Method for aligning electronic equipment with satellite and electronic equipment

Abstract

The invention provides a method for aligning electronic equipment with a satellite and the electronic equipment. In the method, satellite alignment is completed by guiding a user to adjust the attitude of the device, and pitch angle difference information and azimuth angle difference information are displayed, or roll angle difference information can also be displayed for representing the difference between the current attitude and the target attitude caused by the attitude change of the electronic device. And when the difference is smaller than a preset difference value, the electronic equipment completes satellite alignment. By implementing the technical scheme provided by the invention, the user experience in the satellite alignment process can be optimized.

Description

Technical Field

[0001] This application relates to the technical fields of terminals and satellite communication, and particularly to a method for an electronic device to align with a satellite and an electronic device. Background Art

[0002] Currently, there are electronic devices (such as mobile phones) that can use satellite communication technology to use satellites as relay stations to achieve communication. For example, an electronic device transmits a signal to a target satellite through a built-in antenna. After receiving the signal, the target satellite performs operations such as signal amplification, processing, and frequency conversion in space, and forwards the signal to the target device through a receiving station.

[0003] Satellite communication technology is particularly suitable for communication in areas where mobile communication is not covered, or cannot be covered, or the communication system is damaged, such as the ocean, desert, grassland, and uninhabited areas. One of the methods to ensure communication quality when communicating through a satellite includes: an electronic device aligns the radiation direction of an antenna with a target satellite. In this way, when the electronic device transmits a signal to the target satellite, signal attenuation and interference during transmission can be reduced, and the signal transmitted by the target satellite can be received to the greatest extent.

[0004] How an electronic device aligns the radiation direction of an antenna with a target satellite is worthy of discussion. Summary of the Invention

[0005] This application provides a method for an electronic device to align with a satellite and an electronic device. By guiding a user to adjust the device posture to complete satellite alignment, and the displayed prompt information is used to represent the gap between the current posture and the target posture caused by the posture change of the electronic device. When this gap is less than a preset gap value, the electronic device completes satellite alignment.

[0006] In a first aspect, the present application provides a method for an electronic device to align with a satellite. The method includes: displaying pitch angle difference information and azimuth angle difference information for guiding the adjustment of the device attitude; wherein, the pitch angle difference information is used to indicate: the pitch angle difference between the pitch angle of the target attitude of the electronic device in the reference coordinate system and the pitch angle of the current attitude, and the azimuth angle difference information is used to indicate: in the reference coordinate system, the azimuth angle difference between the azimuth angle of the target attitude and the azimuth angle of the current attitude; the target attitude is the attitude when the radiation direction of the antenna in the electronic device is aligned with the target satellite; in response to an operation of adjusting the azimuth angle of the electronic device, changing the display state of the azimuth angle difference information; in response to an operation of adjusting the pitch angle of the electronic device, changing the display state of the pitch angle difference information; when guiding the adjustment of the device attitude through the pitch angle difference information and the azimuth angle difference information, when the azimuth angle difference indicated by the azimuth angle difference information after the state change is less than a first threshold and the pitch angle difference indicated by the pitch angle difference information after the state change is less than a second threshold, the electronic device determines that the radiation direction of the antenna has been aligned with the target satellite.

[0007] In the above embodiment, the display state of the azimuth angle difference information only changes because the azimuth angle of the electronic device is adjusted, and the display state of the pitch angle difference information only changes because the pitch angle is adjusted. When the user adjusts the azimuth angle of the electronic device, the pitch angle difference information of the electronic device remains unchanged. When adjusting the pitch angle of the electronic device, the azimuth angle difference information of the electronic device remains unchanged. That is, the adjustment of the electronic device by the user and the display state of the difference information (including pitch angle difference information, azimuth angle difference information, etc.) change correspondingly.

