Satellite-aligning attitude monitoring method and system for emergency calling terminal

Abstract

The invention provides a satellite alignment attitude monitoring method and system for an emergency calling terminal, and relates to the technical field of emergency communication, and the method comprises the steps: monitoring the attitude data of the terminal through an attitude sensor integrated in the terminal, the attitude monitoring data comprising an azimuth angle, a pitch angle and a polarization angle; calculating an included angle between the terminal and the ground by using the azimuth angle, the pitch angle and the polarization angle through a quaternion conversion formula to obtain a real-time attitude angle; and performing visual display according to the real-time attitude angle, comparing the real-time attitude angle with a preset standard angle, and generating adjustment reminding information when the real-time attitude angle exceeds the preset standard angle. According to the method and the device, the technical problem of satellite attitude adjustment lag caused by the fact that a traditional fixed terminal cannot accurately monitor the satellite attitude change of the terminal in real time is solved, and the technical effects of improving the precision and the stability of satellite attitude control of the terminal and the communication quality are achieved.

Description

Technical Field

[0001] The present application relates to the field of emergency communication technology, and in particular to a satellite attitude monitoring method and system for an emergency call response terminal. Background Art

[0002] In modern emergency communication systems, emergency response terminals play a vital role. In emergency situations such as natural disasters and emergencies, they can quickly establish communication links and provide a stable information transmission platform for rescue command. The effective operation of the terminal depends on precise satellite attitude adjustment, but during long-term use, the terminal may change the satellite angle due to vibration, geological displacement, etc., resulting in weakened communication signals or even loss of communication.

[0003] Currently, the terminal's attitude adjustment to satellites mainly relies on inertial measurement units (IMUs) or optical tracking systems for attitude monitoring and control. This method of relying on a single type of sensor for monitoring is easily interfered by environmental factors, resulting in limited measurement accuracy in complex environments. For example, inertial sensors are prone to drift after working for a long time, while optical systems lose their effectiveness in low light or poor atmospheric conditions. In addition, existing terminals rely on manual intervention when making attitude adjustments, lack a real-time feedback mechanism, and are unable to respond to attitude changes in a timely manner, resulting in a lag in adjustment response and affecting communication quality. Summary of the invention

[0004] The present application provides a satellite attitude monitoring method and system for an emergency call response terminal, which solves the technical problem that the satellite attitude monitoring of traditional fixed terminals relies on a single sensor and manual inspection, is easily affected by environmental factors and human errors, and cannot monitor the terminal's satellite attitude changes in real time and accurately, resulting in delayed satellite attitude adjustment. The application achieves the technical effect of real-time and accurate monitoring of the terminal's satellite attitude, improving the accuracy and stability of the terminal's satellite attitude control, and thus improving the communication quality.

[0005] In view of the above problems, on the one hand, the present application provides a satellite attitude monitoring method for an emergency response terminal, the method comprising: monitoring the attitude data of the terminal through an attitude sensor integrated in the terminal, wherein the attitude sensor comprises at least an azimuth sensor, a pitch sensor, and a polarization sensor, and the attitude monitoring data comprises azimuth, pitch angle, and polarization angle; using the azimuth, pitch angle, and polarization angle through a quaternion conversion formula to calculate the angle between the terminal and the ground, and obtain a real-time attitude angle; performing a visual display according to the real-time attitude angle, and comparing the real-time attitude angle with a preset standard angle, and generating an adjustment reminder message when the preset standard angle is exceeded.

