Visualization method and device for satellite beam coverage, equipment and storage medium

Abstract

The invention discloses a visualization method and device for satellite beam coverage, equipment and a storage medium, and relates to the technical field of satellites, and the method comprises the steps: constructing a three-dimensional earth model and a satellite model according to input satellite attitude parameters; determining a beam coverage relation based on the three-dimensional earth model and the satellite model; creating a projection plane tangent to the earth surface of the three-dimensional earth model by taking a sub-satellite point of the satellite model as a tangent point, and determining a beam boundary on the projection plane; calculating a beam overlapping area according to the beam coverage relation, and rendering the beam overlapping area; extracting boundary feature points according to the beam boundary, and projecting the boundary feature points to the earth surface to obtain coverage projection points; and connecting the coverage projection points, then carrying out beam coverage three-dimensional modeling, and carrying out beam coverage two-dimensional display by using Mercator projection. According to the method and the device, the beam coverage with diversified shapes can be accurately and visually displayed.

Description

Technical Field

[0001] The present application relates to the field of satellite technology, and in particular to a visualization method, device, equipment and storage medium for satellite beam coverage. Background Art

[0002] In satellite communication systems, visualization of beam coverage is a key requirement for evaluating carrier performance and simplifying coverage determination and design processes. However, most existing beam coverage description methods are based on idealized simple regular shapes (such as circles, rectangles, or polygons). This simplification ignores the diversity of beam coverage shapes and the complex constraints of satellite performance boundaries in actual engineering contexts. Due to the high difficulty in calculating complex spherical intersection boundaries, existing beam coverage visualization methods are difficult to accurately reflect actual beam coverage.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of this application is to provide a satellite beam coverage visualization method, device, equipment and storage medium, aiming to solve the technical problem that the existing beam coverage visualization method is difficult to accurately reflect the actual beam coverage.

[0005] To achieve the above object, the present application proposes a method for visualizing satellite beam coverage, and the method for visualizing satellite beam coverage includes:

[0006] Construct a three-dimensional earth model and a satellite model based on the input satellite attitude parameters;

[0007] Determining a beam coverage relationship based on the three-dimensional earth model and the satellite model;

[0008] Taking the sub-satellite point of the satellite model as a tangent point, creating a projection plane tangent to the earth surface of the three-dimensional earth model, and determining a beam boundary on the projection plane;

[0009] Calculating a beam overlap area according to the beam coverage relationship, and rendering the beam overlap area;

[0010] Extracting boundary feature points according to the beam boundary, and projecting the boundary feature points onto the surface of the earth to obtain coverage projection points;

[0011] After the coverage projection points are connected, three-dimensional modeling of beam coverage is performed, and Mercator projection is used to perform two-dimensional display of beam coverage.

[0012] In one embodiment, the step of constructing a three-dimensional earth model and a satellite model according to the input satellite attitude parameters includes:

[0013] Establish a three-dimensional elliptical earth and geocentric coordinate system;

[0014] Constructing a three-dimensional earth model according to the three-dimensional elliptical earth and the geocentric coordinate system;

[0015] Acquire input satellite attitude parameters, wherein the satellite attitude parameters include geocentric coordinate system parameters and satellite coordinate system parameters, the geocentric coordinate system parameters include the longitude, latitude and altitude of the satellite in the geocentric coordinate system, and the satellite coordinate system parameters include the satellite pitch angle, satellite yaw angle and roll attitude parameters of the satellite in the satellite coordinate system;

[0016] Based on the satellite attitude parameters, a satellite model is generated on the basis of the three-dimensional earth model.

[0017] In one embodiment, the step of determining the beam coverage relationship based on the three-dimensional earth model and the satellite model includes:

[0018] Determining the number of beams, the position of beams, and the direction of beams based on the three-dimensional earth model and the satellite model;

[0019] Adding a beam model to the satellite model based on the number of beams, the beam positions, and the beam pointing;

[0020] Based on the beam model, a beam coverage relationship is determined according to the satellite elevation angle, the beam position and the beam pointing.

[0021] In one embodiment, the step of extracting boundary feature points according to the beam boundary and projecting the boundary feature points onto the earth surface to obtain coverage projection points includes:

[0022] determining a coverage shape of the beam boundary;

[0023] When the coverage shape is a regular shape, determining the intersection of the satellite beam pointing angle and the projection plane as a boundary feature point;

[0024] When the coverage shape is an irregular shape, a DP algorithm is used to extract boundary feature points from the beam coverage boundary;

[0025] After the boundary feature points are projected onto the earth surface along the satellite beam pointing angle, coverage projection points are obtained.