[0008] In combination with the first aspect, in some embodiments, the method further includes: displaying pitch angle difference information, azimuth angle difference information, and roll angle difference information for guiding the adjustment of the device attitude; wherein, the roll angle difference information is used to indicate: the roll angle difference between the roll angle of the target attitude and the roll angle of the current attitude in the reference coordinate system; in response to an operation of adjusting the roll angle of the electronic device, changing the display state of the roll angle difference information; when guiding the adjustment of the device attitude through the pitch angle difference information, the azimuth angle difference information, and the roll angle difference information, when the azimuth angle difference indicated by the azimuth angle difference information after the state change is less than a first threshold, the pitch angle difference indicated by the pitch angle difference information after the state change is less than a second threshold, and the roll angle difference indicated by the roll angle difference information after the state change is less than a third threshold, the electronic device determines that the radiation direction of the antenna has been aligned with the target satellite.

[0009] In the above embodiments, the display state of the roll angle difference information only changes because the roll angle of the electronic device is adjusted. When the user adjusts the roll angle of the electronic device, the pitch angle difference information and the azimuth angle difference information of the electronic device remain unchanged. Similarly, when the user adjusts the pitch angle of the electronic device, the azimuth angle difference information and the roll angle difference information of the electronic device remain unchanged. That is, the adjustment of the electronic device by the user and the display state of the difference information (including the pitch angle difference information, the azimuth angle difference information, etc.) change correspondingly.

[0010] In combination with the first aspect, in some embodiments, before displaying the pitch angle difference information and the azimuth angle difference information for guiding the adjustment of the device attitude, the method further includes: determining N1 rotation matrices for rotating the second vector to coincide with the first vector, where N1 is an integer greater than or equal to 1; the first vector is the vector pointing from the electronic device to the target satellite in the initial attitude, and the second vector is the vector in the radiation direction of the antenna in the initial attitude; decomposing each of the N1 rotation matrices into angular parameters to obtain N1 angular parameters, where one angular parameter includes a pitch angle, an azimuth angle, and a roll angle; and screening out one angular parameter from the N1 angular parameters to represent the target attitude.

[0011] In the above embodiments, the first vector is the vector in the following embodiments The second vector is the vector in the following embodiments

[0012] In combination with the first aspect, in some embodiments, when guiding the adjustment of the device attitude through the pitch angle difference information and the azimuth angle difference information but not through the roll angle difference information, screening out one angular parameter from the N1 angular parameters to represent the target attitude specifically includes: the electronic device determines that the first angular parameter among the N1 angular parameters represents the target attitude; the pitch angle, azimuth angle, and roll angle in the first angular parameter are respectively the pitch angle, azimuth angle, and roll angle of the target attitude in the reference coordinate system; where the roll angle of the first angular parameter among the N1 angular parameters is closest to the roll angle of the current attitude, and the pitch angle in the first angular parameter is greater than 0° but less than a preset angle value.

[0013] In the above embodiments, when the pitch angle of the target attitude is greater than 0° but less than the preset angle value, it can make the degree of the user's head pitch appropriate when viewing the electronic device. The roll angle of the target attitude being closest to the roll angle of the current attitude can enable the user to reduce the adjustment of the roll angle and keep the degree of head tilt in the current attitude as much as possible.

[0014] In combination with the first aspect, in some embodiments, screening out an angular parameter from the N1 angular parameters to characterize the target attitude specifically includes: the electronic device determines that a second angular parameter among the N1 angular parameters characterizes the target attitude, and the pitch angle, azimuth angle, and roll angle in the second angular parameter are respectively the pitch angle, azimuth angle, and roll angle of the target attitude in the reference coordinate system; wherein, the roll angle of the second angular parameter among the N1 angular parameters is the smallest, and the pitch angle in the first angular parameter is greater than 0° but less than a preset angle value. When guiding the adjustment of the device attitude through the pitch angle difference information and the azimuth angle difference information but not through the roll angle difference information, the method further includes: the electronic device determines that the second roll angle is less than the preset angle value.

