Method, device and equipment for visualizing satellite beam coverage and storage medium

Abstract

The application discloses a satellite beam coverage visualization method, device, equipment and storage medium, and relates to the technical field of satellites, and comprises the following steps: constructing a three-dimensional earth model and a satellite model according to input satellite attitude parameters; determining a beam coverage relationship 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 with a subsatellite point of the satellite model as a tangent point, and determining a beam boundary on the projection plane; calculating a beam overlap area according to the beam coverage relationship, rendering the beam overlap area; extracting boundary feature points according to the beam boundary, projecting the boundary feature points to the earth surface to obtain coverage projection points; connecting the coverage projection points to perform three-dimensional modeling of beam coverage, and performing two-dimensional display of beam coverage by using Mercator projection. The application can accurately visualize and display beam coverage with diversified shapes.

Description

TECHNICAL FIELD

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

[0002] In a satellite communication system, the visualization of beam coverage is a key requirement for evaluating the performance of the carrier, simplifying the coverage determination and design process. However, most of the existing beam coverage range description methods are based on idealized simple rule shapes (such as circles, rectangles or polygons), and this simplified processing ignores the diversity of beam coverage shapes and the complex constraint conditions of satellite performance boundaries in the actual engineering background. Due to the high difficulty of calculating the complex spherical intersection boundary, the existing beam coverage visualization method is difficult to accurately reflect the actual beam coverage.

[0003] The above content is only used to assist in understanding the technical solutions of the present application, and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a satellite beam coverage visualization method, device, equipment and storage medium, which aims 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 purpose, the present application provides a satellite beam coverage visualization method, which comprises:

[0006] constructing a three-dimensional earth model and a satellite model according to the input satellite attitude parameters;

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

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

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

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

[0011] connecting the coverage projection points to perform beam coverage three-dimensional modeling, and using Mercator projection to perform beam coverage two-dimensional display.

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

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

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

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

[0016] generating a satellite model based on the three-dimensional earth model and the satellite attitude parameters.

[0017] In an 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, position and direction of the 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, position and direction of the beams;

[0020] determining the beam coverage relationship based on the beam model, the satellite pitch angle, the beam position and the beam direction.

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

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

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

[0024] when the coverage shape is an irregular shape, extracting boundary feature points from the beam coverage boundary using a D-P algorithm;

[0025] projecting the boundary feature points to the earth surface along the satellite beam direction angle to obtain coverage projection points.

[0026] In an embodiment, the step of determining the coverage shape of the beam boundary includes:

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

[0028] when the number of intersection points of the satellite beam pointing angle and the projection plane is a second number, determining that the coverage shape is a linear array coverage in regular shapes;

[0029] when the number of intersection points of the satellite beam pointing angle and the projection plane is greater than the second number and the intersection condition of the satellite beam pointing angle and the projection plane satisfies a preset rule, determining that the coverage shape of the beam boundary is a regular shape;

[0030] when the number of intersection points of the satellite beam pointing angle and the projection plane is greater than the second number and the intersection condition of the satellite beam pointing angle and the projection plane does not satisfy the preset rule, determining that the coverage shape of the beam boundary is an irregular shape.

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

[0032] for a microwave remote sensing sensor with a sidelobe ratio, assigning values to beam signal strengths according to the sidelobe ratio, and displaying the beam assignment results on the three-dimensional modeling or the two-dimensional display; or,

[0033] for an antenna with beam gain, calculating beam gain contours according to the antenna beam gain distribution;

[0034] extracting contour feature points of the beam gain contours by using a D-P algorithm, and projecting the contour feature points to the earth's surface;

[0035] assigning values to beam signal strengths according to the beam gain contours, and displaying the beam assignment results on the contour feature points of the three-dimensional modeling or the two-dimensional display.

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

[0037] establishing a time system according to input satellite orbit parameters and attitude change parameters;

[0038] under the time system, dynamically displaying satellite beam coverage changing over time.

[0039] In addition, to achieve the above object, the application further provides a satellite beam coverage visualization device, which comprises:

[0040] a construction module, configured 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 creating module is configured to create a projection plane tangent to the earth surface of the three-dimensional earth model with the subsatellite point of the satellite model as a tangent point, and determine a beam boundary on the projection plane;

[0043] A calculating module is configured to calculate a beam overlap area according to the beam coverage relationship, and render the beam overlap area;

[0044] An extracting module is configured to extract a boundary feature point according to the beam boundary, and project the boundary feature point to the earth surface to obtain a coverage projection point;

[0045] A visualizing module is configured to connect the coverage projection points to perform three-dimensional modeling of beam coverage, and perform two-dimensional display of beam coverage using Mercator projection.