[0006] On the other hand, the present application also provides a satellite attitude monitoring system for an emergency response terminal, the system comprising: an attitude data monitoring module, the attitude data monitoring module being used to monitor the attitude data of the terminal through an attitude sensor integrated in the terminal, wherein the attitude sensor comprises at least an azimuth sensor, a pitch sensor, and a polarization sensor, and the attitude monitoring data comprises an azimuth angle, a pitch angle, and a polarization angle; a real-time attitude angle calculation module, the real-time attitude angle calculation module being used to calculate the angle between the terminal and the ground using the azimuth angle, the pitch angle, and the polarization angle through a quaternion conversion formula to obtain a real-time attitude angle; a display comparison module, the display comparison module being used to perform a visual display based on the real-time attitude angle, and to compare the real-time attitude angle with a preset standard angle, and to generate an adjustment reminder message when the preset standard angle is exceeded.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0008] The attitude data of the terminal is monitored by the attitude sensor integrated in the terminal, wherein the attitude sensor includes at least an azimuth sensor, a pitch sensor, and a polarization sensor, and the attitude monitoring data includes an azimuth angle, a pitch angle, and a polarization angle. Through multi-sensor fusion, the resistance of the attitude monitoring process to environmental interference is enhanced, and all-round attitude data can be obtained. The azimuth angle, the pitch angle, and the polarization angle are used to calculate the angle between the terminal and the ground through the quaternion conversion formula to obtain the real-time attitude angle, thereby realizing high-precision real-time attitude angle evaluation. Visual display is performed according to the real-time attitude angle, and the real-time attitude angle is compared with the preset standard angle. When the preset standard angle is exceeded, an adjustment reminder message is generated, and guidance information is provided for attitude adjustment in a timely manner, so as to realize a rapid response to attitude abnormalities, thereby greatly improving the real-time and accuracy of attitude adjustment.

[0009] To summarize, this application integrates multiple high-precision sensors and combines quaternions for mathematical processing, which greatly improves the real-time and accuracy of attitude monitoring. Through multi-sensor fusion, especially the introduction of polarization angle parameters, the ability to resist external interference is enhanced. It can still maintain a high attitude control performance under various harsh conditions, maintain a stable and high-precision terminal corresponding attitude, and improve communication quality.

[0010] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1A schematic diagram of a flow chart of a satellite attitude monitoring method for an emergency call response terminal provided in an embodiment of the present application;

[0012] Figure 2 A schematic diagram of the structure of a satellite attitude monitoring system for an emergency response terminal provided in an embodiment of the present application.

[0013] Description of the accompanying drawings: posture data monitoring module 10, real-time posture angle calculation module 20, display comparison module 30. DETAILED DESCRIPTION

[0014] The embodiments of the present application provide a satellite attitude monitoring method and system for an emergency call response terminal, thereby solving the technical problem that the satellite attitude monitoring of a traditional fixed terminal relies on a single sensor and manual inspection, is easily affected by environmental factors and human errors, and cannot monitor the terminal's satellite attitude changes in real time and accurately, resulting in delayed adjustment of the satellite attitude. The present application achieves the technical effect of real-time and accurate monitoring of the terminal's satellite attitude, improving the accuracy and stability of the terminal's satellite attitude control, and thus improving the quality of communication.

[0015] Embodiment 1, as Figure 1 As shown, the embodiment of the present application provides a satellite attitude monitoring method for an emergency call response terminal, the method comprising:

[0016] The terminal's attitude data is monitored by an attitude sensor integrated in the terminal, wherein the attitude sensor at least includes an azimuth sensor, a pitch sensor, and a polarization sensor, and the attitude monitoring data includes an azimuth angle, a pitch angle, and a polarization angle.

[0017] Specifically, attitude sensors are various types of sensors used to measure and monitor the spatial position and orientation of a terminal relative to a satellite. By integrating the attitude sensors on the terminal, the attitude data of the terminal can be monitored and acquired in real time.

[0018] Attitude sensors include azimuth sensors, pitch sensors, polarization sensors, etc. Among them, the azimuth sensor is used to measure the horizontal rotation angle of the terminal relative to the horizon, that is, the azimuth, which usually refers to the angle between the north direction and the front of the object. The pitch sensor is used to measure the tilt angle of the terminal along the vertical axis, that is, the pitch angle. The pitch angle indicates the upward or downward deflection amplitude of the terminal relative to the horizontal plane. The polarization sensor focuses on the directional attribute of signal propagation and is used to measure the polarization angle of the terminal antenna polarization direction relative to the satellite signal direction to avoid signal attenuation. In addition, the terminal's attitude data also includes displacement parameters. In some cases, the terminal may need to fine-tune its geographic location to optimize the signal transmission path or avoid collisions with other space objects. The displacement sensor can measure the position change of the terminal and obtain displacement data.