[0015] In the above embodiments, the roll angle of the target attitude is less than the preset angle value (for example, 1° in the following embodiments), and the roll angle in the initial attitude is 0°. It shows that the satellite is not located at the zenith or other positions that require adjusting the roll angle to align, so there is no need to excessively adjust the roll angle from the initial attitude to the target attitude. Therefore, accurate satellite alignment can be achieved by only adjusting the roll angle and pitch angle of the electronic device.

[0016] In combination with the first aspect, in some embodiments, when guiding the adjustment of the device attitude through the pitch angle difference information, the azimuth angle difference information, and the roll angle difference information, the method further includes: the electronic device determines that the second roll angle is greater than or equal to the preset angle value.

[0017] In the above embodiments, the roll angle of the target attitude is greater than or equal to the preset angle value, and the roll angle in the initial attitude is 0°. It shows that the satellite is located at the zenith or other positions that require adjusting the roll angle to align, so it is necessary to adjust the roll angle, pitch angle, and roll angle of the electronic device to achieve accurate satellite alignment.

[0018] In combination with the first aspect, in some embodiments, when displaying the pitch angle difference information and the azimuth angle difference information for guiding the adjustment of the device attitude, the method further includes: displaying that the adjustment method corresponding to the pitch angle of the electronic device is: rotating the electronic device by moving the arm up and down; displaying that the adjustment method corresponding to the azimuth angle of the electronic device is: rotating the electronic device by turning the body.

[0019] In the above embodiments, in the ground coordinate system, the body can be regarded as a celestial direction. Therefore, adjusting the azimuth angle of the electronic device can be guided by rotating the body, and moving the arm up and down can change the pitch angle of the electronic device. In this way, the user can complete the device attitude adjustment in a comfortable manner. After adjusting the electronic device from the current attitude to the target attitude, the attitude of the electronic device can still be relatively comfortable. And directly telling the user the way to adjust the device can guide the user to adjust the device attitude faster and speed up the completion of satellite alignment.

[0020] In combination with the first aspect, in some embodiments, when displaying the roll angle information, the method further includes: displaying the adjustment method corresponding to the roll angle of the electronic device as: adjusting by rotating the electronic device perpendicular to the screen.

[0021] In the above embodiments, directly telling the user the way to adjust the roll angle of the device can guide the user to adjust the device attitude faster and speed up the completion of satellite alignment.

[0022] In combination with the first aspect, in some embodiments, when displaying the pitch angle difference information, azimuth angle difference information, and roll angle difference information for guiding the adjustment of the device attitude, the method further includes: the electronic device displays the adjustment method corresponding to the first rotation angle; after the adjustment of the first rotation angle is completed, the electronic device displays the adjustment method corresponding to the second rotation angle; after the adjustment of the second rotation angle is completed, the electronic device displays the adjustment method corresponding to the third rotation angle; wherein, the first rotation angle, the second rotation angle, and the third rotation angle are one of the azimuth angle, pitch angle, and roll angle of the electronic device.

[0023] In the above embodiments, the electronic device can sequentially display the adjustment method prompt information corresponding to one rotation angle (pitch angle, azimuth angle, and roll angle) in sequence at one time. After completing the adjustment of one rotation angle, the electronic device then displays the adjustment method prompt information corresponding to the next rotation angle in sequence. Furthermore, based on the adjustment method prompt information corresponding to the displayed rotation angle, the user is guided to adjust the device attitude. Speed up the completion of satellite alignment.

[0024] In combination with the first aspect, in some embodiments, when the reference coordinate system is: a ground coordinate system established with the celestial direction, north direction, and east direction as three axes, and the initial attitude is: the electronic device is parallel to the plane formed by the north direction and the east direction, and the top of the electronic device points to the north direction, decomposing each of the N1 rotation matrices into angular parameters specifically includes: the electronic device decomposes each of the N1 rotation matrices into the Euler angles of the internal rotation ZXZ mode as angular parameters; the Euler angles of the ZXZ mode include: the angle of rotation around the Z axis of the electronic device first, then the angle of rotation around the X axis of the electronic device, and the angle of rotation around the Z axis again.