[0046] In addition, to achieve the above object, the present application further provides a satellite beam coverage visualization device, which comprises a memory, a processor, and a computer program stored in 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 object, the present application further provides a storage medium, which is a computer readable storage medium, and a computer program is stored on the storage medium, and the computer program is executed by a processor to implement the steps of the satellite beam coverage visualization method as described above.

[0048] In addition, to achieve the above object, the present application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the satellite beam coverage visualization method as described above.

[0049] The one or more technical solutions provided by the present application have at least the following technical effects:

[0050] The satellite beam coverage visualization method, device, equipment and storage medium provided by the application, through constructing a three-dimensional earth model and a satellite model according to input satellite attitude parameters; determining a beam coverage relationship 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 with the subsatellite point of the satellite model as a tangent point, and determining a beam boundary on the projection plane; calculating a beam overlap area according to the beam coverage relationship, rendering the beam overlap 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; connecting the coverage projection points to perform beam coverage three-dimensional modeling, and using Mercator projection to perform beam coverage two-dimensional display, 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 application can classify and judge the beam boundary, assign beam signal strength and extract feature points, adopt the feature point projection mode, simplify the projection process, facilitate identification, and then realize accurate visualization display of the diversified beam coverage. BRIEF DESCRIPTION OF DRAWINGS

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

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0053] Figure 1 The flowchart provided by the satellite beam coverage visualization method embodiment one of the application;

[0054] Figure 2 The coordinate system and pitch angle diagram provided by the satellite beam coverage visualization method embodiment one of the application;

[0055] Figure 3 The boundary line diagram provided by the satellite beam coverage visualization method embodiment one of the application;

[0056] Figure 4 The feature point extraction diagram provided by the satellite beam coverage visualization method embodiment one of the application;

[0057] Figure 5 The beam assignment diagram provided by the satellite beam coverage visualization method embodiment one of the application;

[0058] Figure 6The beam assignment schematic diagram provided for the second embodiment of the method for visualizing satellite beam coverage of the application;

[0059] Figure 7 The module structure schematic diagram of the device for visualizing satellite beam coverage of the embodiment of the application;

[0060] Figure 8 The device structure schematic diagram of the hardware running environment involved in the method for visualizing satellite beam coverage of the embodiment of the application.

[0061] The object realization, functional features and advantages of the application will be further explained in combination with the embodiments and with reference to the drawings. DETAILED DESCRIPTION

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

[0063] In order to better understand the technical solutions of the application, the following will be described in detail in combination with the drawings of the specification and the specific embodiments.

[0064] The main solution of the embodiment of the application is: constructing a three-dimensional earth model and a satellite model according to input satellite attitude parameters; determining a beam coverage relationship 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 with the subsatellite point of the satellite model as a tangent point, and determining a beam boundary on the projection plane; calculating a beam overlap area according to the beam coverage relationship, rendering the beam overlap area; extracting boundary feature points according to the beam boundary, projecting the boundary feature points to the earth surface to obtain coverage projection points; connecting the coverage projection points to perform beam coverage three-dimensional modeling, and using Mercator projection to perform beam coverage two-dimensional display.

[0065] In the embodiment, for convenience of description, the following takes the device for identifying satellite beam coverage as the execution subject for elaboration.

[0066] From the above embodiment, the application constructs a three-dimensional earth model and a satellite model according to input satellite attitude parameters; determines a 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 a subsatellite point of the satellite model as a tangent point, and determines a beam boundary on the projection plane; calculates a beam overlap area according to the beam coverage relationship, renders the beam overlap area; extracts boundary feature points according to the beam boundary, and projects the boundary feature points to the earth surface to obtain coverage projection points; connects the coverage projection points to perform beam coverage three-dimensional modeling, and uses Mercator projection to perform beam coverage two-dimensional display, 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 application can classify and judge the beam boundary, assign beam signal strength, and extract feature points, adopts a feature point projection mode, simplifies the projection process, facilitates identification, and further realizes accurate visualization display of beams with diversified shapes.

