Method for determining antenna beam pointing angle, electronic equipment and readable storage medium

Abstract

The invention provides an antenna beam pointing angle determination method, electronic equipment and a readable storage medium, and relates to the technical field of satellite communication. The method for determining the antenna beam pointing angle comprises the steps that ephemeris information in a nineteenth system message block SIB19 is received, and the ephemeris information comprises a first coordinate of a satellite centroid in a first coordinate system and a first speed component of a satellite in the first coordinate system; determining a conversion relation between the second coordinate system and the first coordinate system according to the first coordinate; determining a target coordinate transformation matrix according to the second coordinate system, the flight direction of the satellite, the first position vector and the first speed component; determining a third coordinate according to the second coordinate, a conversion relation between the second coordinate system and the first coordinate system, and a target coordinate conversion matrix; and determining the antenna beam pointing angle of the satellite according to the third coordinate, the fourth coordinate and the target coordinate system.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a method for determining an antenna beam pointing angle, an electronic device, and a readable storage medium. Background Art

[0002] Traditional satellite communication systems are mainly based on high-orbit satellites or geosynchronous satellites. High-orbit satellites or geosynchronous satellites remain stationary relative to the ground, which allows the beam pointing angle of high-orbit satellites or geosynchronous satellites to be preset and fixed before launch. Although this fixity simplifies communication design, it also brings limitations on flexibility and adaptability. When communication needs change dynamically (such as changes in coverage area), traditional high-orbit satellite communication systems or geosynchronous satellite communication systems cannot flexibly adjust the beam pointing angle to adapt to new communication needs.

[0003] With the rise of low-orbit satellite communication systems, traditional beam control methods have exposed significant limitations. Unlike high-orbit satellites, low-orbit satellites move around the earth at high speeds. The beam coverage of low-orbit satellites is small and does not change with the trajectory of low-orbit satellites. In this case, in order to solve the coverage problem of low-orbit satellites, it is necessary to allow a single beam of a low-orbit satellite to cover multiple different wave positions in different time periods, that is, it is necessary to frequently and quickly adjust the beam pointing angle emitted by the antenna of the low-orbit satellite to adapt to the rapid movement of the low-orbit satellite. However, the existing beam pointing angle control mostly relies on preset beam pointing angles, which is difficult to meet the needs of real-time calculation and rapid adjustment of beam pointing angles required for high-speed movement of low-orbit satellites.

[0004] If the beam pointing of a low-orbit satellite cannot adapt to the dynamic changes of the low-orbit satellite in time, it may cause the communication link to be interrupted or a coverage blind spot to appear, which seriously affects the stability and reliability of the low-orbit satellite communication system. Therefore, there is an urgent need for a method that can quickly determine the antenna beam pointing angle on the satellite to improve the stability and reliability of the low-orbit satellite communication system. Summary of the invention

[0005] The present application provides a method for determining an antenna beam pointing angle, an electronic device and a readable storage medium to solve the problem of communication link interruption and coverage blind spots caused by the inability to calculate and adjust the beam pointing angle in real time due to the high-speed movement of low-orbit satellites in existing low-orbit satellite communication systems.

[0006] In a first aspect, the present application provides a method for determining an antenna beam pointing angle, comprising:

[0007] Receive ephemeris information in SIB19, the ephemeris information including a first coordinate of the satellite mass center in a first coordinate system, and a first velocity component of the satellite in the first coordinate system; wherein the coordinate origin of the first coordinate system is the mass center of the earth, the X-axis of the first coordinate system points to a fixed point on the earth's equator, the Y-axis of the first coordinate system is located on the earth's equatorial plane, and the Z-axis of the first coordinate system points to the North Pole of the earth; the first velocity component includes a first X-axis velocity component, a first Y-axis velocity component, and a first Z-axis velocity component;

[0008] Determine a conversion relationship between a second coordinate system and the first coordinate system according to the first coordinate; wherein the coordinate origin of the second coordinate system is the first coordinate, and an X-axis, a Y-axis, and a Z-axis of the second coordinate system are parallel to the X-axis, the Y-axis, and the Z-axis of the first coordinate system, respectively;

[0009] Determine a target coordinate transformation matrix according to the second coordinate system, the flight direction of the satellite, the first position vector and the first velocity component; wherein the first position vector is the position vector of the satellite in the first coordinate system, and the target coordinate transformation matrix is ​​used to indicate the coordinate transformation relationship between the target coordinate system and the second coordinate system; the coordinate origin of the target coordinate system is the same as the coordinate origin of the second coordinate system, the X-axis of the target coordinate system points to the flight direction of the satellite, the Z-axis of the target coordinate system points to the center of mass of the earth, and the Y-axis of the target coordinate system points to the negative normal of the flight direction of the satellite;

[0010] Determine a third coordinate according to the second coordinate, the conversion relationship between the second coordinate system and the first coordinate system, and the target coordinate conversion matrix; wherein the second coordinate is the coordinate of the target wave position in the first coordinate system, and the third coordinate is the coordinate of the target wave position in the target coordinate system;

[0011] The antenna beam pointing angle of the satellite is determined according to the third coordinate, the fourth coordinate and the target coordinate system; wherein the fourth coordinate is the coordinate of the center of mass of the earth in the target coordinate system.

[0012] In one possible design, determining a target coordinate transformation matrix according to the second coordinate system, the flight direction of the satellite, the first position vector, and the first velocity component includes:

[0013] Determine a first coordinate transformation matrix according to the X-axis direction of the second coordinate system, the flight direction of the satellite and the first velocity component; wherein the first coordinate transformation matrix is ​​used to indicate a coordinate transformation relationship between a third coordinate system and the second coordinate system; the coordinate origin of the third coordinate system is the same as the coordinate origin of the second coordinate system, and the X-axis of the third coordinate system points to the flight direction of the satellite;

[0014] Determine a second coordinate transformation matrix according to the Z-axis direction of the third coordinate system, the first position vector and the first coordinate transformation matrix; wherein the second coordinate transformation matrix is ​​used to indicate a coordinate transformation relationship between the target coordinate system and the third coordinate system;

[0015] The target coordinate transformation matrix is ​​determined according to the product of the first coordinate transformation matrix and the second coordinate transformation matrix.

[0016] In a possible design, determining a first coordinate transformation matrix according to an X-axis direction of the second coordinate system, a flight direction of the satellite, and the first velocity component includes:

[0017] Determine a target projection corresponding to the flight direction of the satellite; wherein the target projection is a projection of the flight direction of the satellite on the XOY plane of the second coordinate system;

[0018] Determine a third coordinate transformation matrix according to the X-axis direction of the second coordinate system, the target projection and the first velocity component; wherein the third coordinate transformation matrix is ​​used to indicate a coordinate transformation relationship between a fourth coordinate system and the second coordinate system; the coordinate origin of the fourth coordinate system is the same as the coordinate origin of the second coordinate system, and the X-axis direction of the fourth coordinate system is consistent with the direction of the target projection;

[0019] Determining a second velocity component of the satellite in the fourth coordinate system according to the product of the first velocity component and the third coordinate transformation matrix;

[0020] Determine a fourth coordinate transformation matrix according to the X-axis direction of the fourth coordinate system, the flight direction of the satellite and the second velocity component; wherein the fourth coordinate transformation matrix is ​​used to indicate a coordinate transformation relationship between the third coordinate system and the fourth coordinate system;

[0021] The first coordinate transformation matrix is ​​determined according to the product of the third coordinate transformation matrix and the fourth coordinate transformation matrix.

[0022] In a possible design, determining the second coordinate transformation matrix according to the Z-axis direction of the third coordinate system, the first position vector and the first coordinate transformation matrix includes:

[0023] Determine a second position vector according to the product of the first position vector and the first coordinate transformation matrix; wherein the second position vector is the position vector of the satellite in the third coordinate system;

[0024] The second coordinate transformation matrix is ​​determined according to the Z-axis direction of the third coordinate system and the second position vector.

[0025] In a possible design, obtaining the third coordinate based on the second coordinate, the conversion relationship between the second coordinate system and the first coordinate system, and the target coordinate conversion matrix includes:

[0026] Based on the second coordinates and the conversion relationship between the second coordinate system and the first coordinate system, a fifth coordinate is determined; wherein the fifth coordinate is the coordinate of the target wave position in the second coordinate system;

[0027] The third coordinate is obtained based on the product of the fifth coordinate and the target coordinate transformation matrix.

[0028] In a possible design, determining the fifth coordinate based on the second coordinate and a conversion relationship between the second coordinate system and the first coordinate system includes:

[0029] The fifth coordinate is determined based on a difference between the second coordinate and the first coordinate.

[0030] In one possible design, the antenna beam pointing angle includes an azimuth angle and an elevation angle of the beam;

[0031] The step of determining the antenna beam pointing angle of the satellite according to the third coordinate, the fourth coordinate and the target coordinate system comprises:

[0032] Determining the azimuth of the beam according to the third coordinate and the target coordinate system;

[0033] The elevation angle of the beam is determined according to the third coordinate and the fourth coordinate.

[0034] In a second aspect, the present application provides a satellite-borne base station, including: a memory and at least one processor;

[0035] The memory stores computer-executable instructions;

[0036] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the method described in the first aspect or various possible designs of the first aspect.