[0025] In a second aspect, an embodiment of the present application provides an electronic device, which includes: one or more processors and a memory; the memory is coupled to the one or more processors, and the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to cause the electronic device to execute the method implemented in the first aspect.

[0026] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, including instructions, when the instructions run on an electronic device, causing the electronic device to execute the method implemented in the first aspect.

[0027] In a fourth aspect, an embodiment of the present application provides a chip system, which is applied to an electronic device, the chip system includes one or more processors, and the processors are used to call computer instructions to cause the electronic device to execute the method implemented in the first aspect.

[0028] In a fifth aspect, an embodiment of the present application provides a computer program product containing instructions, when the computer program product runs on an electronic device, causing the electronic device to execute the method implemented in the first aspect.

[0029] It can be understood that the electronic device provided in the second aspect, the computer storage medium provided in the third aspect, the chip system provided in the fourth aspect, and the computer program product provided in the fifth aspect are all used to execute the method provided by the embodiments of the present application. Therefore, the other beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, and will not be elaborated here. Description of the Drawings

[0030] Figure 1 A schematic diagram showing the radiation direction and the transmission link direction;

[0031] Figure 2 A schematic diagram showing a prompt message and an exemplary scenario involved when the user adjusts the device posture;

[0032] Figure 3 A schematic diagram showing an exemplary reference coordinate system;

[0033] Figure 4A A schematic diagram showing the relationship between the pitch angle of an electronic device and the user's viewing screen posture;

[0034] Figure 4B A schematic diagram showing the relationship between the roll angle of an electronic device and the user's viewing screen posture;

[0035] Figure 5A A schematic diagram showing an exemplary scenario involved when the star-tracking prompt message 11 guides the user to adjust the device posture;

[0036] Figure 5B Another exemplary satellite alignment prompt message 11 is used;

[0037] Figure 6A - Figure 6D An exemplary scenario involved in guiding the user to adjust the overall device attitude based on the satellite alignment prompt message 12 is shown;

[0038] Figure 7 An exemplary scenario involved in guiding the user to adjust the device attitude in sequence is shown;

[0039] Figure 8 An exemplary flowchart for adjusting the device attitude to complete satellite alignment in Embodiment 1 is shown;

[0040] Figure 9 A schematic diagram showing the electronic device decomposing the rotation matrix in the ZXZ mode is shown;

[0041] Figure 10 An exemplary flowchart for adjusting the device attitude to complete satellite alignment in Embodiment 2 is shown;

[0042] Figure 11 An exemplary flowchart for adjusting the device attitude to complete satellite alignment in Embodiment 3 is shown;

[0043] Figure 12 It is a schematic structural diagram of the electronic device provided in the embodiment of the present application. Detailed implementation manners

[0044] In one solution, in order for the electronic device to align the radiation direction of the satellite antenna with the target satellite, satellite alignment can be performed based on the pitch angle difference and azimuth angle difference between the radiation direction (of the satellite antenna) and the transmission link direction. When the pitch angle difference and azimuth angle difference are less than the preset difference, the electronic device can determine that the radiation direction coincides with the transmission link direction, which also means that the radiation direction of the satellite antenna has been aligned with the target satellite. Refer to Figure 1 As shown, when the pitch angle difference and azimuth angle difference are greater than or equal to the preset difference, the electronic device can determine that the radiation direction does not coincide with the transmission link direction. At this time, the electronic device determines the magnitude of the pitch angle (not equal to 0) and the magnitude of the azimuth angle (not equal to 0) that the electronic device needs to adjust based on the pitch angle difference and azimuth angle difference, and then the electronic device can prompt the user to adjust the device attitude so that the radiation direction coincides with the transmission link direction. The adjustment of the device attitude involved here includes: adjusting the pitch angle and azimuth angle of the electronic device in the reference coordinate system according to the magnitude of the pitch angle and azimuth angle that the electronic device needs to adjust. It should be noted that if the magnitude of the pitch angle to be adjusted is equal to 0 or the magnitude of the azimuth angle to be adjusted is equal to 0, the electronic device does not need to adjust the pitch angle or azimuth angle of the electronic device in the reference coordinate system.