[0067] It should be noted that the execution subject of the embodiment can 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, or an electronic device capable of realizing the above functions, a satellite beam coverage visualization device, or the like. The following takes satellite beam coverage visualization as an example to describe the embodiment and the following embodiments.

[0068] Based on this, the embodiment of the application provides a satellite beam coverage visualization method, which refers to Figure 1 , Figure 1 The flowchart of the first embodiment of the satellite beam coverage visualization method of the application is shown in FIG. 1.

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

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

[0071] It should be noted that a three-dimensional elliptical earth and a geocentric coordinate system can be established, and satellite attitude parameters can be input to present a three-dimensional earth model and a satellite model.

[0072] It should be noted that the beam boundary can be input through different input modes, which is compatible with different input modes, facilitates user input parameters, and is particularly convenient and intuitive for hand-drawing input.

[0073] In an implementable embodiment, the step of constructing the three-dimensional earth model and the satellite model according to the input satellite attitude parameters comprises: establishing a three-dimensional elliptical earth and a geocentric coordinate system; constructing a three-dimensional earth model according to the three-dimensional elliptical earth and the geocentric coordinate system; obtaining input satellite attitude parameters, wherein the satellite attitude parameters comprise geocentric coordinate system parameters and satellite coordinate system parameters, the geocentric coordinate system parameters comprise the longitude, latitude and altitude of the satellite in the geocentric coordinate system, and the satellite coordinate system parameters comprise the satellite pitch angle, satellite yaw angle and roll attitude parameters of the satellite in the satellite coordinate system; and generating a satellite model based on the satellite attitude parameters and on the basis of the three-dimensional earth model.

[0074] It should be noted that the three-dimensional elliptical earth and the coordinate system with the center of the earth as the origin (i.e., the geocentric coordinate system) can be established according to the major semi-axis, minor semi-axis and flattening defined by the WGS-84 coordinate system (World Geodetic System-1984 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, setting the initial scale to 1, and the user can enlarge or reduce the three-dimensional scene by modifying the scale; the satellite attitude parameters comprise the following parameters in two coordinate systems: ① the coordinates (longitude, latitude and altitude) of the satellite in the geocentric coordinate system; and ② the satellite pitch angle (the angle of the satellite relative to the earth is set by the pitch parameter), the satellite yaw angle (the angle of the satellite along the orbit is set by the yaw parameter) and the roll attitude parameter (the roll angle of the satellite is set by the roll parameter) of the satellite in the satellite coordinate system constructed with the center of mass of the satellite as the coordinate origin.

[0075] Step S20, determining the 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 center of mass of the satellite are determined; the beam model is added on the satellite according to the number of beams, the position and the pointing direction; and the coverage relationship of the beams to the earth (i.e., the beam coverage relationship) is determined according to the satellite pitch angle, the beam position and the pointing direction.

[0077] In an implementable embodiment, 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 the beams and the pointing direction of the beams based on the three-dimensional earth model and the satellite model; adding a beam model on the satellite model based on the number of beams, the position of the beams and the pointing direction of the beams; and determining the beam coverage relationship according to the satellite pitch angle, the beam position and the pointing direction based on the beam model.

[0078] It should be noted that the satellite platform has a single or multiple beams, and the number, position coordinates in the satellite center of mass coordinate system, and pointing angles in the satellite center of mass coordinate system are determined to form a single or multiple beams, and the pointing of the satellite beams to the earth is determined according to the pitch parameter: as shown in the figure, the satellite center of mass coordinate system takes the satellite center of mass as the origin, and the satellite movement direction is the x-axis, and the y-axis is perpendicular to the satellite orbit plane; the satellite pitch angle φ is the angle between the y-axis of the coordinate system with the satellite center axis taking the satellite center of mass as the origin; the pointing of the satellite beam center is determined according to the satellite pitch angle, the satellite beam position and the satellite beam azimuth. Figure 2

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

[0080] It should be noted that the beam boundary can be added to the subsatellite 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 satellite subsatellite point as the tangent point, and the beam coverage boundary is determined on the projection plane, which can be achieved in the following four ways:

[0082] (1) Manual drawing, manual drawing of beam boundary according to beam characteristics, types of manually drawn boundary lines include point, straight line, circular arc, curve, triangle, quadrilateral and polygon, etc.;

[0083] (2) Parameter input according to shape, automatic drawing of shape, for example, inputting point coordinates to generate a point on the plane; inputting coverage radius to generate a boundary circle with the intersection point as the center;

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

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

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

[0087] 1) Only one point exists, which is point-to-point transmission;

[0088] 2) Only two points exist, which is line array coverage;

[0089] ​​3) When there are multiple points, first determine whether some points are on the same straight line according to the Hough transform, if multiple points are on different straight lines, use the polygon covering method to generate the covering boundary; then take the intersection point as the reference point, judge the distance between the boundary point and the reference point, if the distance is equal, it is a circular coverage, use the circular coverage method to generate the covering boundary; if the distance changes proportionally, there are two equal maximum values and two equal minimum values, use the elliptical coverage method to generate the covering boundary;

[0090] 4) When the above conditions are not met, all are processed as irregular coverage.

