding target satellite can be directly controlled to provide communication services.

[0077] Therefore, the electronic device predicts the pre-operation trajectory of the ground terminal based on the location information and road information, and then calls the pre-position point setting rules, and determines multiple pre-position points of the pre-operation trajectory based on the pre-position point setting rules. Subsequently, the electronic device uses the multiple pre-position points as the location information of the ground terminal, and determines its corresponding area information based on the three-dimensional area construction software, and then determines the empty areas corresponding to the multiple pre-position points based on the pre-position points and their corresponding area information.

[0078] In some embodiments, when the ground terminal is located at an intersection of a road, the electronic device can determine at least two pre-operation trajectories based on the intersection conditions and the roads that the ground terminal has traveled, and respectively determine multiple pre-position points corresponding to the at least two pre-operation trajectories, and determine empty areas corresponding to the multiple position points; to ensure the accuracy of predicting the empty area of ​​the ground terminal.

[0079] In some embodiments, after determining the vacant areas corresponding to multiple pre-position points respectively based on the pre-position points and their corresponding area information, it also includes: determining the time required for the ground terminal to reach the multiple pre-position points respectively, and determining the pre-target satellites corresponding to the multiple pre-position points respectively based on the time; sorting the pre-target satellites corresponding to the multiple pre-position points respectively according to the order in which the ground terminal arrives at the multiple pre-position points, and generating multiple delay control instructions, wherein the multiple delay control instructions correspond to the multiple pre-position points; each time the ground terminal arrives at a pre-position point, based on its corresponding delay control instruction, controlling its corresponding pre-target satellite to provide communication services for the ground terminal.

[0080] In some embodiments, the electronic device obtains the running speed of the ground terminal, and determines the time required for the ground terminal to reach the pre-position point based on the running speed, current position information, the current position information of the ground terminal and the distance between the ground terminal and the position point. The electronic device predicts the position information of multiple initial satellites when the ground terminal arrives at the pre-position point based on the time and the running speeds of multiple initial satellites, and determines the pre-target satellite corresponding to each pre-position point based on the position information of the initial satellite and the empty area of ​​the pre-position point, and uses the pre-target satellite as the satellite to provide communication services to the ground terminal when the ground terminal arrives at the pre-position point.

[0081] At the same time, the electronic device arranges the pre-target satellites corresponding to the multiple pre-position points in order based on the order in which the ground terminal arrives at the multiple pre-position points, generates a delay control instruction corresponding to each pre-target satellite, and stores the multiple delay control instructions. When the ground terminal arrives at the pre-position point, the electronic device retrieves the delay control instruction corresponding to the pre-position point, and sends the delay control instruction to the pre-target satellite corresponding to the pre-position point, thereby controlling the pre-target satellite to provide communication services for the ground terminal; thereby reducing the occurrence of delayed satellite switching and improving the stability of the ground terminal communication service.

[0082] The present application provides a device for controlling direct communication between a satellite and a ground terminal, which adopts the following technical solution:

[0083] Reference Figure 2 A device 20 for controlling a satellite to directly communicate with a ground terminal comprises: an information acquisition module 201, a first empty area determination module 202, a running track determination module 203 and a first satellite control module 204, wherein:

[0084] The information acquisition module 201 is used to acquire the location information of the ground terminal and the area information of the area where the ground terminal is located;

[0085] A first vacant area determination module 202 is used to determine an vacant area corresponding to the ground terminal based on the location information and the area information, wherein the vacant area is a sky area that can be seen upward without being blocked by buildings with the location information as a reference point;

[0086] The operation trajectory determination module 203 is used to determine the operation trajectories of the multiple initial satellites based on the acquired operation tasks of the multiple initial satellites;

[0087] The first satellite control module 204 is used to select a target satellite from a plurality of initial satellites based on the regional information, the running track and the empty area, and control the target satellite to provide communication services for the ground terminal.

[0088] In some embodiments, the above-mentioned area information includes building information and road information; the above-mentioned first vacant area determination module 202 is specifically used to: construct a three-dimensional area model based on the building information and road information; input the position information into the three-dimensional area model, and generate multiple upward-looking virtual lines based on the position information; eliminate the upward-looking virtual lines that are blocked by the building features included in the three-dimensional area model from the generated multiple upward-looking virtual lines, and construct a vacant area based on the upward-looking virtual lines that are not eliminated.