[0019] Through the fusion monitoring of multiple attitude sensors, multi-dimensional terminal attitude data can be obtained, providing accurate and comprehensive data support for subsequent real-time attitude angle calculation.

[0020] The azimuth, pitch angle, and polarization angle are used to calculate the angle between the terminal and the ground through a quaternion conversion formula to obtain a real-time attitude angle.

[0021] Specifically, the real-time attitude angle is monitored and calculated by the sensors on the terminal, reflecting the information of the terminal's current azimuth, pitch angle and other attitudes. Quaternion is a mathematical tool that is often used to describe and calculate rotations in three-dimensional space. It can effectively represent and combine complex rotation sequences. The terminal can calculate the real-time terminal attitude angle to the satellite by using azimuth, pitch angle and polarization angle in combination with the quaternion conversion formula. Specifically, the azimuth angle provides the direction information of the terminal on the horizontal plane, the pitch angle describes the tilt of the terminal in the vertical direction, and the polarization angle takes into account the characteristics of electromagnetic wave propagation. By converting these three angles into quaternions, the terminal can grasp its own attitude in real time and provide accurate basic data for attitude adjustment.

[0022] Visual display is performed according to the real-time posture angle, and the real-time posture angle is compared with a preset standard angle, and adjustment reminder information is generated when the preset standard angle is exceeded.

[0023] Specifically, visualization is usually achieved through a graphical user interface (GUI), which displays the calculated real-time attitude angle in a graphical form, such as a 3D model, a dashboard, or a histogram, so that the operator can intuitively understand the current attitude of the terminal. For example, the azimuth angle may be displayed in a 360-degree circular chart, while the pitch angle is represented by a vertical bar chart.

[0024] The preset standard angle is the ideal attitude angle range set according to the terminal design and mission requirements, and is used as a reference standard for attitude adjustment. The real-time attitude angle is compared with the preset standard angle. When the real-time attitude angle exceeds these preset standard angles, an adjustment reminder message is immediately generated. These reminders may be sound warnings, visual alarms, or messages sent through other communication means. For example, when the deviation of the azimuth exceeds 0.5°, the control software generates a red warning and flashes it in a specific area on the screen, and notifies the operator through a sound alarm.

[0025] Exemplarily, the preset terminal azimuth is 120° and the pitch angle is 30°. In the monitoring system of the control center, the real-time posture of the terminal is displayed in a 3D model through the GUI. At a certain moment, the real-time azimuth reading becomes 121.3°, which exceeds the preset range of ±0.5°. At this time, the system automatically identifies the deviation and displays a red warning sign next to the azimuth instrument panel on the monitoring interface, accompanied by a sound alarm. At the same time, an adjustment reminder message pops up on the operator's console screen: "Warning: The azimuth deviation exceeds the threshold, please check or adjust the posture", and may automatically trigger the fine-tuning mechanism for preliminary correction.

[0026] This step ensures that the terminal can respond to posture deviations in a timely manner. Through visualization and instant reminder mechanisms, the reaction speed to posture anomalies is enhanced, thereby ensuring stable terminal communications.

[0027] Furthermore, the method of obtaining the real-time posture angle described in the embodiment of the present application further includes:

[0028] The real-time attitude angle is transmitted to the central station in real time via a satellite link. The central station compares the received real-time attitude angle with a preset warning threshold. When the preset warning threshold is exceeded, the warning mechanism is triggered. The central station is connected to one or more terminals via a satellite link to build a warning monitoring network.