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

[0092] It should be noted that for the coverage of multiple beams, it is necessary to determine whether there is overlap between different beams, and the number of intersection points is used to determine whether there is overlap, and there is an overlapping area (i.e. beam overlap area) when there are two intersection points. 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 to the earth's 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 as a regular shape, the boundary feature points are the intersection points obtained according to the beam overlap area; when the coverage shape is determined as an irregular shape, the Douglas-Peucher (D-P) algorithm is used to extract the feature points of the irregular shape, the feature points are projected to the earth ellipsoid surface along the satellite beam pointing angle, and the feature lines are drawn on the earth's 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 is three-dimensionally visualized and modeled according to the beam shape, and the coverage of the satellite beam on the two-dimensional earth is displayed using Mercator projection; the user can switch the Mercator projection two-dimensional display through the three-dimensional and two-dimensional switching button; dynamically display the beam coverage with the change of the satellite orbit height.

[0097] It should be noted that the specific steps of determining the beam shape, beam assignment and beam projection include: judging the multi-beam overlapping area, superimposed display of the overlapping area, calculating the beam gain contour through the beam gain distribution, assigning the beam coverage, and displaying the beam assignment result. According to the shape of the graph, the shape feature points are extracted, and the graph is divided into different points for connection. As shown in Figure 4 , an irregular graph is divided into 3 line segment connections and 3 circular arc connections. The feature points are projected onto the three-dimensional earth surface. Then, the feature projection points are taken as planes to perform circular arc or straight line connection. The intersection line with the earth surface is the beam boundary projection.

[0098] In a feasible implementation, the method further comprises: for a microwave remote sensing sensor with a sidelobe ratio, assigning the 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 according to the antenna beam gain distribution; extracting the contour feature points of the beam gain contour by using the D-P algorithm, and projecting the contour feature points onto the earth surface; assigning the beam signal strength according to the beam gain contour, and displaying the beam assignment result on the contour feature points of the three-dimensional modeling or the two-dimensional display.

[0099] It should be noted that, as shown in Figure 5 , the beam signal strength can be assigned by the antenna gain or the sensor sidelobe ratio, such as for an antenna with beam gain, calculating the beam gain contour according to the antenna beam gain distribution, assigning the beam coverage, and displaying the beam assignment result; for a microwave remote sensing sensor such as SAR with a sidelobe ratio, assigning according to the sidelobe ratio value; and similarly extracting the contour feature points by using the Douglas-Peucher (D-P) algorithm, and projecting the contour feature points onto the earth ellipsoid surface.

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

[0101] It should be noted that the satellite orbit parameters and the attitude change parameters over time can be input to establish a time system, and the satellite beam coverage changing over time can be dynamically displayed according to the time change. With the change of time and satellite orbit height, according to the beam boundary of the initial satellite height subsatellite plane, the initial beam boundary is projected to the subsatellite plane to determine the beam boundary on the plane at the new time, and the feature point projection and coverage visualization are performed. With the change of time and satellite attitude, according to the beam boundary of the initial satellite height subsatellite plane, the beam pointing angle is changed, and the new time plane is projected to determine the new time beam boundary, and the feature point projection and coverage visualization are performed.

[0102] The embodiment constructs a three-dimensional earth model and a satellite model according to input satellite attitude parameters; determines a beam coverage relationship based on the three-dimensional earth model and the satellite model; creates a projection plane tangent to an earth surface of the three-dimensional earth model with a subsatellite point of the satellite model as a tangent point, and determines a beam boundary on the projection plane; calculates a beam overlap area according to the beam coverage relationship, renders the beam overlap area; extracts boundary feature points according to the beam boundary, and projects the boundary feature points to the earth surface to obtain coverage projection points; connects the coverage projection points to perform beam coverage three-dimensional modeling, and uses Mercator projection to perform beam coverage two-dimensional display, thereby solving the technical problem that the existing beam coverage visualization method is difficult to accurately reflect actual beam coverage. Compared with the prior art, the application can classify and judge beam boundaries, assign beam signal strengths, and extract feature points, uses a feature point projection mode to simplify a projection process and facilitate identification, and thus accurately visualizes beam coverage with diversified shapes.