[0037] In a third aspect, the present application provides a communication device, comprising: a module for executing the method described in the first aspect or various possible designs of the first aspect.

[0038] In a fourth aspect, the present application provides a communication system, comprising: a user equipment and a satellite base station for executing the method described in the first aspect or various possible designs of the first aspect.

[0039] In a fifth aspect, the present application provides an electronic device, comprising: a memory and at least one processor;

[0040] The memory stores computer-executable instructions;

[0041] The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the method described in the first aspect or various possible designs of the first aspect.

[0042] In a sixth aspect, the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed, the method described in the first aspect or various possible designs of the first aspect are implemented.

[0043] In a seventh aspect, the present application provides a computer program product, which includes a computer program code. When the computer program code runs on a computer, the computer implements the method described in the first aspect or various possible designs of the first aspect.

[0044] In an eighth aspect, the present application provides a chip comprising: an interface circuit and a logic circuit, wherein the interface circuit is used to receive signals from other chips outside the chip and transmit them to the logic circuit, or to send signals from the logic circuit to other chips outside the chip, and the logic circuit is used to implement the method described in the first aspect or various possible designs of the first aspect.

[0045] The method for determining the antenna beam pointing angle provided in the embodiment of the present application is as follows: first, the satellite-borne base station obtains the first coordinate of the satellite center of mass in the ECEF coordinate system and the first velocity component of the satellite in the ECEF coordinate system based on the ephemeris information in SIB19; secondly, the coordinate origin of the first coordinate system is translated to the first coordinate to obtain the second coordinate system, and the second coordinate system is rotated to obtain the target coordinate system; at the same time, the conversion relationship between the second coordinate system and the first coordinate system and the target coordinate conversion matrix for indicating the conversion relationship between the target coordinate system and the second coordinate system are determined, so that the satellite-borne base station can obtain the target coordinate system according to the second coordinate system and the first coordinate system. The conversion relationship between the first coordinate systems and the target coordinate conversion matrix determine the third coordinate of the target wave position in the satellite body coordinate system and the fourth coordinate of the earth's center of mass in the satellite body coordinate system; finally, the onboard base station can quickly and accurately calculate the satellite's antenna beam pointing angle according to the satellite body coordinate system and the third and fourth coordinates in the satellite body coordinate system, so as to facilitate the subsequent adjustment of the antenna beam pointing angle based on the calculated antenna beam pointing angle to cope with the dynamic changes of low-orbit satellites and avoid the problems of communication link interruption or coverage blind spots, thereby effectively improving the stability and adaptability of the low-orbit satellite communication system. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of a flow chart of a method for determining an antenna beam pointing angle provided in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of the relationship between a second coordinate system and a fourth coordinate system provided in an embodiment of the present application;

[0048] Figure 3 A schematic diagram of the relationship between a fourth coordinate system and a third coordinate system provided in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of the relationship between a third coordinate system and a fifth coordinate system provided in an embodiment of the present application;

[0050] Figure 5 A schematic diagram of the positional relationship between the Earth's centroid, target satellite and target wave position provided in an embodiment of the present application;

[0051] Figure 6 A schematic diagram of the structure of a device for determining an antenna beam pointing angle provided in an embodiment of the present application;

[0052] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification, claims and drawings of this application are intended to cover non-exclusive inclusions.

[0055] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase "embodiments" in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0056] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists, A and B can exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0057] In addition, the terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order, and may explicitly or implicitly include one or more of the features.

[0058] In the description of this application, unless otherwise specified, "multiple" and "at least two" mean more than two (including two). Similarly, "multiple groups" and "at least two groups" mean more than two groups (including two).

[0059] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense. For example, "connected" or "connection" can refer to not only physical connection, but also electrical connection or signal connection. For example, it can be directly connected, that is, physically connected, or indirectly connected through at least one intermediate element, as long as the circuit is connected, or it can be the internal connection of two elements; signal connection can refer to signal connection through a circuit or through a media medium, such as radio waves. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0060] In order to make those skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings. It should be noted that different technical features in the present application can be combined with each other without conflict.

[0061] First, the terms involved in one or more embodiments of this specification are explained.

[0062] The Earth Centered Earth Fixed (ECEF), also known as the Earth Centered Coordinate System, is an Earth Centered Coordinate System (also called Earth Coordinate System) with the Earth's center of mass as its origin. The origin of the ECEF coordinate system is the Earth's center of mass. The X-axis of the ECEF coordinate system points to a fixed point on the Earth's equator (for example, the intersection of the International Date Line and the Prime Meridian); the Y-axis of the ECEF coordinate system is perpendicular to the X-axis of the ECEF coordinate system, and the Y-axis of the ECEF coordinate system is also located on the Earth's equatorial plane; the Z-axis of the ECEF coordinate system is parallel to the Earth's axis and points to the Earth's North Pole. The ECEF coordinate system is a right-handed coordinate system. The ECEF coordinate system is fixed and has nothing to do with the Earth's rotation. It can be used to describe the position of objects that are stationary relative to the Earth.

[0063] The satellite body coordinate system is a coordinate system with the satellite's center of mass as its origin. The X-axis of the satellite body coordinate system points to the satellite's flight direction, the Y-axis of the satellite body coordinate system points to the negative normal of the satellite's flight direction, and the Z-axis of the satellite body coordinate system points to the Earth's center of mass. The satellite body coordinate system is a right-handed coordinate system.

[0064] A beam is the shape of electromagnetic waves emitted by a satellite antenna on the surface of the earth (like a flashlight beam into the dark). The beam describes the directionality and focusing performance of an antenna when radiating or receiving wireless signals. With phased array technology, the phase and amplitude of small antenna units can be adjusted to form a controllable beam that can focus the signal in a specific direction.

[0065] The wave position divides the earth's surface into many service areas based on the earth. Each service area corresponds to a wave position, and the wave position is fixed to the earth. When any wave position needs satellite communication services, the satellite phased array antenna continuously adjusts the beam pointing to achieve coverage of the wave position until the wave position no longer needs service. The wave position is usually described by longitude and latitude.

[0066] An omnidirectional antenna is an antenna that can radiate signals evenly in all directions. Its main feature is a wide coverage range and is suitable for scenarios where the signal source or receiving direction is uncertain.

[0067] Keplerian elements are parameters that describe the state of orbital motion and are used to define the position and velocity of a celestial body (such as a satellite) in its orbit. There are 6 Keplerian elements, namely orbital semi-major axis, orbital eccentricity, orbital inclination, orbital ascending node right ascension, orbital perigee angular distance and mean anomaly. The concepts of orbital semi-major axis, orbital eccentricity, orbital inclination, orbital ascending node right ascension, orbital perigee angular distance and mean anomaly are existing concepts and will not be described in detail in this embodiment.

[0068] The following is an introduction to the implementation background of the technical solution provided in the embodiments of the present application.

[0069] In traditional ground base station communication systems, the direction of the beam is usually manually set by network optimization engineers according to actual needs, or controlled by a predefined list of fixed angles. Taking Qualcomm's 5G millimeter wave communication system as an example, the communication system supports 8 beam directions, which means that 8 different angles can be predefined for beam transmission. During the operation of the communication system, the high-level protocol stack can dynamically select a suitable angle to send the beam based on the measured signal quality. This method of presetting the beam pointing is suitable for communication environments where the communication object is fixed or moves slowly, and can effectively ensure the stability and coverage of the signal.

[0070] In traditional satellite communication systems, the location of ground stations is usually fixed, and the types of antennas and ephemeris standards vary. In order to ensure that the coverage is wide enough, satellite communication systems usually use omnidirectional antennas or wide-beam antennas for coverage. In some cases, such as high-orbit satellites or geosynchronous orbit satellites, since the satellite is stationary relative to the ground, the direction of the beam can be set in advance and remain fixed. For example, Tiantong-1 is a geosynchronous orbit satellite, and its beam coverage has been pre-planned, with 109 fixed beam points deployed in China. In this case, since the relative position of the satellite will not change, the direction of the beam can be calculated in advance and does not need to be adjusted in real time during the communication process.

[0071] However, with the continuous development of the 3rd Generation Partnership Project (3GPP) standard, especially the introduction of the Non-Terrestrial Networks (NTN) standard in R17, satellite communications have ushered in new challenges. At the same time, due to the rapid development of low Earth Orbit (LEO) satellite technology, low Earth Orbit satellite communications have become a hot research field.

[0072] It can be seen that traditional high-orbit satellite communication systems or geosynchronous satellite communication systems, such as China's Tiantong-1 and the International Maritime Satellite System, do not need to dynamically adjust the beam direction emitted by the satellite antenna because the satellite is stationary in orbit relative to the ground. Although this fixedness simplifies communication design, it also brings limitations on flexibility and adaptability. When communication needs change dynamically (such as changes in coverage area), traditional high-orbit satellite communication systems or geosynchronous satellite communication systems cannot flexibly adjust the beam direction to adapt to new communication needs.

[0073] When using omnidirectional antennas in traditional satellite communication systems, the design and alignment operations are effectively simplified because the omnidirectional antenna does not need to be adjusted in direction. However, since the omnidirectional antenna has no directivity and can radiate signals evenly in all directions, the energy of the beam emitted by the omnidirectional antenna is diffused, and the communication efficiency is reduced.