[0045] Among them, a satellite antenna refers to an antenna used for communication with a target satellite in an electronic device. For example Figure 1 As shown, the radiation direction of the satellite antenna refers to the radiation direction (optimal radiation direction) corresponding to the main lobe of the satellite antenna (not shown in the figure), that is, the direction of the maximum gain of the signal when the satellite antenna transmits a signal, and the signal intensity is the largest in this radiation direction. The target satellite can be a satellite determined by the electronic device from at least one satellite (such as a geosynchronous orbit (GEO)) according to a satellite selection rule. The process of the electronic device determining the target satellite is also called satellite selection. The satellite selection rule includes but is not limited to: determining the satellite with the strongest signal among at least one satellite as the target satellite. Or, determining the satellite with the closest beam center to the electronic device among at least one satellite as the target satellite.

[0046] Referring again to Figure 1 , the transmission link direction refers to the direction from the electronic device to the target satellite.

[0047] The difference in the pitch angle between the radiation direction and the transmission link direction refers to the difference between the pitch angle of the radiation direction of the satellite antenna and the pitch angle of the transmission link direction in a reference coordinate system. The difference in the azimuth angle between the radiation direction and the transmission link direction refers to the difference between the azimuth angle of the radiation direction of the satellite antenna and the azimuth angle of the transmission link direction in a reference coordinate system.

[0048] In some possible cases, the reference coordinate system involved here can be the ground coordinate system. For the relevant description of the ground coordinate system, reference can be made to the following description of Figure 3 , and the details are not elaborated here.

[0049] It should be understood that the electronic device aligning the radiation direction of the satellite antenna with the target satellite can be understood as the electronic device aligning with the satellite. The process of the electronic device aligning the radiation direction of the satellite antenna with the target satellite can be simply referred to as satellite alignment.

[0050] For the convenience of description, the pitch angle and azimuth angle of the electronic device in the reference coordinate system can be simply referred to as the pitch angle of the electronic device and the azimuth angle of the electronic device respectively in the following text.

[0051] Generally speaking, when the electronic device guides the user to adjust the pitch angle and azimuth angle of the electronic device based on the difference in the pitch angle and azimuth angle between the radiation direction and the transmission link direction to achieve satellite alignment, the electronic device can guide the user to adjust the pitch angle and azimuth angle of the electronic device so that the electronic device completes satellite alignment. After detecting the operation of the user adjusting the device attitude, the electronic device will recalculate the difference in the pitch angle and azimuth angle to determine whether satellite alignment is completed. If it is still not completed, it will continue to guide the user to adjust the device attitude, and this process will be repeated until satellite alignment is completed.

[0052] When guiding the user to adjust the device posture, the electronic device displays prompt message A and prompt message B. Among them, prompt message A is used to guide the user to adjust the pitch angle of the electronic device, and the state of prompt message A changes when the pitch angle difference changes. When the pitch angle difference is less than a preset difference, prompt message A can be in a state of prompting the user that the pitch angle adjustment has been completed. Prompt message B is used to guide the user to adjust the azimuth angle of the electronic device, and the state of prompt message B changes when the azimuth angle difference changes. When the azimuth angle difference is less than a preset difference, prompt message B can be in a state of prompting the user that the azimuth angle adjustment has been completed. This can also be understood as that the user adjusts the pitch angle under the prompt of prompt message A, and the change of the pitch angle difference is also fed back to prompt message A to continue guiding the user to adjust the pitch angle until the pitch angle difference is less than the preset difference. Moreover, the user adjusts the azimuth angle under the prompt of prompt message B, and the change of the azimuth angle difference is also fed back to prompt message B to continue guiding the user to adjust the azimuth angle until the azimuth angle difference is less than the preset difference.