[0103] Based on the first embodiment of the application, in the second embodiment of the application, the same or similar contents as the above embodiment one can be referred to the above introduction, and the subsequent will not be described in detail. On this basis, please refer to Figure 6 , step S50 further includes steps S501-S504:

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

[0105] It should be noted that the coverage shape includes point-to-point transmission, line array coverage, circular coverage, polygon coverage, and irregular coverage, wherein the point-to-point transmission, line array coverage, circular coverage, and polygon coverage are regular coverage (i.e., regular shape).

[0106] Step S502, when the coverage shape is a regular shape, determining an intersection of a 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, extracting a boundary feature point from the beam coverage boundary by using a D-P algorithm;

[0109] It should be noted that when the coverage shape is an irregular shape, the Douglas-Peucher (D-P) algorithm is used to extract the feature point of the irregular shape.

[0110] Step S504, after projecting the boundary feature points along the satellite beam pointing angle to the earth surface, the coverage projection points are obtained.

[0111] It should be noted that the coverage projection points are obtained after projecting the boundary feature points along the satellite beam pointing angle to the earth ellipsoid surface, and the characteristic line is drawn on the earth surface according to the coverage projection points using Lagrange interpolation or least square fitting.

[0112] In a possible implementation, the step of determining the coverage shape of the beam boundary comprises: when the number of intersection points of 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 intersection points of the satellite beam pointing angle and the projection plane is a second number, determining that the coverage shape is line array coverage in a regular shape; when the number of intersection points of the satellite beam pointing angle and the projection plane is greater than the second number and the intersection condition 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; and when the number of intersection points of the satellite beam pointing angle and the projection plane is greater than the second number and the intersection condition of the satellite beam pointing angle and the projection plane does not meet the 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 intersection points of the satellite beam pointing angle and the projection plane is greater than the second number, it is further determined whether the intersection condition of the satellite beam pointing angle and the projection plane meets a preset rule, such as whether it meets the rule of a polygon coverage boundary, such as whether it meets the rule of a circular coverage boundary, or such as whether it meets the rule of an elliptical coverage boundary.

[0114] It should be noted that the preset rule is: according to the Hough transform, it is determined whether some points in a plurality of points are on the same straight line, if a plurality of points are on different straight lines, a polygon coverage boundary in a regular shape is generated using a polygon coverage method; then, the intersection point is taken as a reference point, and the distance between the boundary point and the reference point is determined, if the distances of the points are equal, it is a circular coverage, and a circular coverage boundary in a regular shape is generated using a circular coverage method; if the distances of the points change proportionally, there are two equal maximum values and two equal minimum values, an elliptical coverage boundary in a regular shape is generated using an elliptical coverage method.

[0115] In a specific implementation, the coverage boundary shape can be divided into point-to-point, line array coverage, circular coverage, polygon coverage and irregular coverage according to parameters; and the coverage shape type is determined according to the intersection relationship between the satellite beam pointing angle and the tangent projection plane.

[0116] 1) only one point exists (i.e. the number of intersection points of the satellite beam pointing angle and the projection plane is the first number), point-to-point transmission;

[0117] 2) only two points exist (i.e. the number of intersection points of the satellite beam pointing angle and the projection plane is the second number), line array coverage;

[0118] 3) multiple points exist (i.e. the number of intersection points of the satellite beam pointing angle and the projection plane is greater than the second number), first, according to the Hough transform, it is judged whether some points in the multiple points are on the same straight line, if the multiple points are on different straight lines, a polygon coverage method is used to generate a coverage boundary; then, the intersection points are taken as reference points, and a distance judgment is performed between the boundary points and the reference points, if the distances are equal, it is a circular coverage, a circular coverage method is used to generate a coverage boundary; if the distances change proportionally, there are two equal maximum values and two equal minimum values, an elliptical coverage method is used to generate a coverage boundary;

[0119] 4) when the above conditions are not met, irregular coverage is processed.