[0074] With the introduction of the 3GPP protocol R17 version, especially the development of NTN technology, and the rapid popularization of low-orbit satellite communications, the existing satellite communication system faces new challenges. Unlike high-orbit satellites, low-orbit satellites move rapidly around the earth and move faster than the ground. The beam coverage of low-orbit satellites is very small, with a radius of approximately 10 kilometers to 30 kilometers. Due to the low altitude of low-orbit satellites, their coverage area is constantly changing. In order to solve the coverage problem of low-orbit satellites, it is usually necessary to allow a single beam to cover multiple wave positions in different time periods, that is, it is necessary to frequently and quickly adjust the beam pointing angle emitted by the antenna of the low-orbit satellite to adapt to the rapid movement of the low-orbit satellite.

[0075] However, existing beam pointing angle control mostly relies on preset beam pointing angles, which is difficult to meet the needs of real-time calculation and rapid adjustment of beam pointing angles required for high-speed movement of low-orbit satellites.

[0076] If the beam pointing of a low-orbit satellite cannot adapt to the dynamic changes of the low-orbit satellite in time, it may cause the communication link to be interrupted or a coverage blind spot to appear, which seriously affects the stability and reliability of the low-orbit satellite communication system. Therefore, there is an urgent need for a method that can quickly determine the antenna beam pointing angle on the satellite to improve the stability and adaptability of the low-orbit satellite communication system.

[0077] Based on the problems existing in the above-mentioned prior art, the present application provides a method for determining the pointing angle of an antenna beam. First, the satellite-borne base station obtains the first coordinate of the satellite center of mass in the ECEF coordinate system and the first velocity component of the satellite in the ECEF coordinate system based on the ephemeris information in SIB19; secondly, the coordinate origin of the first coordinate system is translated to the first coordinate to obtain a second coordinate system, and the second coordinate system is rotated to obtain a target coordinate system; at the same time, the conversion relationship between the second coordinate system and the first coordinate system, as well as the target coordinate conversion matrix used to indicate the conversion relationship between the target coordinate system and the second coordinate system, are determined, so that the satellite-borne base station can obtain the first coordinate system according to the first coordinate system. The conversion relationship between the second coordinate system and the first coordinate system, as well as the target coordinate conversion matrix, determine the third coordinate of the target wave position in the satellite body coordinate system and the fourth coordinate of the earth's center of mass in the satellite body coordinate system; finally, the onboard base station can quickly and accurately calculate the satellite's antenna beam pointing angle according to the satellite body coordinate system, as well as the third and fourth coordinates in the satellite body coordinate system, so as to facilitate the subsequent adjustment of the antenna beam pointing angle based on the calculated antenna beam pointing angle to cope with the dynamic changes of low-orbit satellites and avoid communication link interruptions or coverage blind spots, thereby effectively improving the stability and adaptability of the low-orbit satellite communication system.

[0078] Next, some specific embodiments and drawings are used to describe in detail how the present application solves the above-mentioned problem of communication link interruption and coverage blind spot caused by the inability to calculate and adjust the beam pointing angle in real time due to the high-speed movement of low-orbit satellites.

[0079] Figure 1 A schematic diagram of a flow chart of a method for determining an antenna beam pointing angle provided in an embodiment of the present application. Figure 1 As shown, the method for determining the antenna beam pointing angle provided in the embodiment of the present application specifically includes S101 to S105, and S101 to S105 are described in detail below.

[0080] It should be noted that the execution entity of the method for determining the antenna beam pointing angle provided in the embodiment of the present application may be a satellite-borne base station.

[0081] S101. A satellite-borne base station receives ephemeris information in SIB19, where the ephemeris information includes a first coordinate of a satellite mass center in a first coordinate system and a first velocity component of the satellite in the first coordinate system.

[0082] Among them, in the satellite communication system, SIB19 is a key information unit in NTN. SIB19 broadcasts the configuration information of the current service satellite and its neighboring satellites. The specific content of SIB19 includes satellite auxiliary information, non-terrestrial network configuration (NTN-Configuration) information, time service (Time Service) information, reference location (reference Location) information and distance threshold (distance Thresh) information.

[0083] Satellite assistance information includes ephemeris information, universal timing advance parameters, k-offset, validity period of uplink synchronization epoch time, cell reference position and cell stop time.

[0084] The non-terrestrial network configuration information is used to provide the relevant parameters required for the UE to access the NR through the NTN, such as ephemeris information, universal timing advance parameter, k_offset, validity period and epoch of uplink synchronization information, etc.

[0085] Time service information is used to indicate the exact time when the cell stops providing services for its current coverage area through the NTN quasi-terrestrial fixed system. The time in this field indicates the multiple of 10 milliseconds after 00:00:00 on January 1, 1900 in the Gregorian calendar (i.e., the time between midnight on December 31, 1899 and midnight on January 1, 1900). The exact stop time is between the time indicated by the value of this field minus 1 and the time indicated by the value of this field.

[0086] The reference location information is the reference location of the serving cell provided by the NTN quasi-terrestrial fixed system and is used for starting location-based measurements in RRC_IDLE and RRC_INACTIVE.

[0087] The distance threshold information is used to indicate the distance from the reference position of the serving cell, and is used for the UE to start location-based measurement in the RRC_IDLE and RRC_INACTIVE states; wherein the step length of each unit represents a distance of 50 meters.

[0088] It should be noted that the ephemeris information in SIB19 can come from the ground operation and control system and be uploaded to the satellite through a certain channel; it can also be generated in real time by the onboard operation and control or some other module on the satellite and provided to the onboard base station. This embodiment does not make specific limitations on this.

[0089] The ephemeris information in SIB19 is the orbital parameters of the satellite included in SIB19. The orbital parameters of the satellite include the first coordinates and the first velocity component of the satellite in the first coordinate system.

[0090] The coordinate origin of the first coordinate system is the center of mass of the earth, the X-axis of the first coordinate system points to a fixed point on the earth's equator, the Y-axis of the first coordinate system is located on the equatorial plane of the earth, and the Z-axis of the first coordinate system points to the North Pole of the earth.

[0091] It should be noted that the first coordinate system is the ECEF coordinate system. The first coordinate system can be expressed as X1Y1Z1, and the coordinate origin of the first coordinate system X1Y1Z1 is O1.

[0092] In this embodiment, the first coordinate represents the position of the satellite mass center in the ECEF coordinate system. The first coordinate can be expressed as (x we ,y we ,z we ).

[0093] The first velocity component includes a first X-axis velocity component, a first Y-axis velocity component and a first Z-axis velocity component.

[0094] It should be noted that velocity components refer to the projections of an object's velocity in different directions. In a three-dimensional coordinate system (such as the first coordinate system), the satellite's moving velocity can be decomposed into velocity components along the X-axis, Y-axis, and Z-axis.

[0095] The first X-axis velocity component is the projection of the satellite's moving velocity on the X-axis direction of the ECEF coordinate system; the first Y-axis velocity component is the projection of the satellite's moving velocity on the Y-axis direction of the ECEF coordinate system; the first Z-axis velocity component is the projection of the satellite's moving velocity on the Z-axis direction of the ECEF coordinate system.

[0096] In this embodiment, the first velocity component can be expressed as (v xw1 ,v yw1 ,v zw1 ). xw1 represents the first X-axis velocity component, v yw1 represents the first Y-axis velocity component, v zw1 Represents the first Z-axis velocity component.

[0097] S102: The satellite-borne base station determines a conversion relationship between a second coordinate system and the first coordinate system according to the first coordinate system.

[0098] The coordinate origin of the second coordinate system is the first coordinate system, and the X axis, Y axis and Z axis of the second coordinate system are parallel to the X axis, Y axis and Z axis of the first coordinate system respectively.

[0099] It should be noted that the second coordinate system is obtained by translating the first coordinate system X1Y1Z1, the X axis of the second coordinate system is parallel to the X axis of the first coordinate system X1Y1Z1, the Y axis of the second coordinate system is parallel to the Y axis of the first coordinate system X1Y1Z1, and the Z axis of the second coordinate system is parallel to the Z axis of the first coordinate system X1Y1Z1. The second coordinate system can be expressed as X2Y2Z2, and the origin of the second coordinate system X2Y2Z2 is O2.

[0100] Translate the origin O1 of the first coordinate system X1Y1Z1 to the first coordinate (x we ,y we ,z we ), we can get the second coordinate system X2Y2Z2. The origin of the second coordinate system X2Y2Z2 is O2, which is the first coordinate (x we ,y we ,z we ).

[0101] The satellite's coordinate system changes with the satellite's attitude. Even if the satellite moves or rotates at high speed in orbit, the antenna beam still needs to be aligned with the target beam position. Using the satellite's coordinate system to calculate the antenna beam pointing angle can better track the satellite's attitude changes and ensure that the antenna beam pointing can be synchronized with the satellite's attitude in real time, thereby avoiding signal transmission interruptions caused by changes in the satellite's attitude.