[0026] In one embodiment, the step of determining the coverage shape of the beam boundary comprises:

[0027] When the number of intersections between the satellite beam pointing angle and the projection plane is a first number, determining that the coverage shape is point-to-point transmission in a regular shape;

[0028] When the number of intersections between the satellite beam pointing angle and the projection plane is a second number, determining that the coverage shape is a line array coverage in a regular shape;

[0029] When the number of intersections of the satellite beam pointing angle and the projection plane is greater than a second number and the intersections of the satellite beam pointing angle and the projection plane meet a preset rule, determining that the coverage shape of the beam boundary is a regular shape;

[0030] When the number of intersections between the satellite beam pointing angle and the projection plane is greater than a second number and the intersections between the satellite beam pointing angle and the projection plane do not satisfy a preset rule, it is determined that the coverage shape of the beam boundary is an irregular shape.

[0031] In one embodiment, the method further comprises:

[0032] For a microwave remote sensing sensor having a sidelobe ratio, assigning a beam signal strength according to the sidelobe ratio, and displaying the beam assignment result on the three-dimensional modeling or the two-dimensional display; or,

[0033] For an antenna with beam gain, the beam gain contour is calculated according to the antenna beam gain distribution;

[0034] Extracting contour feature points of the beam gain contour using a DP algorithm, and projecting the contour feature points onto the surface of the earth;

[0035] The beam signal strength is assigned a value according to the beam gain contour line, and the beam assignment result is displayed on the contour line feature points of the three-dimensional modeling or the two-dimensional display.

[0036] In one embodiment, the method further comprises:

[0037] Establish a time system based on the input satellite orbit parameters and attitude change parameters;

[0038] Under the time system, the satellite beam coverage changing with time is dynamically displayed.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a visualization device for satellite beam coverage, and the visualization device for satellite beam coverage includes:

[0040] A construction module, used to construct a three-dimensional earth model and a satellite model according to input satellite attitude parameters;

[0041] A determination module, configured to determine a beam coverage relationship based on the three-dimensional earth model and the satellite model;

[0042] A creation module, used to create a projection plane tangent to the earth surface of the three-dimensional earth model with the sub-satellite point of the satellite model as a tangent point, and determine the beam boundary on the projection plane;

[0043] A calculation module, used for calculating a beam overlap area according to the beam coverage relationship, and rendering the beam overlap area;

[0044] An extraction module, used for extracting boundary feature points according to the beam boundary, and projecting the boundary feature points onto the earth surface to obtain coverage projection points;

[0045] The visualization module is used to connect the coverage projection points to perform three-dimensional modeling of beam coverage, and use Mercator projection to perform two-dimensional display of beam coverage.

[0046] In addition, to achieve the above-mentioned purpose, the present application also proposes a satellite beam coverage visualization device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the satellite beam coverage visualization method as described above.

[0047] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the satellite beam coverage visualization method as described above are implemented.

[0048] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the satellite beam coverage visualization method as described above.

[0049] One or more technical solutions proposed in this application have at least the following technical effects:

[0050] The visualization method, device, equipment and storage medium of satellite beam coverage proposed in the present application construct a three-dimensional earth model and a satellite model according to the input satellite attitude parameters; determine the beam coverage relationship based on the three-dimensional earth model and the satellite model; create a projection plane tangent to the earth surface of the three-dimensional earth model with the sub-satellite point of the satellite model as the tangent point, and determine the beam boundary on the projection plane; calculate the beam overlap area according to the beam coverage relationship, and render the beam overlap area; extract boundary feature points according to the beam boundary, and project the boundary feature points to the earth surface to obtain coverage projection points; connect the coverage projection points to perform three-dimensional modeling of beam coverage, and use Mercator projection to perform two-dimensional display of beam coverage, which solves the technical problem that the existing beam coverage visualization method is difficult to accurately reflect the actual beam coverage. Compared with the existing technology, the present application can classify and judge the beam boundary, assign beam signal strength and extract feature points, adopt feature point projection to simplify the projection process, facilitate identification, and thus accurately realize the visualization display of beam coverage with diverse shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0053] Figure 1 A schematic diagram of a flow chart provided for Embodiment 1 of the method for visualizing satellite beam coverage of the present application;

[0054] Figure 2 A schematic diagram of a coordinate system and elevation angle provided in Example 1 of a method for visualizing satellite beam coverage of the present application;

[0055] Figure 3 A schematic diagram of boundary lines provided in Example 1 of the method for visualizing satellite beam coverage of the present application;

[0056] Figure 4 A schematic diagram of feature point extraction provided in Example 1 of the visualization method for satellite beam coverage of the present application;

[0057] Figure 5 A schematic diagram of beam assignment provided in Example 1 of the method for visualizing satellite beam coverage of the present application;

[0058] Figure 6A schematic diagram of beam assignment provided in Example 2 of the visualization method for satellite beam coverage of the present application;

[0059] Figure 7 A schematic diagram of the module structure of a device for visualizing satellite beam coverage according to an embodiment of the present application;

[0060] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the method for visualizing satellite beam coverage in the embodiment of the present application.