[0029] Specifically, the satellite link is a communication channel connecting the terminal and the central station, which is used to transmit real-time attitude data. As the core of the monitoring network, the central station is responsible for receiving and analyzing the real-time attitude data from one or more terminals, and performing comparison and warning based on preset standards. The warning threshold is the preset allowable deviation range. When the real-time attitude angle exceeds this range, the warning is triggered.

[0030] The attitude sensor on the terminal continuously monitors and calculates the real-time attitude angle. After obtaining the real-time attitude angle, the data is encrypted and transmitted to the central station in real time through the satellite link. The central station receives and decodes the data, uses data analysis software (such as data processing packages in MATLAB or Python) to analyze the attitude angle in real time, and compares it with the preset warning threshold. When the monitored real-time attitude angle exceeds the warning threshold, the central station automatically triggers the warning mechanism, which can include response measures such as sound and light alarms, system notifications, and automatic attitude adjustments. For example, using a SCADA system (data acquisition and monitoring system) for real-time monitoring, when the attitude angle deviation reaches the preset threshold, the system automatically triggers an alarm and notifies the technical team to conduct remote or on-site inspections. The central station is connected to multiple terminals through satellite links to form an early warning monitoring network. This network enables the central station to monitor the status of multiple terminals in real time and promptly discover and handle abnormal attitude problems. This centralized monitoring and management greatly improves the operating efficiency and safety of the terminal, especially in emergency situations, and can respond quickly and take measures to ensure the continuity and stability of communication.

[0031] Furthermore, the azimuth sensor described in the embodiment of the present application monitors the direction angles of the southeast, northwest and northeast directions of the terminal, the pitch sensor monitors the angle between the terminal and the horizontal plane, and the polarization sensor monitors the side roll angle of the terminal.

[0032] Specifically, the azimuth sensor is used to measure the pointing angle of the terminal antenna on the horizontal plane and determine its offset from the true north direction, that is, the pointing angle of the east, south, west and north. For example, a common azimuth sensor is a magnetometer, which uses the earth's magnetic field to determine the direction. In a communication mission, the initial azimuth is set to 90° (due east), and the magnetometer updates this angle in real time to ensure that the antenna is always pointing in the correct direction. The pitch sensor monitors the vertical angle of the terminal antenna with the horizontal plane to ensure that it can accurately align with the target, such as the accelerometer in the inertial measurement unit (IMU). If the antenna is pointing directly to the sky, the pitch angle is 90 degrees; if it is pointing to the horizontal direction, the pitch angle is 0 degrees. The polarization sensor monitors the rotation angle of the terminal around its axis, that is, the side roll angle. The roll angle of the terminal can be measured by tools such as fiber optic gyroscopes to ensure that the polarization angle is correct.

[0033] Furthermore, the positions of the posture sensor and the terminal described in the embodiment of the present application are fixed.

[0034] Specifically, the posture sensor described in the embodiment of the present application is firmly mounted at a specific position of the terminal and does not change position as the terminal is moved or adjusted. For example, the azimuth sensor may be installed at the bottom of the terminal, the pitch sensor may be located on the support structure of the antenna, and the polarization sensor may be integrated into the antenna system. This fixed installation method ensures that the posture sensor maintains a constant position and direction relative to the structure of the terminal. Even if the terminal itself is moving or adjusting its posture, it can still continue to provide accurate data about the terminal posture, thereby improving the accuracy of the sensor measurement.

[0035] Furthermore, the embodiment of the present application uses the azimuth angle, pitch angle, and polarization angle to calculate the angle between the terminal and the ground through a quaternion conversion formula to obtain a real-time attitude angle, including:

[0036] The azimuth, pitch and polarization angles are converted into quaternions; the quaternion conversion formula is used to calculate the radians of the converted quaternion, determine the angle between the terminal and the ground, and obtain the real-time attitude angle.