[0102] In order to adapt to the change of satellite attitude, it is necessary to calculate the antenna beam pointing angle in the satellite body coordinate system. Since the coordinate origin of the satellite body coordinate system is located at the satellite mass center, it is necessary to translate the first coordinate system X1Y1Z1 to obtain the second coordinate system X2Y2Z2 with the satellite mass center as the coordinate origin, so as to facilitate the subsequent calculation of the antenna beam pointing angle.

[0103] S103: The satellite-borne base station determines a target coordinate transformation matrix according to the second coordinate system, the flight direction of the satellite, the first position vector and the first velocity component.

[0104] The first position vector is the position vector of the satellite in the first coordinate system.

[0105] It should be noted that the position vector refers to a directed line segment that starts from the origin of the coordinate system and ends at the position of the moving particle at a certain moment.

[0106] The first position vector is the coordinate origin O1 of the first coordinate system X1Y1Z1 pointing to the first coordinate (x we ,y we ,z we ). The first position vector can be expressed as First position vector The satellite center of mass is indicated by the Earth's center of mass.

[0107] The target coordinate transformation matrix is ​​used to indicate the coordinate transformation relationship between the target coordinate system and the second coordinate system.

[0108] The coordinate origin of the target coordinate system is the same as the coordinate origin of the second coordinate system, the X-axis of the target coordinate system points to the flight direction of the satellite, the Z-axis of the target coordinate system points to the center of mass of the earth, and the Y-axis of the target coordinate system points to the negative normal of the flight direction of the satellite.

[0109] It should be noted that the target coordinate system is the satellite body coordinate system. The target coordinate system can be expressed as X g Y g Z g , target coordinate system X g Y g Z g The origin of the coordinate system is O g .

[0110] After translating the first coordinate system X1Y1Z1 to obtain the second coordinate system X2Y2Z2, the X-axis of the second coordinate system X2Y2Z2 may point to the flight direction of the satellite or to other directions, the Y-axis of the second coordinate system X2Y2Z2 may point to the negative normal of the flight direction of the satellite or to other directions, and the Z-axis of the second coordinate system X2Y2Z2 may point to the center of mass of the earth or to other directions.

[0111] Normally, the X-axis of the second coordinate system X2Y2Z2 does not point to the satellite's flight direction, the Y-axis of the second coordinate system X2Y2Z2 does not point to the negative normal of the satellite's flight direction, and the Z-axis of the second coordinate system X2Y2Z2 does not point to the Earth's center of mass. Therefore, it is necessary to rotate the X-axis, Y-axis, and Z-axis of the second coordinate system X2Y2Z2 to obtain the target coordinate system X g Y g Z g .

[0112] It should be noted that the target coordinate transformation matrix can be expressed as R. Through the target coordinate transformation matrix R, the coordinates in the second coordinate system X2Y2Z2 can be quickly transformed to the target coordinate system X g Y g Z g middle.

[0113] S104. The satellite-borne base station determines a third coordinate according to the second coordinate, a conversion relationship between the second coordinate system and the first coordinate system, and a target coordinate conversion matrix.

[0114] Among them, the second coordinate is the coordinate of the target wave position in the first coordinate system, and the third coordinate is the coordinate of the target wave position in the target coordinate system.

[0115] It should be noted that the target wave position is the wave position corresponding to the service area where the electronic equipment on the earth's surface that needs to establish a connection with the satellite is located. The target wave position can be indicated by the ground operation and control system to the satellite base station, or it can be calculated by the satellite base station itself.

[0116] The target wave position is generally represented by geographic coordinates (longitude, latitude and altitude). Before S104, the satellite-borne base station can obtain the coordinates (second coordinates) of the target wave position in the first coordinate system X1Y1Z1 based on the geographic coordinates of the target wave position. The second coordinates can be expressed as (x be ,y be ,z be ).

[0117] Based on the geographic coordinates of the target wave position, the second coordinate (x be ,y be ,z be ) is an existing method and will not be described in detail in this embodiment.

[0118] In this embodiment, the satellite-borne base station may first calculate the second coordinate (x be ,y be ,z be ), and the conversion relationship between the second coordinate system X2Y2Z2 and the first coordinate system X1Y1Z1, the coordinates of the target wave position in the second coordinate system X2Y2Z2 are obtained; then, the satellite base station obtains the coordinates of the target wave position in the target coordinate system X2Y2Z2 based on the coordinates of the target wave position in the second coordinate system X2Y2Z2 and the target coordinate conversion matrix R g Y g Z g The third coordinate in , so as to facilitate the subsequent calculation of the beam pointing angle based on the third coordinate.

[0119] It should be noted that the target wave position is in the target coordinate system X g Y g Z g The third coordinate in can be expressed as (x bg ,y bg ,z bg ).

[0120] S105. The satellite-borne base station determines the antenna beam pointing angle of the satellite according to the third coordinate, the fourth coordinate and the target coordinate system.

[0121] Among them, the fourth coordinate is the coordinate of the earth's center of mass in the target coordinate system.

[0122] It should be noted that the coordinates of the Earth's center of mass in the first coordinate system X1Y1Z1 are (0, 0, 0). The satellite-borne base station determines the Earth's center of mass in the target coordinate system X according to the coordinates of the Earth's center of mass in the first coordinate system X1Y1Z1. g Y g Z g The satellite-borne base station determines the coordinates of the Earth's center of mass in the target coordinate system X according to the coordinates of the Earth's center of mass in the first coordinate system X1Y1Z1. g Y g Z g The method for determining the fourth coordinate in the embodiment shown in S104 is the same as the method for determining the third coordinate in the embodiment shown in S104, and this embodiment will not be repeated. The fourth coordinate can be expressed as (x dg ,y dg ,z dg ).

[0123] Among them, the satellite's antenna beam pointing angle includes the azimuth angle and pitch angle of the beam.

[0124] It should be noted that since satellites and electronic equipment are constantly moving, the onboard base station must calculate and adjust the pointing angle of the beam emitted by the satellite antenna in real time to accurately align the beam emitted by the satellite antenna with the target wave position, ensuring that the satellite signal can cover the target wave position, thereby ensuring the stability and reliability of communication of electronic equipment in the target wave position.

[0125] In an embodiment of the present application, first, the satellite base station obtains the first coordinate of the satellite's center of mass in the ECEF coordinate system and the first velocity component of the satellite in the ECEF coordinate system based on the ephemeris information in SIB19; secondly, the coordinate origin of the first coordinate system is translated to the first coordinate to obtain the second coordinate system, and the second coordinate system is rotated to obtain the target coordinate system; at the same time, the conversion relationship between the second coordinate system and the first coordinate system, and the target coordinate conversion matrix used to indicate the conversion relationship between the target coordinate system and the second coordinate system are determined, so that the satellite base station can determine the third coordinate of the target wave position in the satellite body coordinate system and the fourth coordinate of the earth's center of mass in the satellite body coordinate system according to the conversion relationship between the second coordinate system and the first coordinate system, and the target coordinate conversion matrix; finally, the satellite base station can quickly and accurately calculate the satellite's antenna beam pointing angle according to the satellite body coordinate system and the third and fourth coordinates in the satellite body coordinate system, so as to facilitate the subsequent adjustment of the antenna beam pointing angle based on the calculated antenna beam pointing angle to cope with the dynamic changes of low-orbit satellites, avoid communication link interruption or coverage blind spots, and effectively improve the stability and adaptability of low-orbit satellite communication systems.

[0126] In the above embodiment, the satellite-borne base station needs to determine the target coordinate transformation matrix according to the second coordinate system, the flight direction of the satellite, the first position vector and the first velocity component. Next, the specific process of determining the target coordinate transformation matrix according to the second coordinate system, the flight direction of the satellite, the first position vector and the first velocity component by the satellite-borne base station is described in detail.

[0127] In a possible embodiment, S103, the satellite-borne base station determines the target coordinate transformation matrix according to the second coordinate system, the flight direction of the satellite, the first position vector and the first velocity component, which can be implemented through S1031 to S1033. S1031 to S1033 are described in detail below.

[0128] It should be noted that the X-axis, Y-axis, and Z-axis of the second coordinate system X2Y2Z2 are rotated to obtain the target coordinate system X g Y g Z g In the process, since the target coordinate system X g Y g Z g , the first coordinate system X1Y1Z1 and the second coordinate system X2Y2Z2 are both right-handed coordinate systems. Therefore, when rotating the second coordinate system X2Y2Z2, it is only necessary to make any two of the X axis, Y axis and Z axis of the second coordinate system X2Y2Z2 aligned with the target coordinate system X g Y g Z g The X-axis, Y-axis, and Z-axis of the target coordinate system X can be obtained by pointing in the same direction. g Y g Z g .

[0129] For example, when the second coordinate system X2Y2Z2 is rotated, the X axis of the second coordinate system X2Y2Z2 is rotated to be consistent with the flight direction of the satellite, and the Y axis of the second coordinate system X2Y2Z2 is rotated to be consistent with the negative normal of the flight direction of the satellite. Based on the right-hand coordinate system principle, the Z axis of the rotated second coordinate system X2Y2Z2 points to the center of mass of the earth. At this time, the rotated second coordinate system X2Y2Z2 is the target coordinate system X g Y g Z g .