[0061] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0062] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0063] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0064] The main solution of the embodiment of the present application is: construct a three-dimensional earth model and a satellite model according to the input satellite attitude parameters; determine the beam coverage relationship based on the three-dimensional earth model and the satellite model; take the sub-satellite point of the satellite model as the tangent point, create a projection plane tangent to the earth surface of the three-dimensional earth model, and determine the beam boundary on the projection plane; calculate the beam overlap area according to the beam coverage relationship, and render the beam overlap area; extract boundary feature points according to the beam boundary, and project the boundary feature points to the earth surface to obtain coverage projection points; connect the coverage projection points to perform three-dimensional modeling of beam coverage, and use Mercator projection to perform two-dimensional display of beam coverage.

[0065] In this embodiment, for ease of description, the following description is made by taking the visualization device for identifying satellite beam coverage as the execution subject.

[0066] It can be seen from the above embodiments that the present application constructs a three-dimensional earth model and a satellite model according to the input satellite attitude parameters; determines the beam coverage relationship based on the three-dimensional earth model and the satellite model; takes the sub-satellite point of the satellite model as the tangent point, creates a projection plane tangent to the earth surface of the three-dimensional earth model, and determines the beam boundary on the projection plane; calculates the beam overlap area according to the beam coverage relationship, and renders the beam overlap area; extracts boundary feature points according to the beam boundary, and projects the boundary feature points onto the earth surface to obtain coverage projection points; connects the coverage projection points to perform three-dimensional modeling of beam coverage, and uses Mercator projection to perform two-dimensional display of beam coverage, which solves the technical problem that the existing beam coverage visualization method is difficult to accurately reflect the actual beam coverage. Compared with the prior art, the present application can classify and judge the beam boundary, assign beam signal strength and extract feature points, and adopts the feature point projection method to simplify the projection process and facilitate identification, thereby accurately realizing the visualization display of beam coverage with diverse shapes.

[0067] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a satellite beam coverage visualization device, etc. The following takes the visualization of satellite beam coverage as an example to illustrate this embodiment and the following embodiments.

[0068] Based on this, the embodiment of the present application provides a method for visualizing satellite beam coverage, referring to Figure 1 , Figure 1 This is a schematic flow chart of the first embodiment of the method for visualizing satellite beam coverage of the present application.

[0069] In this embodiment, the satellite beam coverage visualization method includes steps S10 to S60:

[0070] Step S10, constructing a three-dimensional earth model and a satellite model according to the input satellite attitude parameters;

[0071] It should be noted that a three-dimensional earth model and a satellite model can be presented by establishing a three-dimensional elliptical earth and a geocentric coordinate system and inputting satellite attitude parameters.

[0072] It should be noted that the beam boundary can be input through different input methods, which is compatible with different input methods and convenient for users to input parameters, especially hand-drawn input, which is convenient and intuitive.

[0073] In a feasible implementation, the step of constructing a three-dimensional earth model and a satellite model based on the input satellite attitude parameters includes: establishing a three-dimensional elliptical earth and a geocentric coordinate system; constructing a three-dimensional earth model based on the three-dimensional elliptical earth and the geocentric coordinate system; obtaining the input satellite attitude parameters, wherein the satellite attitude parameters include geocentric coordinate system parameters and satellite coordinate system parameters, the geocentric coordinate system parameters include the longitude, latitude and altitude of the satellite in the geocentric coordinate system, and the satellite coordinate system parameters include the satellite pitch angle, satellite yaw angle and roll attitude parameters of the satellite in the satellite coordinate system; based on the satellite attitude parameters, generating a satellite model on the basis of the three-dimensional earth model.