[0037] Specifically, first substitute the azimuth, pitch, and polarization angles in the attitude monitoring data into the quaternion formula and convert them into quaternions. Next, use the quaternion conversion formula to calculate radians and convert the angle value into radians. Use the calculated quaternion to determine the angle between the terminal and the ground, and then obtain the real-time attitude angle. This calculation uses the characteristics of quaternions to efficiently and accurately process three-dimensional rotation information.

[0038] Furthermore, the embodiment of the present application converts the azimuth angle, elevation angle, and polarization angle into a quaternion, including:

[0039] The azimuth angle is the rotation angle θ around the Y axis y The pitch angle is the rotation angle θ around the X axis x The polarization angle is the rotation angle θ around the Z axis z , through the formula:

[0040] Convert to obtain quaternion q w ,q x ,q y ,q z .

[0041] Specifically, the azimuth, pitch, and polarization angles in the terminal attitude monitoring data are obtained. These three Euler angles represent the three angles of rotation of the terminal in three-dimensional space, namely, rotation around the X-axis, Y-axis, and Z-axis, where the azimuth angle is the rotation angle θ around the Y-axis. y , the pitch angle is the rotation angle θ around the X axis x , the polarization angle is the rotation angle θ around the Z axisz Then, through the above four equations, based on the cosine and sine values ​​of the three Euler angles, the four components of the quaternion, namely the real part q w and the imaginary part q x ,q y ,q z , providing data for subsequent attitude angle calculation.

[0042] Furthermore, the embodiment of the present application uses the quaternion conversion formula to calculate the radian of the converted quaternion, determines the angle between the terminal and the ground, and obtains the real-time attitude angle, including:

[0043] Calculate the rotation matrix elements: R 13 =2(q x q z +q w q y ), R 23 =2(-q w q x +q y q z ), Calculate the angle between the terminal and the ground: Angle conversion is performed according to the included angle radian to obtain the real-time posture angle.

[0044] Specifically, the rotation matrix is ​​a matrix used to represent the rotation of the terminal in three-dimensional space, which is determined by converting the terminal's posture from quaternion representation to matrix representation. The rotation matrix contains multiple elements, namely R 13 , R 23 and R 33 , each element represents the rotational relationship of different axes in space. The radian angle is a unit used to represent an angle. It is the size of the central angle corresponding to an arc whose arc length is equal to the radius. In the embodiment of the present application, the radian angle is used to represent the relative position relationship between the terminal and the ground.

[0045] First, using the quaternion q w ,q x ,q y ,q z , based on quaternion multiplication and addition to calculate the different elements of the rotation matrix. The specific calculation formula is: R 13 =2(q x q z +q w q y );R 23 =2(-q w q x +q y q z ); After calculating the key elements of the rotation matrix, the angle α between the terminal and the ground is calculated using the arctan2 function. xy , which is used to indicate the relative angle between the terminal and the ground. The calculation result of the included angle can reflect the angle difference between the terminal and the ground in real time, obtain attitude information in real time, and use it in attitude adjustment to ensure the stability and accuracy of the terminal's attitude to the satellite.

[0046] In summary, the satellite attitude monitoring method for an emergency call response terminal provided in the embodiment of the present application has the following technical effects:

[0047] The attitude sensor integrated in the terminal is used to monitor the attitude data of the terminal, wherein the attitude sensor includes at least an azimuth sensor, a pitch sensor, and a polarization sensor. The azimuth sensor monitors the direction angle of the terminal's southeast, northwest, and north-south directions. The pitch sensor monitors the angle between the terminal and the horizontal plane. The polarization sensor monitors the side roll angle of the terminal. Through multi-sensor fusion, the attitude monitoring process is more resistant to environmental interference, and all-round attitude data can be obtained. The azimuth, pitch, and polarization angles are used to calculate the angle between the terminal and the ground through the quaternion conversion formula to obtain the real-time attitude angle, thereby achieving high-precision real-time attitude angle evaluation. Visual display is performed based on the real-time attitude angle, and the real-time attitude angle is compared with the preset standard angle. When the preset standard angle is exceeded, an adjustment reminder message is generated, and guidance information is provided in a timely manner for attitude adjustment, so as to achieve a rapid response to attitude abnormalities, thereby greatly improving the real-time and accuracy of attitude adjustment. In addition, the real-time attitude angle is transmitted to the central station in real time via a satellite link. The central station compares the received real-time attitude angle with the preset warning threshold. When the preset warning threshold is exceeded, the warning mechanism is triggered to remind the staff to deal with the abnormality or fault in time, thereby improving the maintenance efficiency and accuracy of the terminal and further ensuring the stability and reliability of terminal communications.