[0130] For another example, when the second coordinate system X2Y2Z2 is rotated, the X axis of the second coordinate system X2Y2Z2 is rotated to be consistent with the flight direction of the satellite, and the Z axis of the second coordinate system X2Y2Z2 is rotated to point to the direction of the earth's center of mass. Based on the right-hand coordinate system principle, the Y axis of the rotated second coordinate system X2Y2Z2 is consistent with the negative normal of the satellite's flight direction. At this time, the rotated second coordinate system X2Y2Z2 is the target coordinate system X gY g Z g .

[0131] S1031. The satellite-borne base station determines a first coordinate transformation matrix according to the X-axis direction of the second coordinate system, the flight direction of the satellite, and the first velocity component.

[0132] The first coordinate transformation matrix is ​​used to indicate the coordinate transformation relationship between the third coordinate system and the second coordinate system.

[0133] It should be noted that the third coordinate system is obtained by rotating the second coordinate system X2Y2Z2. The X axis of the third coordinate system points to the flight direction of the satellite, and the Y axis and Z axis of the third coordinate system point to other directions. The third coordinate system can be expressed as X3Y3Z3. The origin of the third coordinate system X3Y3Z3 is the same as the origin of the second coordinate system X2Y2Z2. The origin of the third coordinate system X3Y3Z3 and the origin of the second coordinate system X2Y2Z2 are both the first coordinate (x we ,y we ,z we ).

[0134] It should be noted that the first coordinate transformation matrix can be expressed as R1. Through the first coordinate transformation matrix R1, the coordinates in the second coordinate system X2Y2Z2 can be quickly transformed into the third coordinate system X3Y3Z3.

[0135] It should be noted that the first coordinate transformation matrix R1 can be obtained by the first velocity component (v xw1 ,v yw1 ,v zw1 ) to avoid complex trigonometric operations and increase the calculation speed.

[0136] S1032: The satellite-borne base station determines a second coordinate transformation matrix according to the Z-axis direction of the third coordinate system, the first position vector, and the first coordinate transformation matrix.

[0137] The second coordinate transformation matrix is ​​used to indicate the coordinate transformation relationship between the target coordinate system and the third coordinate system.

[0138] It should be noted that the second coordinate transformation matrix can be expressed as R2. Through the second coordinate transformation matrix R2, the coordinates in the third coordinate system X3Y3Z3 can be quickly transformed to the target coordinate system X g Y g Z g middle.

[0139] S1033. The satellite-borne base station determines a target coordinate transformation matrix according to the product of the first coordinate transformation matrix and the second coordinate transformation matrix.

[0140] It should be noted that, in the above embodiment S1031, the second coordinate system X2Y2Z2 is rotated so that the X-axis direction of the second coordinate system X2Y2Z2 is consistent with the flight direction of the satellite, and the third coordinate system X3Y3Z3 is obtained, and the coordinate transformation relationship between the second coordinate system X2Y2Z2 and the third coordinate system X3Y3Z3 is represented by the first coordinate transformation matrix R1; in the above embodiment S1032, the third coordinate system X3Y3Z3 is rotated so that the Z-axis of the third coordinate system X3Y3Z3 points to the center of mass of the earth, and the target coordinate system X g Y g Z g The third coordinate system X3Y3Z3 and the target coordinate system X are represented by the second coordinate transformation matrix R2. g Y g Z g In this case, the first coordinate transformation matrix R1 is multiplied by the second coordinate transformation matrix R2 to obtain the target coordinate transformation matrix R, that is, R = R2 × R1. The target coordinate transformation matrix R can quickly transform the coordinates in the second coordinate system X2Y2Z2 to the target coordinate system X g Y g Z g middle.

[0141] In the embodiment of the present application, by establishing a first coordinate transformation matrix R1 and a second coordinate transformation matrix R2, and multiplying the first coordinate transformation matrix R1 by the second coordinate transformation matrix R2, the target coordinate transformation matrix R is obtained, so that the second coordinate system X2Y2Z2 and the target coordinate system X g Y g Z g The precise mapping between them provides dynamic and real-time calculation support for the pointing angle of the antenna beam.

[0142] In the above embodiment, the satellite-borne base station needs to determine the first coordinate transformation matrix according to the X-axis direction of the second coordinate system, the flight direction of the satellite and the first velocity component. Next, the specific process of determining the first coordinate transformation matrix according to the X-axis direction of the second coordinate system, the flight direction of the satellite and the first velocity component is described in detail.

[0143] In a possible embodiment, S1031, the satellite-borne base station determines the first coordinate transformation matrix according to the X-axis direction of the second coordinate system, the flight direction of the satellite and the first velocity component, which can be achieved through steps a1 to a5. Steps a1 to a5 are described in detail below.

[0144] Step a1: The satellite-borne base station determines the target projection corresponding to the flight direction of the satellite.

[0145] The target projection is the projection of the satellite's flight direction on the XOY plane of the second coordinate system.

[0146] Figure 2 A schematic diagram of the relationship between the second coordinate system and the fourth coordinate system provided in an embodiment of the present application. Figure 2 As shown, the coordinate origin of the second coordinate system X2Y2Z2 is O2, and the XOY plane of the second coordinate system X2Y2Z2 is the X2O2Y2 plane.

[0147] Step a2: The satellite-borne base station determines a third coordinate transformation matrix according to the X-axis direction of the second coordinate system, the target projection and the first velocity component.

[0148] The third coordinate transformation matrix is ​​used to indicate the coordinate transformation relationship between the fourth coordinate system and the second coordinate system.

[0149] The coordinate origin of the fourth coordinate system is the same as the coordinate origin of the second coordinate system, and the X-axis direction of the fourth coordinate system is consistent with the direction of the target projection.

[0150] It should be noted that the fourth coordinate system is obtained by rotating the second coordinate system X2Y2Z2. The X-axis direction of the fourth coordinate system is consistent with the direction of the target projection, the Y-axis of the fourth coordinate system points to other directions, and the Z-axis of the fourth coordinate system coincides with the Z-axis of the second coordinate system X2Y2Z2. The fourth coordinate system can be expressed as X4Y4Z4. The coordinate origin O4 of the fourth coordinate system X4Y4Z4 is the same as the coordinate origin O2 of the second coordinate system X2Y2Z2. The coordinate origin of the fourth coordinate system X4Y4Z4 and the coordinate origin of the second coordinate system X2Y2Z2 are both the first coordinate (x we ,y we ,z we ).

[0151] The third coordinate transformation matrix can be expressed as R3. Through the third coordinate transformation matrix R3, the coordinates in the second coordinate system X2Y2Z2 can be quickly transformed into the fourth coordinate system X4Y4Z4.

[0152] like Figure 2 As shown, V represents the flight direction of the satellite, and V1 represents the projection of the flight direction of the satellite on the X2O2Y2 plane of the second coordinate system X2Y2Z2. The X2O2Y2 plane of the second coordinate system X2Y2Z2 is rotated counterclockwise by an angle α around the Z axis Z2 of the second coordinate system X2Y2Z2 to obtain the fourth coordinate system X4Y4Z4. The direction of the X axis X4 of the fourth coordinate system X4Y4Z4 is consistent with the direction of V1. At this time, the third coordinate transformation matrix R3 can be obtained by the first velocity component (v xw1 ,v yw1 ,v zw1 )express.

[0153] Specifically,

[0154] Step a3: The satellite-borne base station determines the second velocity component of the satellite in the fourth coordinate system according to the product of the first velocity component and the third coordinate transformation matrix.

[0155] It should be noted that the first velocity component (v xw1 ,v yw1 ,v zw1 ) is the velocity component of the satellite in the first coordinate system X1Y1Z1. By calculating the first velocity component (v xw1 ,v yw1 ,v zw1 ) is multiplied by the third coordinate transformation matrix R3 to obtain the second velocity component of the satellite in the fourth coordinate system X4Y4Z4. The second velocity component can be expressed as (v xw2 ,v yw2 ,v zw2 ).

[0156] Specifically,

[0157] Step a4: The satellite-borne base station determines a fourth coordinate transformation matrix according to the X-axis direction of the fourth coordinate system, the flight direction of the satellite and the second velocity component.

[0158] The fourth coordinate transformation matrix is ​​used to indicate the coordinate transformation relationship between the third coordinate system and the fourth coordinate system.

[0159] It should be noted that the fourth coordinate transformation matrix can be expressed as R4. Through the fourth coordinate transformation matrix R4, the coordinates in the fourth coordinate system X4Y4Z4 can be quickly transformed into the third coordinate system X3Y3Z3.

[0160] Figure 3 A schematic diagram of the relationship between a fourth coordinate system and a third coordinate system provided in an embodiment of the present application. Figure 3 As shown, V represents the flight direction of the satellite. The X4O4Z4 plane of the fourth coordinate system X4Y4Z4 is rotated clockwise by an angle of β around the Y axis Y4 of the fourth coordinate system X4Y4Z4 to obtain the third coordinate system X3Y3Z3. The coordinate origin O3 of the third coordinate system X3Y3Z3 is the same as the coordinate origin O4 of the fourth coordinate system X4Y4Z4. The direction of the X axis X3 of the third coordinate system X3Y3Z3 is consistent with the flight direction V of the satellite. The direction of the Y axis of the third coordinate system X3Y3Z3 is consistent with the direction of the Y axis of the fourth coordinate system X4Y4Z4. The Z axis of the third coordinate system X3Y3Z3 points to other directions. At this time, the fourth coordinate transformation matrix R4 can be obtained by the second velocity component (v xw2 ,v yw2 ,vzw2 )express.