[0089] In some embodiments, the above-mentioned first empty area determination module 202 is specifically used to: obtain the operating altitudes of multiple initial satellites and define multiple altitude areas; based on the operating altitudes, determine the altitude areas corresponding to the multiple initial satellites respectively; take the altitude area containing the most initial satellites as the target area, and construct an empty area based on the target area and the upward-looking virtual lines that have not been eliminated.

[0090] In some embodiments, the first satellite control module 204 is specifically used to determine the time that multiple initial satellites stay in the empty area based on the operation trajectory, and define the initial satellite that stays in the empty area the longest time as the target satellite.

[0091] In some embodiments, the first satellite control module 204 is specifically used to: obtain the position information of multiple initial satellites; based on the position information and the empty area, preliminarily screen the multiple initial satellites, and eliminate the initial satellites whose position information is not located in the empty area, and retain the initial satellites whose position information is located in the empty area, to obtain multiple preliminary screening satellites; when the ground terminal is in operation, obtain the road travel direction of the road where the ground terminal is located; based on the operation trajectory and the road travel direction, determine the angles between the road travel directions and the operation trajectories of multiple preliminary screening satellites; define the preliminary screening satellite corresponding to the minimum angle as the target satellite.

[0092] In some embodiments, the above-mentioned area information includes road information; the above-mentioned device 20 for controlling the satellite to directly communicate with the ground terminal further includes: a trajectory prediction module, a pre-position point determination module and a second empty area determination module, wherein:

[0093] A trajectory prediction module, used to predict the pre-operation trajectory of the ground terminal based on the location information and the road information when the ground terminal is in operation;

[0094] A pre-position point determination module is used to determine a plurality of pre-position points of a pre-operation trajectory, wherein the pre-position point is a position point that the ground terminal is about to arrive at;

[0095] The second vacant area determination module is used to determine the vacant areas corresponding to the plurality of pre-position points respectively based on the pre-position points and the area information corresponding thereto.

[0096] In some embodiments, the above-mentioned device 20 for controlling a satellite to directly communicate with a ground terminal further includes: a pre-target satellite determination module, a delay control instruction generation module and a second satellite control module, wherein:

[0097] A pre-target satellite determination module is used to determine the time required for the ground terminal to reach multiple pre-position points respectively, and determine the pre-target satellites corresponding to the multiple pre-position points respectively based on the time;

[0098] A delay control instruction generation module is used to sort the pre-target satellites corresponding to the multiple pre-position points according to the order in which the ground terminal arrives at the multiple pre-position points, and generate multiple delay control instructions, wherein the multiple delay control instructions correspond to the multiple pre-position points;

[0099] The second satellite control module is used to control the corresponding pre-target satellite to provide communication services for the ground terminal based on the corresponding delay control instruction each time the ground terminal arrives at a pre-position point.

[0100] In some embodiments, the information acquisition module 201 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the empty area determination module 202 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the operation trajectory determination module 203 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the first satellite control module 204 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device.

[0101] In some embodiments, the trajectory prediction module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the pre-position point determination module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the second empty area determination module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the pre-target satellite determination module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the delay control instruction generation module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the second satellite control module may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device.

[0102] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0103] An embodiment of the present application discloses an electronic device, including: a processor; a memory storing a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned direct communication method between a satellite and a ground terminal.

[0104] For example, refer to Figure 3 , Figure 3 The electronic device 30 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 30 does not constitute a limitation on the embodiments of the present invention.

[0105] The processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in the disclosure of the present invention. The processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0106] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0107] The memory 303 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0108] The memory 303 is used to store application code for executing the solution of the present invention, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the above method embodiment.

[0109] Figure 3 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0110] An embodiment of the present application discloses a computer-readable medium on which a computer program is stored. When the computer program is executed by a processor, the processor executes a direct communication method between a satellite and a ground terminal.

[0111] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0112] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A direct communication method between a satellite and a ground terminal, applied to a server, characterized in that: The method comprises: Acquire location information of a ground terminal and area information of an area where the ground terminal is located; Based on the location information and the area information, determine an empty area corresponding to the ground terminal, wherein the empty area is a sky area that can be seen from the location information as a reference point and is not blocked by buildings, and the area information includes building information and road information; Determining the operation trajectories of the multiple initial satellites based on the acquired operation missions of the multiple initial satellites; Based on the running track and the empty area, select a target satellite from the multiple initial satellites, and control the target satellite to provide communication services for the ground terminal; The step of determining the empty area corresponding to the ground terminal based on the location information and the area information includes: Constructing a three-dimensional regional model based on the building information and the road information; Inputting the position information into the three-dimensional area model, and generating a plurality of upward-looking virtual lines based on the position information; Eliminating the upward-looking virtual lines blocked by the building features included in the three-dimensional area model from the generated multiple upward-looking virtual lines, and constructing the vacant area based on the upward-looking virtual lines that are not eliminated; The step of selecting a target satellite from the plurality of initial satellites based on the running trajectory and the empty area includes: Based on the operation trajectory, the time for which the multiple initial satellites stay in the empty area is determined, and the initial satellite that stays in the empty area for the longest time is defined as the target satellite.