[0048] Overall, the embodiment of the present application integrates multiple high-precision sensors and combines them with quaternion mathematical processing to greatly improve the real-time and accuracy of attitude monitoring. Through multi-sensor fusion, especially the introduction of polarization angle parameters, the ability to resist external interference is enhanced. It can still maintain a high attitude control performance under various harsh conditions, maintain a stable and high-precision terminal corresponding attitude, and improve communication quality.

[0049] Embodiment 2, as Figure 2 As shown, an embodiment of the present application provides a satellite attitude monitoring system for an emergency call response terminal, the system comprising:

[0050] The posture data monitoring module 10 is used to monitor the posture data of the terminal through a posture sensor integrated in the terminal, wherein the posture sensor at least includes an azimuth sensor, a pitch sensor, and a polarization sensor, and the posture monitoring data includes an azimuth angle, a pitch angle, and a polarization angle.

[0051] The real-time attitude angle calculation module 20 is used to calculate the angle between the terminal and the ground by using the azimuth angle, pitch angle, and polarization angle through a quaternion conversion formula to obtain a real-time attitude angle.

[0052] The display comparison module 30 is used to perform visual display according to the real-time posture angle, and compare the real-time posture angle with a preset standard angle, and generate adjustment reminder information when the preset standard angle is exceeded.

[0053] Furthermore, the system described in the embodiment of the present application obtains a real-time posture angle, which is then used to perform the following steps:

[0054] The real-time attitude angle is transmitted to the central station in real time via a satellite link. The central station compares the received real-time attitude angle with a preset warning threshold. When the preset warning threshold is exceeded, the warning mechanism is triggered. The central station is connected to one or more terminals via a satellite link to build a warning monitoring network.

[0055] Furthermore, the azimuth sensor described in the embodiment of the present application monitors the direction angles of the southeast, northwest and northeast directions of the terminal, the pitch sensor monitors the angle between the terminal and the horizontal plane, and the polarization sensor monitors the side roll angle of the terminal.

[0056] Furthermore, the positions of the posture sensor and the terminal described in the embodiment of the present application are fixed.

[0057] Furthermore, the real-time attitude angle calculation module 20 of the embodiment of the present application is also used to perform the following steps:

[0058] The azimuth, pitch and polarization angles are converted into quaternions; the quaternion conversion formula is used to calculate the radians of the converted quaternion, determine the angle between the terminal and the ground, and obtain the real-time attitude angle.

[0059] Furthermore, the real-time attitude angle calculation module 20 of the embodiment of the present application is also used to perform the following steps:

[0060] The azimuth angle is the rotation angle θ around the Y axis y The pitch angle is the rotation angle θ around the X axis x The polarization angle is the rotation angle θ around the Z axis z , through the formula:

[0061] Convert to obtain quaternion q w ,q x ,q y ,q z .

[0062] Furthermore, the real-time attitude angle calculation module 20 of the embodiment of the present application is also used to perform the following steps:

[0063] Calculate the rotation matrix elements: R 13 =2(q x q z +q w q y ), R 23 =2(-q w q x +q y q z ), Calculate the angle between the terminal and the ground: Angle conversion is performed according to the included angle radian to obtain the real-time posture angle.

[0064] Through the above-mentioned detailed description of the satellite attitude monitoring method for the emergency call response terminal in this specification, those skilled in the art can clearly understand the satellite attitude monitoring system for the emergency call response terminal in this embodiment. For the system disclosed in Example 2, since it corresponds to the method disclosed in Example 1 and has corresponding functional modules and beneficial effects, the relevant parts can be referred to the description of the method part.