[0074] It should be noted that a three-dimensional elliptical earth and a coordinate system with the center of the earth as the origin (i.e., a geocentric coordinate system) can be established based on the major semi-axis, minor semi-axis, and flattening defined in the WGS-84 coordinate system (World Geodetic System-1984 Coordinate System, 1984 World Geodetic Coordinate System); the proportional relationship between the satellite model and the three-dimensional earth model can also be defined to improve the visibility of the satellite, such as determining the scale of the three-dimensional earth model and the satellite model, with the initial scale set to 1, and the user can zoom in or out the three-dimensional scene by modifying the scale; the satellite attitude parameters include the following two coordinate systems: ① the coordinates (longitude, latitude, and altitude) of the satellite in the geocentric coordinate system; ② the satellite coordinate system is constructed with the satellite center of mass as the coordinate origin, the satellite pitch angle (the angle of the satellite relative to the earth is set by the pitch parameter), the satellite yaw angle (the deviation angle of the satellite along the orbit is set by the yaw parameter), and the roll attitude parameters (the satellite roll angle is set by the roll parameter) of the satellite in the satellite coordinate system.

[0075] Step S20, determining a beam coverage relationship based on the three-dimensional earth model and the satellite model;

[0076] It should be noted that the number of beams and the position of the beams relative to the satellite's center of mass are determined; a beam model is added to the satellite based on the number, position and direction of the beams; and the coverage relationship of the beam to the earth (i.e., the beam coverage relationship) is determined based on the satellite's pitch angle, beam position and direction.

[0077] In a feasible implementation, the step of determining the beam coverage relationship based on the three-dimensional earth model and the satellite model includes: determining the number of beams, beam positions and beam pointing based on the three-dimensional earth model and the satellite model; adding a beam model to the satellite model based on the number of beams, the beam positions and the beam pointing; based on the beam model, determining the beam coverage relationship according to the satellite pitch angle, the beam position and the beam pointing.

[0078] It should be noted that the satellite platform has a single or multiple beams. By determining the number of beams, the position coordinates in the satellite centroid coordinate system, and the pointing angle in the satellite centroid coordinate system, a single or multiple beams can be formed. The coverage direction of each satellite beam to the earth is determined according to the pitch parameters: Figure 2 As shown, the satellite centroid coordinate system takes the satellite centroid as the origin, the satellite motion direction is the x-axis, and the y-axis is perpendicular to the satellite orbital plane; the satellite pitch angle φ is the angle between the y-axis of the coordinate system with the satellite centroid as the origin and the satellite central axis; the direction of the satellite beam center is determined according to the satellite pitch angle, satellite beam position and satellite beam azimuth.

[0079] Step S30, creating a projection plane tangent to the earth surface of the three-dimensional earth model with the sub-satellite point of the satellite model as a tangent point, and determining a beam boundary on the projection plane;

[0080] It should be noted that the beam boundary can be added to the sub-satellite point tangent plane by manual drawing, external program communication, parameter input or parameter import.

[0081] It should be noted that the projection plane tangent to the earth's surface is created with the sub-satellite point as the tangent point. The beam coverage boundary can be determined on this projection plane in the following four ways:

[0082] (1) Manual drawing: the beam boundary can be manually drawn according to the beam characteristics. The types of manually drawn boundary lines include points, straight lines, arcs, curves, triangles, quadrilaterals, and polygons;

[0083] (2) Input parameters according to the shape and automatically draw the shape. For example, input the coordinates of a point to generate a point on the plane; input the coverage radius to automatically generate a boundary circle with the intersection as the center;

[0084] (3) Real-time communication with external programs, in the form of server / client, the external program transmits data to this system through the TCP protocol, and this system parses it;

[0085] (4) External batch import of boundary points for drawing;

[0086] like Figure 3 As shown in the figure, the coverage boundary shape is divided into point-to-point, linear array coverage, circular coverage, polygonal coverage and irregular coverage according to the parameters; the coverage shape type is determined according to the intersection relationship between the satellite beam pointing angle and the tangential projection plane:

[0087] 1) When there is only one point, it is point-to-point transmission;

[0088] 2) When there are only two points, it is a line array coverage;

[0089] 3) When there are multiple points, first determine whether some of the multiple points are on the same straight line based on the Hough transform. If multiple points are on different straight lines, use the polygonal covering method to generate the covering boundary. Then, take the intersection point as the reference point to determine the distance between the boundary point and the intersection point. If the distances between the points are equal, it is a circular covering, and use the circular covering method to generate the covering boundary. If the distances between the points change proportionally, there are 2 equal maximum values ​​and 2 equal minimum values, use the elliptical covering method to generate the covering boundary.

[0090] 4) If the above conditions are not met, it will be treated as irregular coverage.