2. The method according to claim 1, characterized in that: The step of constructing the empty area based on the upward-looking virtual line that has not been eliminated includes: Acquiring the operating altitudes of the multiple initial satellites and defining multiple altitude regions; Based on the operating altitude, determining altitude regions corresponding to the plurality of initial satellites respectively; The altitude region containing the most initial satellites is taken as the target region, and the empty region is constructed based on the target region and the upward-looking virtual lines that have not been eliminated.

3. The method according to claim 1, characterized in that The step of selecting a target satellite from the plurality of initial satellites based on the operation trajectory and the empty area includes: Acquire position information of the plurality of initial satellites; Based on the position information and the empty area, the multiple initial satellites are preliminarily screened, and initial satellites whose position information is not located in the empty area are removed, and initial satellites whose position information is located in the empty area are retained, so as to obtain multiple preliminarily screened satellites; When the ground terminal is in operation, obtaining a road travel direction of the road where the ground terminal is located; Based on the running track and the road travel direction, determining the angles between the road travel direction and the running tracks of the multiple preliminary screening satellites respectively; The initial screening satellite corresponding to the minimum angle is defined as the target satellite.

4. The method according to any one of claims 1 to 3, characterized in that: The area information includes road information; After determining the empty area corresponding to the ground terminal based on the location information and the area information, the method further includes: When the ground terminal is in operation, predicting a pre-operation trajectory of the ground terminal based on the location information and the road information; Determine a plurality of pre-position points of the pre-operation trajectory, wherein the pre-position points are position points that the ground terminal is about to reach; Based on the pre-position points and the area information corresponding thereto, vacant areas corresponding to the plurality of pre-position points are determined.

5. The method according to claim 4, characterized in that After determining the vacant areas corresponding to the plurality of pre-position points respectively based on the pre-position points and the area information corresponding thereto, the method further comprises: Determine the time required for the ground terminal to arrive at the plurality of pre-position points respectively, and determine the pre-target satellites corresponding to the plurality of pre-position points respectively based on the time; According to the order in which the ground terminal arrives at the plurality of pre-position points, the pre-target satellites corresponding to the plurality of pre-position points are sorted, and a plurality of delay control instructions are generated, wherein the plurality of delay control instructions correspond to the plurality of pre-position points; When the ground terminal reaches a pre-position point each time, based on the corresponding delay control instruction, the corresponding pre-target satellite is controlled to provide communication service for the ground terminal.

6. A device for controlling direct communication between a satellite and a ground terminal, characterized in that: include: An information acquisition module, used to acquire the location information of the ground terminal and the area information of the area where the ground terminal is located; A first vacant area determination module is used to determine an vacant area corresponding to the ground terminal based on the location information and the area information, wherein the vacant area is a sky area that can be seen from the location information as a reference point and is not blocked by buildings, and the area information includes building information and road information; An operation trajectory determination module, used to determine the operation trajectories of the multiple initial satellites based on the acquired operation missions of the multiple initial satellites; A first satellite control module, configured to select a target satellite from the plurality of initial satellites based on the regional information, the running track and the empty area, and control the target satellite to provide communication services for the ground terminal; The first vacant area determination module is used to construct a three-dimensional area model based on the building information and the road information; input the position information into the three-dimensional area model, and generate a plurality of upward-looking virtual lines based on the position information; remove the upward-looking virtual lines blocked by the building features included in the three-dimensional area model from the generated plurality of upward-looking virtual lines, and construct the vacant area based on the upward-looking virtual lines that are not removed; The first satellite control module is used to determine the time for which the multiple initial satellites stay in the empty area based on the operation trajectory, and define the initial satellite that stays in the empty area for the longest time as the target satellite.

7. An electronic device, characterized in that: include: processor; A memory storing a computer program, which, when executed by the processor, enables the processor to perform the method according to any one of claims 1 to 5.

8. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 5.

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