[0161] Specifically,

[0162]

[0163] Step a5: The satellite-borne base station determines the first coordinate transformation matrix according to the product of the third coordinate transformation matrix and the fourth coordinate transformation matrix.

[0164] It should be noted that by multiplying the third coordinate transformation matrix R3 determined in step a2 of the above embodiment with the fourth coordinate transformation matrix R4 determined in step a4 of the above embodiment, the first coordinate transformation matrix R1 can be obtained, that is, R1=R4×R3. The coordinates in the second coordinate system X2Y2Z2 can be quickly converted to the third coordinate system X3Y3Z3 through the first coordinate transformation matrix R1.

[0165] In an embodiment of the present application, first, the flight direction of the satellite is projected onto the XOY plane of the second coordinate system to obtain the target projection, and the Z axis of the second coordinate system is kept stationary, the XOY plane of the second coordinate system is rotated, and the X axis of the second coordinate system is rotated to be consistent with the target projection, and the fourth coordinate system is obtained. The coordinate conversion relationship between the second coordinate system and the fourth coordinate system is represented by the third coordinate conversion matrix; secondly, the Y axis of the fourth coordinate system is kept stationary, the XOZ plane of the fourth coordinate system is rotated, and the X axis of the fourth coordinate system is rotated to be consistent with the flight direction of the satellite, and the third coordinate system can be obtained. The coordinate conversion relationship between the fourth coordinate system and the third coordinate system is represented by the fourth coordinate conversion matrix; finally, by multiplying the third coordinate conversion matrix and the fourth coordinate conversion matrix, the first coordinate conversion matrix used to represent the coordinate conversion relationship between the second coordinate system and the third coordinate system can be obtained. This method effectively reduces the complexity and error accumulation of the rotation calculation, and ensures the accuracy of the coordinate conversion between the second coordinate system and the third coordinate system.

[0166] In the above embodiment, the satellite base station needs to determine the second coordinate transformation matrix according to the Z-axis direction of the third coordinate system, the first position vector and the first coordinate transformation matrix. Next, the specific process of determining the second coordinate transformation matrix by the satellite base station according to the Z-axis direction of the third coordinate system, the first position vector and the first coordinate transformation matrix is ​​described in detail.

[0167] In a possible embodiment, S1032, the satellite base station determines the second coordinate transformation matrix according to the Z-axis direction of the third coordinate system, the first position vector and the first coordinate transformation matrix, which can be achieved through steps b1 and b2. Steps b1 and b2 are described in detail below.

[0168] Step b1: The satellite-borne base station determines the second position vector according to the product of the first position vector and the first coordinate transformation matrix.

[0169] The second position vector is the position vector of the satellite in the third coordinate system.

[0170] It should be noted that the first position vector is the coordinate origin O1 of the first coordinate system X1Y1Z1 pointing to the first coordinate (x we ,y we ,z we ). The first position vector can be expressed as First position vector The satellite center of mass is indicated by the Earth's center of mass.

[0171] By the first position vector By multiplying the first coordinate transformation matrix R1, the second position vector indicating the satellite mass center in the third coordinate system can be obtained. The second position vector can be expressed as

[0172] Specifically,

[0173] Step b2: The satellite-borne base station determines a second coordinate transformation matrix according to the Z-axis direction of the third coordinate system and the second position vector.

[0174] Figure 4 A schematic diagram of the relationship between the third coordinate system and the fifth coordinate system provided in an embodiment of the present application. Figure 4 As shown, the Y3O3Z3 plane of the third coordinate system X3Y3Z3 is first rotated counterclockwise by an angle of γ around the X-axis X3 of the third coordinate system X3Y3Z3 to obtain the fifth coordinate system X5Y5Z5. The coordinate origin O5 of the fifth coordinate system X5Y5Z5 is the same as the coordinate origin O3 of the third coordinate system X3Y3Z3, the X-axis X5 of the fifth coordinate system X5Y5Z5 is consistent with the X-axis X3 of the third coordinate system X3Y3Z3, the Y-axis Y5 of the fifth coordinate system X5Y5Z5 points to other directions, and the Z-axis Z5 direction of the fifth coordinate system X5Y5Z5 is the same as the second position vector That is, the Z-axis Z5 of the fifth coordinate system X5Y5Z5 points in the opposite direction to the center of mass of the earth.

[0175] Since the Z axis of the satellite coordinate system needs to point to the center of mass of the earth, the Y5O5Z5 plane of the fifth coordinate system X5Y5Z5 is rotated 180 degrees counterclockwise around the X axis X5 of the fifth coordinate system X5Y5Z5 to obtain the target coordinate system X g Y g Z g , target coordinate system X g Yg Z g Z axis g Pointing to the center of mass of the earth. At this time, the second coordinate transformation matrix R2 can be obtained by the second position vector express.

[0176] Specifically,

[0177] in,

[0178] It should be noted that the second coordinate transformation matrix R2 can be represented by the second position vector, which can avoid complex trigonometric function operations and improve calculation speed.

[0179] In an embodiment of the present application, the first position vector is converted from the first coordinate system to the third coordinate system to obtain the second position vector, and based on the second position vector and the Z-axis direction of the third coordinate system, a second coordinate transformation matrix for indicating the coordinate transformation relationship between the third coordinate system and the target coordinate system is determined, which can effectively ensure the accuracy of the coordinate transformation between the third coordinate system and the target coordinate system.

[0180] In the above embodiment, the satellite-borne base station performs a multiplication operation on the first coordinate transformation matrix R1 and the second coordinate transformation matrix R2 to obtain the target coordinate transformation matrix R.

[0181] It should be noted that for a right-handed coordinate system, if the rotation process is a clockwise rotation of δ angle around any of the X, Y, and Z axes of the right-handed coordinate system, the corresponding rotation matrix expression is R(-δ); if the rotation process is a counterclockwise rotation of δ angle around any of the X, Y, and Z axes of the right-handed coordinate system, the corresponding rotation matrix expression is R(δ). Therefore, the target coordinate transformation matrix R = R2×R1 = R2×R4×R3 = R x (180°-γ)×R y (-β)×R z (α).

[0182] In the above embodiment, the satellite base station needs to determine the third coordinate according to the second coordinate, the conversion relationship between the second coordinate system and the first coordinate system, and the target coordinate conversion matrix. Next, the specific process of determining the third coordinate according to the second coordinate, the conversion relationship between the second coordinate system and the first coordinate system, and the target coordinate conversion matrix is ​​described in detail.

[0183] In a possible embodiment, S104, the satellite base station determines the third coordinate based on the second coordinate, the conversion relationship between the second coordinate system and the first coordinate system, and the target coordinate conversion matrix, which can be achieved through steps c1 and c2. Steps c1 and c2 are described in detail below.

[0184] Step c1: The satellite-borne base station determines a fifth coordinate based on the second coordinate and a conversion relationship between the second coordinate system and the first coordinate system.

[0185] Among them, the fifth coordinate is the coordinate of the target wave position in the second coordinate system.

[0186] It should be noted that the second coordinate (x be ,y be ,z be ) is the coordinate of the target wave position in the first coordinate system X1Y1Z1, and the second coordinate system X2Y2Z2 is obtained by translating the first coordinate system X1Y1Z1. Therefore, based on the conversion relationship between the second coordinate system X2Y2Z2 and the first coordinate system X1Y1Z1, the fifth coordinate of the target wave position in the second coordinate system X2Y2Z2 can be obtained. The fifth coordinate can be expressed as (x b2 ,y b2 ,z b2 ).

[0187] Step c2: The satellite-borne base station obtains the third coordinate based on the product of the fifth coordinate and the target coordinate transformation matrix.

[0188] It should be noted that the target coordinate transformation matrix R can quickly transform the coordinates in the second coordinate system X2Y2Z2 to the target coordinate system X g Y g Z g Therefore, when the fifth coordinate (x b2 ,y b2 ,z b2 ), for the fifth coordinate (x b2 ,y b2 ,z b2 ) is multiplied by the target coordinate transformation matrix R to obtain the target wave position in the target coordinate system X g Y g Z g The third coordinate (x bg ,y bg ,z bg ), realizes the target wave position coordinates from the second coordinate system X2Y2Z2 to the target coordinate system X g Y g Z g conversion.

[0189] Specifically, (x bg ,y bg ,z bg ) T =R×(x b2 ,y b2,z b2 ) T =R x (180°-γ)×R y (-β)×R z (α)×(x b2 ,y b2 ,z b2 ) T .

[0190] In an embodiment of the present application, the coordinates of the target wave position are first converted from the first coordinate system to the second coordinate system, and then converted from the second coordinate system to the target coordinate system, thereby ensuring a rapid conversion of the coordinates of the target wave position from the first coordinate system to the target coordinate system in a complex orbital environment, so as to facilitate the subsequent rapid and accurate calculation of the satellite's antenna beam pointing angle based on the coordinates of the target wave position in the target coordinate system.

[0191] In the above embodiment, the satellite base station needs to determine the fifth coordinate based on the second coordinate and the conversion relationship between the second coordinate system and the first coordinate system. Next, the specific process of determining the fifth coordinate based on the second coordinate and the conversion relationship between the second coordinate system and the first coordinate system by the satellite base station is described in detail.