[0065] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A satellite attitude monitoring method for an emergency call terminal, characterized in that: The method comprises: Monitoring the terminal's attitude data by an attitude sensor integrated in the terminal, wherein the attitude sensor comprises at least an azimuth sensor, a pitch sensor, and a polarization sensor, and the attitude monitoring data comprises an azimuth angle, a pitch angle, and a polarization angle; The azimuth angle, pitch angle, and polarization angle are used to calculate the angle between the terminal and the ground through a quaternion conversion formula to obtain a real-time attitude angle; Visual display is performed according to the real-time posture angle, and the real-time posture angle is compared with a preset standard angle, and adjustment reminder information is generated when the preset standard angle is exceeded.

2. The satellite attitude monitoring method for an emergency call terminal according to claim 1, characterized in that: The obtaining of the real-time attitude angle further includes: The real-time attitude angle is transmitted to the central station in real time via a satellite link. The central station compares the received real-time attitude angle with a preset warning threshold value, and triggers a warning mechanism when the preset warning threshold value is exceeded; The central station is connected to one or more terminals via satellite links to build an early warning monitoring network.

3. The satellite attitude monitoring method for an emergency call response terminal according to claim 1, characterized in that: The azimuth sensor monitors the direction angles of the terminal in the southeast, northwest, and north directions; the pitch sensor monitors the angle between the terminal and the horizontal plane; and the polarization sensor monitors the side rolling angle of the terminal.

4. The satellite attitude monitoring method for an emergency call terminal according to claim 3, characterized in that: The positions of the posture sensor and the terminal are fixed.

5. The satellite attitude monitoring method for an emergency call response terminal according to claim 3, characterized in that: The azimuth angle, pitch angle, and polarization angle are used to calculate the angle between the terminal and the ground through a quaternion conversion formula to obtain a real-time attitude angle, including: Convert the azimuth, elevation and polarization angles into quaternions; The quaternion conversion formula is used to calculate the radian of the converted quaternion, determine the angle between the terminal and the ground, and obtain the real-time attitude angle.

6. The satellite attitude monitoring method for an emergency call response terminal according to claim 5, characterized in that: Converting the azimuth, elevation, and polarization angles into quaternions includes: The azimuth angle is the rotation angle around the Y axis, the pitch angle is the rotation angle around the X axis, and the polarization angle is the rotation angle around the Z axis, through the formula: Convert to obtain quaternion q w ,q x ,q y ,q z .

7. The satellite attitude monitoring method for an emergency call response terminal according to claim 6, characterized in that: The quaternion conversion formula is used to calculate the radian of the converted quaternion, determine the angle between the terminal and the ground, and obtain the real-time attitude angle, including: Calculate the rotation matrix elements: R 13 =2(q x q z +q w q y ), R 23 =2(-q w q x +q y q z ), Calculate the angle between the terminal and the ground: Angle conversion is performed according to the included angle radian to obtain the real-time posture angle.

8. A satellite attitude monitoring system for an emergency call terminal, characterized in that: The system is used to execute the method according to any one of claims 1 to 7, and the system comprises: A posture data monitoring module, wherein the posture data monitoring module is used to monitor the posture data of the terminal through a posture sensor integrated in the terminal, wherein the posture sensor at least includes an azimuth sensor, a pitch sensor, and a polarization sensor, and the posture monitoring data includes an azimuth angle, a pitch angle, and a polarization angle; A real-time attitude angle calculation module, which is used to calculate the angle between the terminal and the ground by using the azimuth angle, pitch angle, and polarization angle through a quaternion conversion formula to obtain a real-time attitude angle; A display comparison module is used to perform visual display according to the real-time posture angle, and compare the real-time posture angle with a preset standard angle, and generate adjustment reminder information when the preset standard angle is exceeded.

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