[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 the satellite beam coverage of the present application, and more forms of simple transformation based on this technical concept are within the protection scope of the present application.

[0121] The present application also provides a satellite beam coverage visualization device, please refer to Figure 7 , the satellite beam coverage visualization device comprises:

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

[0123] The determination module 20 is used to determine a beam coverage relationship based on the three-dimensional earth model and the satellite model;

[0124] The creation module 30 is used to create a projection plane tangent to the earth surface of the three-dimensional earth model with the subsatellite point of the satellite model as a tangent point, and determine a beam boundary on the projection plane;

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

[0126] The extraction module 50 is used to extract boundary feature points according to the beam boundary, and project the boundary feature points to the earth surface to obtain coverage projection points;

[0127] The visualization module 60 is used to connect the coverage projection points and model the beam coverage in three dimensions, and to display the beam coverage in two dimensions using Mercator projection.

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

[0129] The present application provides a satellite beam coverage visualization device, which comprises at least one processor and a memory connected with 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 to enable the at least one processor to perform the satellite beam coverage visualization method in the above embodiment one.

[0130] Reference will be made to the following description of the drawings Figure 8 which shows a structural diagram of a satellite beam coverage visualization device suitable for implementing the embodiments of the present application. The satellite beam coverage visualization device in the embodiments of the present application can include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description), PMPs (Portable Media Player), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 8 The satellite beam coverage visualization device shown is only an example, and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0131] As Figure 8As shown, the satellite beam coverage visualization device can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1002 or loaded from a storage device 1003 into a random access memory (RAM) 1004. Various programs and data required for the operation of the satellite beam coverage visualization device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touch pad, 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.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the satellite beam coverage visualization device to communicate with other devices wirelessly or by wire to exchange data. Although the satellite beam coverage visualization device with various systems is shown in the figure, it should be understood that all the systems shown are not required to be implemented or possessed. More or fewer systems can be alternatively implemented or possessed.

[0132] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

[0133] The satellite beam coverage visualization device provided by the present disclosure adopts the satellite beam coverage visualization method in the above-mentioned embodiments, 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 satellite beam coverage visualization device provided by the present disclosure has the same beneficial effects as the satellite beam coverage visualization method provided by the above-mentioned embodiments, and other technical features in the satellite beam coverage visualization device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0134] It should be understood that various parts of the present application can be implemented in 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 description is merely that of a specific implementation of the present application, and the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, and all such changes or replacements should be encompassed within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0136] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e., a computer program) for performing the method of visualizing satellite beam coverage in the above-described embodiments.

[0137] The computer readable storage medium provided by the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electric connection with one or more conductive 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 thereof. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), etc., or any suitable combination thereof.

[0138] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0139] The flow diagrams and the block diagrams in the drawings are meant as methodological and functional description of methods, systems, and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0140] The modules involved in the embodiments of the present application can be implemented by software or by hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[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 satellite beam coverage visualization method described above, and can solve the technical problem that the existing beam coverage visualization method cannot accurately reflect the actual beam coverage. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the satellite beam coverage visualization method provided by the above-mentioned embodiments, and will not be described here.

[0142] The application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method for visualizing satellite beam coverage as described above.

[0143] The computer program product provided by the 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 application are the same as those of the method for visualizing satellite beam coverage provided by the above-mentioned embodiments, and are not described here.

[0144] The above only describes some embodiments of the application, and does not limit the patent scope of the application. Any equivalent structural transformation made by using the content of the specification and drawings, or direct / indirect application in other related technical fields under the technical concept of the application is included in the patent protection scope of the application.

Claims

1. A method for visualizing satellite beam coverage, characterized in that, The method includes: A 3D Earth model and a satellite model are constructed based on the input satellite attitude parameters. Based on the three-dimensional Earth model and the satellite model, the beam coverage relationship is determined; Using the nadir point of the satellite model as the tangent point, a projection plane tangent to the Earth surface of the three-dimensional Earth model is created, and the beam boundary is determined on the projection plane. Calculate the beam overlap area based on the beam coverage relationship, and render the beam overlap area; Boundary feature points are extracted based on the beam boundary, and the boundary feature points are projected onto the Earth's surface to obtain the coverage projection points; After connecting the coverage projection points, a 3D model of beam coverage is performed, and a 2D display of beam coverage is performed using Mercator projection. The step of extracting boundary feature points based on the beam boundary and projecting the boundary feature points onto the Earth's surface to obtain a coverage projection point includes: Determine the coverage shape of the beam boundary; When the coverage shape is a regular shape, the intersection of the satellite beam pointing angle and the projection plane is determined as the boundary feature point; When the coverage shape is irregular, the DP algorithm is used to extract boundary feature points from the beam boundary; After projecting the boundary feature points onto the Earth's surface along the satellite beam pointing angle, the covered projection points are obtained; 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, the coverage shape is determined to be 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, the coverage shape is determined to be a linear array coverage in 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 intersection situation between the satellite beam pointing angle and the projection plane meets a preset rule, the coverage shape of the beam boundary is determined to be 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 intersection situation between the satellite beam pointing angle and the projection plane does not meet the preset rule, the coverage shape of the beam boundary is determined to be an irregular shape.