[0192] In a possible embodiment, in step c1, the satellite base station determines the fifth coordinate based on the second coordinate and the conversion relationship between the second coordinate system and the first coordinate system. Specifically, the satellite base station determines the fifth coordinate based on the difference between the second coordinate and the first coordinate.

[0193] It should be noted that the second coordinate system X2Y2Z2 is obtained by translating the coordinate origin O1 of the first coordinate system X1Y1Z1 to the first coordinate system (x we ,y we ,z we ) is obtained, therefore, when the second coordinate (x be ,y be ,z be ), it is necessary to calculate the fifth coordinate (x b2 ,y b2 ,z b2 ), we can use the second coordinate (x be ,y be ,z be ) and the first coordinate (x we ,y we ,z we ) is subtracted to obtain the fifth coordinate (x b2 ,y b2 ,z b2 ).

[0194] Specifically, (x b2 ,y b2 ,z b2 )=(x be ,y be ,z be )-(x we ,y we ,z we ).

[0195] In an embodiment of the present application, the fifth coordinate of the target wave position in the second coordinate system can be determined by calculating the difference between the second coordinate and the first coordinate. This difference operation simplifies the conversion relationship between the first coordinate system and the second coordinate system, reduces the computational burden of complex matrix operations, and effectively improves the efficiency and real-time performance of antenna beam pointing angle calculations, ensuring that the antenna beam can quickly and accurately track the target wave position, ensuring the continuity and stability of the communication link, and reducing the risk of communication blind spots and signal interruptions.

[0196] In the above embodiment, the satellite base station needs to determine the antenna beam pointing angle of the satellite according to the third coordinate, the fourth coordinate and the target coordinate system. Next, the specific process of the satellite base station determining the antenna beam pointing angle of the satellite according to the third coordinate, the fourth coordinate and the target coordinate system is described in detail.

[0197] In one possible design, the antenna beam pointing angle includes an azimuth angle and an elevation angle of the beam.

[0198] It should be noted that the azimuth angle of the beam refers to the angle from the reference direction of the satellite antenna (the X-axis direction of the satellite's satellite body coordinate system) to the beam direction clockwise. The azimuth angle of the beam describes the direction of the beam on the horizontal plane.

[0199] It should be noted that the pitch angle of the beam refers to the angle of the beam direction relative to the horizontal plane. The pitch angle of the beam describes the direction of the beam on the vertical plane.

[0200] S105, the satellite-borne base station determines the antenna beam pointing angle of the satellite according to the third coordinate, the fourth coordinate and the target coordinate system, which can be achieved through steps d1 and d2. Steps d1 and d2 are described in detail below.

[0201] Step d1, the satellite-borne base station determines the azimuth of the beam according to the third coordinate and the target coordinate system.

[0202] P represents the target wave position in the target coordinate system X g Y g Z g The third coordinate (x bg ,y bg ,zbg ), the target wave position is in the target coordinate system X g Y g Z g X g O g Y g Projection on the plane and target coordinate system X g Y g Z g X axis g The angle between them is the azimuth of the beam.

[0203] Among them, the cosine value of the azimuth angle AZ of the beam can be expressed as cos(AZ),

[0204] It should be noted that the actual value range of the azimuth angle AZ of the beam is [0, 360°].

[0205] Through the above formula The radian value corresponding to the azimuth angle AZ of the beam is calculated, and the radian value corresponding to the azimuth angle AZ of the beam belongs to [0, π]. By converting the radian value corresponding to the azimuth angle AZ of the beam, the angle value corresponding to the azimuth angle AZ of the beam can be obtained, and the angle value corresponding to the azimuth angle AZ of the beam belongs to [0, 180]. Therefore, in actual use, it is necessary to determine the target wave position in the target coordinate system X g Y g Z g X g O g Y g Is the projection on the plane located in the second and third quadrants? If the target wave position is in the target coordinate system X g Y g Z g X g O g Y g The projection on the plane is located in the second and third quadrants, then the formula The calculated azimuth angle AZ of the beam is compensated.

[0206] Step d2: The satellite-borne base station determines the pitch angle of the beam according to the third coordinate and the fourth coordinate.

[0207] Figure 5 A schematic diagram of the positional relationship between the Earth's mass center, target satellite, and target wave position provided in an embodiment of the present application. Figure 5 As shown, P represents the target wave position in the target coordinate system X g Y g Z g The third coordinate (x bg ,y bg,z bg ), E represents the center of mass of the earth in the target coordinate system X g Y g Z g The fourth coordinate (x dg ,y dg ,z dg ), S represents the satellite in the target coordinate system X g Y g Z g In the coordinates, S = (0,0,0,), the angle between the beam of satellite S pointing to the target wave position P and the line connecting satellite S and the earth's center of mass E is the pitch angle of the beam, that is, satellite S, target wave position P and earth's center of mass E form a triangle EPS, and ∠ESP in the triangle EPS is the pitch angle of the beam.

[0208] It should be noted that the satellite-borne base station first calculates the distance EP between the earth's center of mass E and the target wave position P, the distance ES between the earth's center of mass E and the satellite S, and the distance PS between the target wave position P and the satellite S according to the distance calculation formula between two points; secondly, the cosine value corresponding to ∠ESP is calculated based on the cosine theorem; finally, the angle of ∠ESP is obtained based on the cosine value corresponding to ∠ESP.

[0209] It should be noted that the distance EP between the Earth's center of mass E and the target wave position P, and the Earth's radius R are equal. The distance between the Earth's center of mass E and the satellite S is ES, The distance between the target wave position P and the satellite S is PS.

[0210] According to the law of cosines EP 2 =ES 2 +PS 2 -2×ES×PS×cos(∠ESP), we can get:

[0211] Right now,

[0212] In an embodiment of the present application, the azimuth of the antenna beam is calculated by using the third coordinate of the target wave position in the target coordinate system and the target coordinate system, and the pitch angle of the beam is calculated in combination with the coordinates of the earth's center of mass, the target satellite, and the target wave position in the target coordinate system. This can ensure the accuracy and stability of the beam pointing and improve the efficiency and reliability of satellite communications.

[0213] It should be noted that the method for determining the antenna beam pointing angle provided in the present application is not only applicable to the ephemeris information in the first coordinate system (ECEF coordinate system), but also to the ephemeris information in other rectangular Cartesian coordinate systems such as J2000.

[0214] Figure 6 A schematic diagram of a device for determining an antenna beam pointing angle provided in an embodiment of the present application. Figure 6 As shown, the antenna beam pointing angle determination device 600 provided in this embodiment can exist independently and be used to implement the operations corresponding to the satellite-borne base station in the above method embodiment.

[0215] The device 600 for determining the antenna beam pointing angle may include: a transceiver module 601 and a processing module 602. The processing module 602 is used for data processing, and the transceiver module 601 may implement corresponding communication functions. The transceiver module 601 may also be called a communication interface or a communication unit.

[0216] Optionally, the device 600 for determining the antenna beam pointing angle may further include a storage unit, which may be used to store instructions and / or data. The processing module 602 may read the instructions and / or data in the storage unit so that the device 600 for determining the antenna beam pointing angle implements the steps implemented by the satellite-borne base station in the aforementioned method embodiment.

[0217] The transceiver module 601 is used to perform reception-related operations of the satellite base station in the above method embodiment, and the processing module 602 is used to perform processing-related operations of the satellite base station in the above method embodiment.

[0218] Optionally, the transceiver module 601 may include a sending module and a receiving module. The sending module is used to perform the sending operation in the above method embodiment. The receiving module is used to perform the receiving operation in the above method embodiment.

[0219] It should be noted that the device 600 for determining the antenna beam pointing angle may include a sending module but not a receiving module. Alternatively, the device 600 for determining the antenna beam pointing angle may include a receiving module but not a sending module. Specifically, it may depend on whether the above solution executed by the device 600 for determining the antenna beam pointing angle includes a sending action and a receiving action.

[0220] As an example, the device 600 for determining the antenna beam pointing angle is used to perform the above Figure 1 Actions performed by the satellite-borne base station in the illustrated embodiment.

[0221] The device 600 for determining the antenna beam pointing angle may include: a transceiver module 601 and a processing module 602 .

[0222] The transceiver module 601 is used to receive the ephemeris information in SIB19, where the ephemeris information includes the first coordinate of the satellite's center of mass in the first coordinate system and the first velocity component of the satellite in the first coordinate system; wherein the coordinate origin of the first coordinate system is the earth's center of mass, the X-axis of the first coordinate system points to a fixed point on the earth's equator, the Y-axis of the first coordinate system is located on the earth's equatorial plane, and the Z-axis of the first coordinate system points to the earth's North Pole; the first velocity component includes a first X-axis velocity component, a first Y-axis velocity component and a first Z-axis velocity component.

[0223] The processing module 602 is used to determine the conversion relationship between the second coordinate system and the first coordinate system according to the first coordinate; wherein the coordinate origin of the second coordinate system is the first coordinate, and the X-axis, Y-axis and Z-axis of the second coordinate system are respectively parallel to the X-axis, Y-axis and Z-axis of the first coordinate system.