[0053] Based on the foregoing, generally speaking, it is reasonable that the change of the pitch angle of the electronic device corresponds to the adjustment of the pitch angle difference, and the change of the azimuth angle of the electronic device corresponds to the adjustment of the azimuth angle difference. However, in the case where the radiation direction is not parallel to the plane where the screen of the electronic device is located, when the user adjusts only the pitch angle of the electronic device without changing the azimuth angle of the electronic device based on prompt message A, in addition to the pitch angle of the radiation direction following the change of the pitch angle of the electronic device, the azimuth angle of the radiation direction also changes, which in turn causes the azimuth angle difference to change. This makes the states of prompt message A and prompt message B change simultaneously when the user adjusts the pitch angle of the electronic device. There will be a situation where the change of the prompt messages (prompt message A and prompt message B) for guiding the user to adjust the device posture does not match the user's actual operation, causing the user to misunderstand.

[0054] Reference Figure 2 , Figure 2 shows an exemplary scenario involving the prompt messages (prompt message A and prompt message B) and the user's adjustment of the device posture. Figure 2 Among them, an exemplary prompt message A includes a "black circle" icon and a "white circle" icon. When the user adjusts the electronic device up and down to change the pitch angle of the electronic device, the "white circle" can move to indicate that the pitch angle difference is changing. When the centers of the "white circle" and the "black circle" coincide, it indicates that the pitch angle difference is less than the preset difference. An exemplary prompt message B includes a top black area and a satellite icon. When the user rotates the electronic device to change the azimuth angle of the electronic device, the satellite icon can move to indicate that the azimuth angle difference is changing. When the satellite icon aligns with the top black area, it indicates that the azimuth angle difference is less than the preset difference.

[0055] TakeFigure 2 Taking the content as an example, the situation where the changes in the prompt information (prompt information A and prompt information B) that guides the user to adjust the device attitude in the foregoing content do not match the user's actual operations may include: when the user adjusts the pitch angle of the electronic device, both the "white circle" icon and the satellite icon change, but the prompt information prompts the user to adjust the angle of the mobile phone up and down (i.e., adjust the pitch angle of the electronic device) to make the two circles coincide, and the satellite icon will move only when the mobile phone is rotated (i.e., adjust the azimuth angle of the electronic device).

[0056] It should be understood here that the reason why the changes in the prompt information (prompt information A and prompt information B) that cause the user to adjust the device attitude do not match the user's actual operations is that: the user adjusts the attitude of the electronic device, but the prompt information actually displayed in the interface is used to represent the alignment situation between the radiation direction and the satellite, and there is no corresponding relationship between the attitude change of the electronic device and the alignment situation between the radiation direction and the satellite.

[0057] To solve the problem that the changes in the prompt information for guiding the user to adjust the device attitude in the foregoing content do not match the user's actual operations, a method for an electronic device to align with a satellite is provided. In this method, the user is guided to adjust the device attitude to complete satellite alignment, and the displayed prompt information is used to represent the gap between the current attitude and the target attitude caused by the attitude change of the electronic device. When this gap is less than the preset gap value, the electronic device completes satellite alignment.

[0058] Among them, the target attitude refers to the attitude of the electronic device when the radiation direction is aligned with the satellite. The current attitude includes: the real-time attitude of the electronic device obtained before responding to the input for adjusting the device attitude after selecting the target satellite.

[0059] The gap between the current attitude and the target attitude includes: the difference between the pitch angle in the current attitude of the electronic device and the pitch angle in the target attitude (denoted as the pitch angle difference), and the difference between the azimuth angle in the current attitude and the azimuth angle in the target attitude (denoted as the azimuth angle difference). In some possible cases, in addition to the pitch angle difference and the azimuth angle difference, it may also include a roll angle difference. The roll angle difference refers to the difference between the roll angle in the current attitude of the electronic device and the roll angle in the target attitude (denoted as the roll angle difference).