[0091] Step S40, calculating a beam overlap area according to the beam coverage relationship, and rendering the beam overlap area;

[0092] It should be noted that for multi-beam coverage, it is necessary to determine whether there is overlap between different beams. The number of intersections is used for judgment. There is an overlapping area (i.e., beam overlap area) only when there are two intersections. The overlapping area is rendered by superimposing colors.

[0093] Step S50, extracting boundary feature points according to the beam boundary, and projecting the boundary feature points onto the earth surface to obtain coverage projection points;

[0094] It should be noted that the boundary feature points can be determined according to the coverage shape of the beam boundary. For example, when the coverage shape is determined to be a regular shape, the boundary feature points are the intersection points obtained according to the beam overlap area. When the coverage shape is determined to be an irregular shape, the Douglas-Peucher (DP) algorithm is used to extract the feature points of the irregular shape, and the feature points are projected onto the surface of the earth ellipsoid along the satellite beam pointing angle, and the feature lines are drawn on the earth surface according to the features using Lagrange interpolation or least squares fitting.

[0095] Step S60, connecting the coverage projection points to perform three-dimensional modeling of beam coverage, and using Mercator projection to perform two-dimensional display of beam coverage.

[0096] It should be noted that the beam shape can be obtained by connecting the coverage projection points, and then the satellite beam can be three-dimensionally visualized based on the beam shape, and the satellite beam coverage of the two-dimensional earth can be displayed using the Mercator projection. Users can switch the Mercator projection coverage to a two-dimensional display using the three-dimensional and two-dimensional switching buttons. The beam coverage can be dynamically displayed as it changes with the satellite orbit altitude.

[0097] It should be noted that the specific steps of determining beam shape, beam assignment and beam projection include: determining the overlapping area of ​​multiple beams, superimposing and displaying the overlapping area, calculating the beam gain contour through beam gain distribution, assigning values ​​to beam coverage, and displaying the beam assignment results. According to the shape of the figure, the shape feature points are extracted, and the figure is divided into different points for connection. Figure 4 As shown in the figure, an irregular figure is divided into three line segments and three arcs. The feature points are projected onto the three-dimensional earth surface. Then, arcs or straight lines are connected with the feature projection points as the plane. The intersection line with the earth surface is the beam boundary projection.

[0098] In a feasible embodiment, the method also includes: for a microwave remote sensing sensor with a sidelobe ratio, assigning a beam signal strength according to the sidelobe ratio, and displaying the beam assignment result on the three-dimensional modeling or the two-dimensional display; or, for an antenna with beam gain, calculating the beam gain contour line according to the antenna beam gain distribution; using the DP algorithm to extract the contour line feature points of the beam gain contour line, and projecting the contour line feature points to the earth's surface; assigning a beam signal strength according to the beam gain contour line, and displaying the beam assignment result on the contour line feature points of the three-dimensional modeling or the two-dimensional display.

[0099] It should be noted that if Figure 5 As shown, the beam signal strength can be assigned by the antenna gain or the sensor sidelobe ratio. For example, for an antenna with beam gain, the beam gain contour is calculated according to the antenna beam gain distribution, the beam coverage is assigned, and the beam assignment result is displayed; for microwave remote sensing sensors such as SAR with sidelobe ratio, the sidelobe ratio is assigned according to the value; the Douglas-Peucher (DP) algorithm is also used to extract the contour feature points, and the contour feature points are projected onto the surface of the earth ellipsoid.

[0100] In a feasible implementation, the method further includes: establishing a time system according to input satellite orbit parameters and attitude change parameters; and dynamically displaying satellite beam coverage that changes with time under the time system.

[0101] It should be noted that you can input satellite orbit parameters and attitude change parameters over time, establish a time system, and dynamically display satellite beam coverage changes over time according to time changes. As time and satellite orbit altitude change, according to the beam boundary of the subsatellite point section at the initial satellite altitude, the initial beam boundary is projected onto the subsatellite point section, the beam boundary on the section at the new time is determined, and feature point projection and coverage visualization are performed. As time and satellite attitude change, according to the beam boundary of the subsatellite point section at the initial satellite altitude, the beam pointing angle is changed and projected onto the section at the new time, the beam boundary at the new time is determined, and feature point projection and coverage visualization are performed.