[0224] The processing module 602 is also used to determine the target coordinate transformation matrix according to the second coordinate system, the flight direction of the satellite, the first position vector and the first velocity component; wherein the first position vector is the position vector of the satellite in the first coordinate system, and the target coordinate transformation matrix is ​​used to indicate the coordinate transformation relationship between the target coordinate system and the second coordinate system; the coordinate origin of the target coordinate system is the same as the coordinate origin of the second coordinate system, the X-axis of the target coordinate system points to the flight direction of the satellite, the Z-axis of the target coordinate system points to the center of mass of the earth, and the Y-axis of the target coordinate system points to the negative normal of the flight direction of the satellite.

[0225] The processing module 602 is also used to determine the third coordinate according to the second coordinate, the conversion relationship between the second coordinate system and the first coordinate system, and the target coordinate conversion matrix; wherein the second coordinate is the coordinate of the target wave position in the first coordinate system, and the third coordinate is the coordinate of the target wave position in the target coordinate system.

[0226] The processing module 602 is further used to determine the antenna beam pointing angle of the satellite according to the third coordinate, the fourth coordinate and the target coordinate system; wherein the fourth coordinate is the coordinate of the center of mass of the earth in the target coordinate system.

[0227] It should be understood that the execution of the above corresponding processes by each module has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0228] The processing module 602 in the above embodiment can be implemented by at least one processor or processor-related circuit. The transceiver module 601 can be implemented by a transceiver or a transceiver-related circuit. The transceiver module 601 can also be called a communication unit or a communication interface. The storage unit can be implemented by at least one memory.

[0229] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7As shown, the electronic device 700 provided in this embodiment includes: a memory 701 and a processor 702 .

[0230] The memory 701 may be an independent physical unit, and may be connected to the processor 702 via a bus 703. The memory 701 and the processor 702 may also be integrated together and implemented by hardware. The memory 701 is used to store program instructions, and the processor 702 calls the program instructions to execute the operations performed by the satellite base station in any of the above method embodiments.

[0231] Optionally, when part or all of the methods of the above embodiments are implemented by software, the electronic device 700 may also include only a processor 702. The memory 701 for storing programs is located outside the electronic device 700, and the processor 702 is connected to the memory through circuits / wires to read and execute the programs stored in the memory. The processor 702 may be a central processing unit (CPU), a network processor (NP) or a combination of a CPU and a NP. The processor 702 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0232] The memory 701 may include a volatile memory, such as a random-access memory (RAM); the memory may also include a non-volatile memory, such as a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the memory may also include a combination of the above types of memory.

[0233] Exemplarily, the present application provides a satellite base station, comprising: a memory and at least one processor; the memory stores computer execution instructions; the at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor performs the operations performed by the satellite base station in the above method embodiment.

[0234] Exemplarily, the present application provides a chip, comprising: an interface circuit and a logic circuit, wherein the interface circuit is used to receive signals from other chips outside the chip and transmit them to the logic circuit, or to send signals from the logic circuit to other chips outside the chip, and the logic circuit is used to execute the operations performed by the satellite base station in the above method embodiment.

[0235] Illustratively, the present application provides a computer-readable storage medium on which computer program instructions are stored. The computer program instructions are executed by a processor of an electronic device so that the electronic device executes the operations performed by the satellite base station in the above method embodiment.

[0236] Illustratively, the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the operations executed by the satellite base station in the above method embodiment.

[0237] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining an antenna beam pointing angle, characterized in that: The execution subject is a satellite-borne base station, and the method comprises: Receive ephemeris information in a nineteenth system message block SIB19, the ephemeris information including a first coordinate of a satellite mass center in a first coordinate system, and a first velocity component of the satellite in the first coordinate system; wherein the coordinate origin of the first coordinate system is the mass center of the earth, an X-axis of the first coordinate system points to a fixed point on the earth's equator, a Y-axis of the first coordinate system is located on the earth's equatorial plane, and a Z-axis of the first coordinate system points to the north pole of the earth; the first velocity component includes a first X-axis velocity component, a first Y-axis velocity component, and a first Z-axis velocity component; Determine a conversion relationship between a second coordinate system and the first coordinate system according to the first coordinate; wherein the coordinate origin of the second coordinate system is the first coordinate, and an X-axis, a Y-axis, and a Z-axis of the second coordinate system are parallel to the X-axis, the Y-axis, and the Z-axis of the first coordinate system, respectively; Determine a target coordinate transformation matrix according to the second coordinate system, the flight direction of the satellite, the first position vector and the first velocity component; wherein the first position vector is the position vector of the satellite in the first coordinate system, and the target coordinate transformation matrix is ​​used to indicate the coordinate transformation relationship between the target coordinate system and the second coordinate system; the coordinate origin of the target coordinate system is the same as the coordinate origin of the second coordinate system, the X-axis of the target coordinate system points to the flight direction of the satellite, the Z-axis of the target coordinate system points to the center of mass of the earth, and the Y-axis of the target coordinate system points to the negative normal of the flight direction of the satellite; Determine a third coordinate according to the second coordinate, the conversion relationship between the second coordinate system and the first coordinate system, and the target coordinate conversion matrix; wherein the second coordinate is the coordinate of the target wave position in the first coordinate system, and the third coordinate is the coordinate of the target wave position in the target coordinate system; The antenna beam pointing angle of the satellite is determined according to the third coordinate, the fourth coordinate and the target coordinate system; wherein the fourth coordinate is the coordinate of the center of mass of the earth in the target coordinate system.

2. The method according to claim 1, characterized in that The step of determining a target coordinate transformation matrix according to the second coordinate system, the flight direction of the satellite, the first position vector, and the first velocity component includes: Determine a first coordinate transformation matrix according to the X-axis direction of the second coordinate system, the flight direction of the satellite and the first velocity component; wherein the first coordinate transformation matrix is ​​used to indicate a coordinate transformation relationship between a third coordinate system and the second coordinate system; the coordinate origin of the third coordinate system is the same as the coordinate origin of the second coordinate system, and the X-axis of the third coordinate system points to the flight direction of the satellite; Determine a second coordinate transformation matrix according to the Z-axis direction of the third coordinate system, the first position vector and the first coordinate transformation matrix; wherein the second coordinate transformation matrix is ​​used to indicate a coordinate transformation relationship between the target coordinate system and the third coordinate system; The target coordinate transformation matrix is ​​determined according to the product of the first coordinate transformation matrix and the second coordinate transformation matrix.

3. The method according to claim 2, characterized in that The determining a first coordinate transformation matrix according to the X-axis direction of the second coordinate system, the flight direction of the satellite and the first velocity component includes: Determine a target projection corresponding to the flight direction of the satellite; wherein the target projection is a projection of the flight direction of the satellite on the XOY plane of the second coordinate system; Determine a third coordinate transformation matrix according to the X-axis direction of the second coordinate system, the target projection and the first velocity component; wherein the third coordinate transformation matrix is ​​used to indicate a coordinate transformation relationship between a fourth coordinate system and the second coordinate system; the coordinate origin of the fourth coordinate system is the same as the coordinate origin of the second coordinate system, and the X-axis direction of the fourth coordinate system is consistent with the direction of the target projection; Determining a second velocity component of the satellite in the fourth coordinate system according to the product of the first velocity component and the third coordinate transformation matrix; Determine a fourth coordinate transformation matrix according to the X-axis direction of the fourth coordinate system, the flight direction of the satellite and the second velocity component; wherein the fourth coordinate transformation matrix is ​​used to indicate a coordinate transformation relationship between the third coordinate system and the fourth coordinate system; The first coordinate transformation matrix is ​​determined according to the product of the third coordinate transformation matrix and the fourth coordinate transformation matrix.

4. The method according to claim 2, characterized in that: The determining of the second coordinate transformation matrix according to the Z-axis direction of the third coordinate system, the first position vector and the first coordinate transformation matrix comprises: Determine a second position vector according to the product of the first position vector and the first coordinate transformation matrix; wherein the second position vector is the position vector of the satellite in the third coordinate system; The second coordinate transformation matrix is ​​determined according to the Z-axis direction of the third coordinate system and the second position vector.

5. The method according to claim 1, characterized in that The obtaining of the third coordinate based on the second coordinate, the conversion relationship between the second coordinate system and the first coordinate system, and the target coordinate conversion matrix includes: Based on the second coordinates and the conversion relationship between the second coordinate system and the first coordinate system, a fifth coordinate is determined; wherein the fifth coordinate is the coordinate of the target wave position in the second coordinate system; The third coordinate is obtained based on the product of the fifth coordinate and the target coordinate transformation matrix.

6. The method according to claim 5, characterized in that The determining of the fifth coordinate based on the second coordinate and the conversion relationship between the second coordinate system and the first coordinate system includes: The fifth coordinate is determined based on a difference between the second coordinate and the first coordinate.

7. The method according to claim 1, characterized in that The antenna beam pointing angle includes the azimuth angle and elevation angle of the beam; The step of determining the antenna beam pointing angle of the satellite according to the third coordinate, the fourth coordinate and the target coordinate system comprises: Determining the azimuth of the beam according to the third coordinate and the target coordinate system; The elevation angle of the beam is determined according to the third coordinate and the fourth coordinate.

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

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

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

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