2. The method as described in claim 1, characterized in that, The steps for constructing a 3D Earth model and a satellite model based on the input satellite attitude parameters include: Establish a three-dimensional elliptical Earth and a geocentric coordinate system; Based on the described three-dimensional elliptical Earth and the described geocentric coordinate system, a three-dimensional Earth model is constructed; The satellite attitude parameters are obtained from the input. 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. 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. A satellite model is generated based on the satellite attitude parameters and the three-dimensional Earth model.

3. The method as described in claim 2, characterized in that, The step of determining the beam coverage relationship based on the three-dimensional Earth model and the satellite model includes: Based on the three-dimensional Earth model and the satellite model, the number of beams, beam positions, and beam directions are determined. Based on the number of beams, the position of the beams, and the direction of the beams, add a beam model to the satellite model; Based on the beam model, the beam coverage relationship is determined according to the satellite elevation angle, the beam position, and the beam direction.

4. The method as described in claim 1, characterized in that, The method further includes: For microwave remote sensing sensors with a sidelobe ratio, the beam signal intensity is assigned a value based on the sidelobe ratio, and the beam assignment result is displayed on the 3D model or the 2D display; or, For an antenna with beam gain, calculate the beam gain contour lines based on the antenna beam gain distribution; The DP algorithm is used to extract the contour feature points of the beam gain contour lines, and the contour feature points are projected onto the Earth's surface. The beam signal intensity is assigned a value based on the beam gain contour lines, and the beam assignment result is displayed on the contour line feature points in the 3D model or the 2D display.

5. The method as described in claim 1, characterized in that, The method further includes: A time system is established based on the input satellite orbital parameters and attitude change parameters; Under the aforementioned time system, the satellite beam coverage that changes over time is dynamically displayed.

6. A visualization device for satellite beam coverage, characterized in that, The device includes: The building module is used to construct a 3D Earth model and a satellite model based on the input satellite attitude parameters; The determination module is used to determine the beam coverage relationship based on the three-dimensional earth model and the satellite model; A creation module is used to create a projection plane tangent to the Earth surface of the three-dimensional Earth model, with the nadir point of the satellite model as the tangent point, and to determine the beam boundary on the projection plane; The calculation module is used to calculate the beam overlap area based on the beam coverage relationship and to render the beam overlap area; The extraction module is used to extract boundary feature points based on the beam boundary and project the boundary feature points onto the Earth's surface to obtain a covered projection point; The visualization module is used to connect the coverage projection points to perform three-dimensional modeling of beam coverage and to use Mercator projection to display the beam coverage in two dimensions. The extraction module is also used for: Determine the coverage shape of the beam boundary; When the coverage shape is a regular shape, the intersection of the satellite beam pointing angle and the projection plane is determined as the boundary feature point; When the coverage shape is irregular, the DP algorithm is used to extract boundary feature points from the beam boundary; After projecting the boundary feature points onto the Earth's surface along the satellite beam pointing angle, the covered projection points are obtained; The extraction module is also used for: When the number of intersections between the satellite beam pointing angle and the projection plane is a first number, the coverage shape is determined to be 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, the coverage shape is determined to be a linear array coverage in 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 intersection situation between the satellite beam pointing angle and the projection plane meets a preset rule, the coverage shape of the beam boundary is determined to be 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 intersection situation between the satellite beam pointing angle and the projection plane does not meet the preset rule, the coverage shape of the beam boundary is determined to be an irregular shape.

7. A visualization device for satellite beam coverage, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the visualization method for satellite beam coverage as claimed in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium 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, it implements the steps of the visualization method for satellite beam coverage as described in any one of claims 1 to 5.

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