[0102] This embodiment constructs a three-dimensional earth model and a satellite model according to the input satellite attitude parameters; determines the beam coverage relationship based on the three-dimensional earth model and the satellite model; creates a projection plane tangent to the earth surface of the three-dimensional earth model with the sub-satellite point of the satellite model as the tangent point, and determines the beam boundary on the projection plane; calculates the beam overlap area according to the beam coverage relationship and renders the beam overlap area; extracts boundary feature points according to the beam boundary, and projects the boundary feature points onto the earth surface to obtain coverage projection points; connects the coverage projection points to perform three-dimensional modeling of beam coverage, and uses Mercator projection to perform two-dimensional display of beam coverage, thereby solving the technical problem that the existing beam coverage visualization method is difficult to accurately reflect the actual beam coverage. Compared with the existing technology, the present application can classify and judge the beam boundary, assign beam signal strength and extract feature points, and adopts the feature point projection method to simplify the projection process and facilitate identification, thereby realizing accurate visualization of beam coverage with diverse shapes.

[0103] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 6 , step S50 also includes steps S501 to S504:

[0104] Step S501, determining the coverage shape of the beam boundary;

[0105] It should be noted that coverage shapes include point-to-point transmission, line array coverage, circular coverage, polygonal coverage and irregular coverage, among which point-to-point transmission, line array coverage, circular coverage and polygonal coverage are all regular coverage (i.e. regular shapes).

[0106] Step S502: when the coverage shape is a regular shape, determining the intersection of the satellite beam pointing angle and the projection plane as a boundary feature point;

[0107] It should be noted that, when the coverage shape is a regular shape, the intersection of the satellite beam pointing angle and the projection plane can be directly determined as the boundary feature point.

[0108] Step S503, when the coverage shape is an irregular shape, using the DP algorithm to extract boundary feature points from the beam coverage boundary;

[0109] It should be noted that when the covering shape is an irregular shape, the Douglas-Peucher (DP) algorithm is used to extract feature points of the irregular shape.

[0110] Step S504: Project the boundary feature points onto the earth's surface along the satellite beam pointing angle to obtain coverage projection points.

[0111] It should be noted that the boundary feature points are projected onto the surface of the earth ellipsoid along the satellite beam pointing angle to obtain the coverage projection points, and the characteristic lines are drawn on the earth surface using Lagrange interpolation or least squares fitting based on the coverage projection points.

[0112] In a feasible implementation manner, the step of determining the coverage shape of the beam boundary includes: when the number of intersections between the satellite beam pointing angle and the projection plane is a first number, determining that the coverage shape is point-to-point transmission in a regular shape; when the number of intersections between the satellite beam pointing angle and the projection plane is a second number, determining that the coverage shape is a line array coverage in a regular shape; when the number of intersections between the satellite beam pointing angle and the projection plane is greater than the second number and the intersection of the satellite beam pointing angle and the projection plane meets a preset rule, determining that the coverage shape of the beam boundary is a regular shape; when the number of intersections between the satellite beam pointing angle and the projection plane is greater than the second number and the intersection of the satellite beam pointing angle and the projection plane does not meet a preset rule, determining that the coverage shape of the beam boundary is an irregular shape.

[0113] It should be noted that the first number is set to 1 and the second number is set to 2; when the number of intersections of the satellite beam pointing angle and the projection plane is greater than the second number, it is necessary to further judge whether the intersection of the satellite beam pointing angle and the projection plane conforms to preset rules, such as whether it conforms to the law of polygonal coverage boundaries, or whether it conforms to the law of circular coverage boundaries, or whether it conforms to the law of elliptical coverage boundaries.

[0114] It should be noted that the preset rule is: based on the Hough transform, it is determined whether some of the multiple points are on the same straight line. If multiple points are on different straight lines, a polygonal covering method is used to generate a polygonal covering boundary in a regular shape; then the intersection point is used as the reference point to determine the distance between the boundary point and the boundary point. If the distances between the points are equal, it is a circular covering, and a circular covering boundary in a regular shape is generated using the circular covering method; if the distances between the points change proportionally, there are 2 equal maximum values ​​and 2 equal minimum values, an elliptical covering method is used to generate an elliptical covering boundary in a regular shape.

[0115] In the specific implementation, the coverage boundary shape can be divided into point-to-point, linear array coverage, circular coverage, polygonal coverage and irregular coverage according to the parameters; the coverage shape type can be determined according to the intersection relationship between the satellite beam pointing angle and the tangential projection plane:

[0116] 1) When there is only one point (that is, when the number of intersections between the satellite beam pointing angle and the projection plane is the first number), it is point-to-point transmission;

[0117] 2) When there are only two points (i.e., when the number of intersections between the satellite beam pointing angle and the projection plane is the second number), it is a linear array coverage;

[0118] 3) When there are multiple points (i.e., when the number of intersections between the satellite beam pointing angle and the projection plane is greater than the second number), firstly, it is determined whether some of the multiple points are on the same straight line according to the Hough transform. If multiple points are on different straight lines, a polygonal covering method is used to generate a covering boundary. Then, the intersection point is used as a reference point to determine the distance between the boundary point and the boundary point. If the distances between the points are equal, it is a circular covering, and a covering boundary is generated using the circular covering method. If the distances between the points change proportionally, and there are two equal maximum values ​​and two equal minimum values, an elliptical covering method is used to generate a covering boundary.

[0119] 4) If the above conditions are not met, it will be treated as irregular coverage.

[0120] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the visualization method of satellite beam coverage of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0121] This application also provides a visualization device for satellite beam coverage, please refer to Figure 7 , the visualization device of the satellite beam coverage includes:

[0122] A construction module 10 is used to construct a three-dimensional earth model and a satellite model according to the input satellite attitude parameters;

[0123] A determination module 20, configured to determine a beam coverage relationship based on the three-dimensional earth model and the satellite model;

[0124] A creation module 30, for creating a projection plane tangent to the earth surface of the three-dimensional earth model with the sub-satellite point of the satellite model as a tangent point, and determining a beam boundary on the projection plane;

[0125] A calculation module 40, configured to calculate a beam overlap area according to the beam coverage relationship, and render the beam overlap area;

[0126] An extraction module 50, configured to extract boundary feature points according to the beam boundary, and project the boundary feature points onto the earth surface to obtain coverage projection points;

[0127] The visualization module 60 is used to connect the coverage projection points to perform three-dimensional modeling of beam coverage, and to use Mercator projection to perform two-dimensional display of beam coverage.

[0128] The visualization device for satellite beam coverage provided by the present application adopts the visualization method for satellite beam coverage in the above-mentioned embodiment, which can solve the technical problem that the existing beam coverage visualization method is difficult to accurately reflect the actual beam coverage. Compared with the prior art, the beneficial effects of the visualization device for satellite beam coverage provided by the present application are the same as the beneficial effects of the visualization method for satellite beam coverage provided by the above-mentioned embodiment, and other technical features in the visualization device for satellite beam coverage are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0129] The present application provides a device for visualizing satellite beam coverage, and the device for visualizing satellite beam coverage includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for visualizing satellite beam coverage in the above-mentioned embodiment one.

[0130] Reference below Figure 8 , which shows a schematic diagram of the structure of a visualization device suitable for realizing the satellite beam coverage of the embodiment of the present application. The visualization device of the satellite beam coverage in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The visualization device of satellite beam coverage shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0131] like Figure 8As shown, the visualization device for satellite beam coverage may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the visualization device for satellite beam coverage are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the visualization device covered by a satellite beam to communicate with other devices wirelessly or by wire to exchange data. Although the visualization device covered by a satellite beam with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0132] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0133] The visualization device for satellite beam coverage provided by the present application adopts the visualization method for satellite beam coverage in the above-mentioned embodiment, which can solve the technical problem that the existing beam coverage visualization method is difficult to accurately reflect the actual beam coverage. Compared with the prior art, the beneficial effects of the visualization device for satellite beam coverage provided by the present application are the same as the beneficial effects of the visualization method for satellite beam coverage provided by the above-mentioned embodiment, and other technical features in the visualization device for satellite beam coverage are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0134] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0135] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0136] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the satellite beam coverage visualization method in the above-mentioned embodiment.

[0137] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0138] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0139] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0140] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0141] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned satellite beam coverage visualization method, and can solve the technical problem that the existing beam coverage visualization method is difficult to accurately reflect the actual beam coverage. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the satellite beam coverage visualization method provided by the above-mentioned embodiment, and will not be repeated here.

[0142] The present application also provides a computer program product, comprising a computer program, which implements the steps of the above-mentioned satellite beam coverage visualization method when executed by a processor.

[0143] The computer program product provided by the present application can solve the technical problem that the existing beam coverage visualization method is difficult to accurately reflect the actual beam coverage. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the satellite beam coverage visualization method provided by the above embodiment, which will not be repeated here.

[0144] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for visualizing satellite beam coverage, characterized in that: The method comprises: Construct a three-dimensional earth model and a satellite model based on the input satellite attitude parameters; Determining a beam coverage relationship based on the three-dimensional earth model and the satellite model; Taking the sub-satellite point of the satellite model as a tangent point, creating a projection plane tangent to the earth surface of the three-dimensional earth model, and determining a beam boundary on the projection plane; Calculating a beam overlap area according to the beam coverage relationship, and rendering the beam overlap area; Extracting boundary feature points according to the beam boundary, and projecting the boundary feature points onto the surface of the earth to obtain coverage projection points; After the coverage projection points are connected, three-dimensional modeling of beam coverage is performed, and Mercator projection is used to perform two-dimensional display of beam coverage.

2. The method according to claim 1, characterized in that The step of constructing a three-dimensional earth model and a satellite model according to the input satellite attitude parameters comprises: Establish a three-dimensional elliptical earth and geocentric coordinate system; Constructing a three-dimensional earth model according to the three-dimensional elliptical earth and the geocentric coordinate system; Acquire input satellite attitude parameters, wherein the satellite attitude parameters include geocentric coordinate system parameters and satellite coordinate system parameters, the geocentric coordinate system parameters include the longitude, latitude and altitude of the satellite in the geocentric coordinate system, and the satellite coordinate system parameters include the satellite pitch angle, satellite yaw angle and roll attitude parameters of the satellite in the satellite coordinate system; Based on the satellite attitude parameters, a satellite model is generated on the basis of the three-dimensional earth model.

3. The method according to claim 2, characterized in that The step of determining the beam coverage relationship based on the three-dimensional earth model and the satellite model comprises: Determining the number of beams, the position of beams, and the direction of beams based on the three-dimensional earth model and the satellite model; Adding a beam model to the satellite model based on the number of beams, the beam positions, and the beam pointing; Based on the beam model, a beam coverage relationship is determined according to the satellite elevation angle, the beam position and the beam pointing.

4. The method according to claim 1, characterized in that The step of extracting boundary feature points according to the beam boundary and projecting the boundary feature points onto the earth surface to obtain coverage projection points comprises: determining a coverage shape of the beam boundary; When the coverage shape is a regular shape, determining the intersection of the satellite beam pointing angle and the projection plane as a boundary feature point; When the coverage shape is an irregular shape, a DP algorithm is used to extract boundary feature points from the beam coverage boundary; After the boundary feature points are projected onto the earth surface along the satellite beam pointing angle, coverage projection points are obtained.

5. The method according to claim 4, characterized in that The step of determining the coverage shape of the beam boundary comprises: When the number of intersections between the satellite beam pointing angle and the projection plane is a first number, determining that the coverage shape is point-to-point transmission in a regular shape; When the number of intersections between the satellite beam pointing angle and the projection plane is a second number, determining that the coverage shape is a line array coverage in a regular shape; When the number of intersections of the satellite beam pointing angle and the projection plane is greater than a second number and the intersections of the satellite beam pointing angle and the projection plane meet a preset rule, determining that the coverage shape of the beam boundary is a regular shape; When the number of intersections between the satellite beam pointing angle and the projection plane is greater than a second number and the intersections between the satellite beam pointing angle and the projection plane do not satisfy a preset rule, it is determined that the coverage shape of the beam boundary is an irregular shape.

6. The method according to claim 1, characterized in that The method further comprises: For a microwave remote sensing sensor having a sidelobe ratio, assigning a beam signal strength according to the sidelobe ratio, and displaying the beam assignment result on the three-dimensional modeling or the two-dimensional display; or, For an antenna with beam gain, the beam gain contour is calculated according to the antenna beam gain distribution; Extracting contour feature points of the beam gain contour using a DP algorithm, and projecting the contour feature points onto the surface of the earth; The beam signal strength is assigned a value according to the beam gain contour line, and the beam assignment result is displayed on the contour line feature points of the three-dimensional modeling or the two-dimensional display.

7. The method according to claim 1, characterized in that The method further comprises: Establish a time system based on the input satellite orbit parameters and attitude change parameters; Under the time system, the satellite beam coverage changing with time is dynamically displayed.

8. A device for visualizing satellite beam coverage, characterized in that: The device comprises: A construction module, used to construct a three-dimensional earth model and a satellite model according to input satellite attitude parameters; A determination module, configured to determine a beam coverage relationship based on the three-dimensional earth model and the satellite model; A creation module, used to create a projection plane tangent to the earth surface of the three-dimensional earth model with the sub-satellite point of the satellite model as a tangent point, and determine the beam boundary on the projection plane; A calculation module, used for calculating a beam overlap area according to the beam coverage relationship, and rendering the beam overlap area; An extraction module, used for extracting boundary feature points according to the beam boundary, and projecting the boundary feature points onto the earth surface to obtain coverage projection points; The visualization module is used to connect the coverage projection points to perform three-dimensional modeling of beam coverage, and use Mercator projection to perform two-dimensional display of beam coverage.

9. A device for visualizing satellite beam coverage, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for visualizing satellite beam coverage according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for visualizing satellite beam coverage as described in any one of claims 1 to 7 are implemented.

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