[0060] Therefore, the current attitude can be understood as the real-time attitude of the electronic device determined by calculating the pitch angle difference information and the azimuth angle difference information.

[0061] The pitch angle difference, the azimuth angle difference, and the roll angle difference respectively describe the pitch angle, the azimuth angle, and the roll angle that the electronic device needs to be adjusted in the reference coordinate. Here, the reference coordinate system is taken as the ground coordinate system for illustration. Reference Figure 3, the ground coordinate system can be a three-dimensional coordinate system established with the celestial direction, north direction, and east direction as the three axes. Among them, the north direction is the direction of the geographic north pole (the direction where gravity is located) or a direction parallel to the direction of the geographic north pole, and the east direction is the east direction perpendicular to the north direction. The plane formed by the north direction and the east direction can be a horizontal plane or parallel to the horizontal plane, and the celestial direction is the direction perpendicular to the plane formed by the north direction and the east direction, that is, the direction pointing to the sky.

[0062] In the foregoing content, the adjustment of the pitch angle, azimuth angle, and roll angle of the electronic device can respectively represent rotating the electronic device around the celestial direction, rotating the electronic device around the east direction, and rotating the electronic device around the Z axis in a reference coordinate system (such as the ground coordinate system). Generally speaking, when the user holds the electronic device and the electronic device is parallel to the plane formed by the north direction and the east direction, with the top pointing to the north direction. The direction where the user stands can be regarded as a celestial direction, the X axis of the electronic device can be regarded as an east direction, and the Z axis of the electronic device can be regarded as a north direction. Among them, the X axis of the electronic device is the transverse axis of the electronic device, and the Z axis of the electronic device is the vertical axis of the mobile phone (the axis perpendicular to the screen of the electronic device).

[0063] Based on this, the electronic device can set the adjustment methods of the pitch angle, azimuth angle, and roll angle to conform to the user's habit of using the electronic device: Refer to Figure 3 In the adjustment of the pitch angle (θ), during the process of eliminating the pitch angle difference by adjusting the pitch angle of the electronic device in the reference coordinate system, the user can be guided to move the arm up and down to rotate the electronic device around the X axis to achieve the adjustment of the pitch angle. Refer to Figure 3 In the adjustment of the azimuth angle During the process of eliminating the azimuth angle difference by adjusting the azimuth angle of the electronic device in the reference coordinate system, the user can be guided to turn the body to rotate the electronic device to achieve the adjustment of the azimuth angle. This process includes: guiding the user to turn the body around the direction where the body is located, but the relative azimuth of the electronic device and the body does not change. Refer to Figure 3 In the adjustment of the roll angle (ω), during the process of eliminating the roll angle difference by adjusting the roll angle of the electronic device in the reference coordinate system, the user can be guided to rotate the electronic device around the Z axis of the electronic device to achieve the adjustment of the roll angle.

[0064] It should be noted here that the gap between the attitude of the electronic device measured before starting to target the star and the target attitude is the initialization gap. Subsequently, adjusting the attitude of the electronic device can change this initialization gap until the gap is less than the preset gap value.

[0065] In the foregoing content, the process of determining the difference between the current attitude and the target attitude includes: First, the initial attitude of the electronic device in the reference coordinate system is used as a reference. Then, the angular parameters A (such as pitch angle A, azimuth angle A, and roll angle A) that the electronic device needs to rotate from the initial attitude to the target attitude in the reference coordinate system are determined, and the angular parameters B (such as pitch angle B, azimuth angle B, and roll angle B) that the electronic device needs to rotate from the initial attitude to the current attitude are determined. Then, the difference between angle A and angle B is used to determine the difference between the current attitude and the target attitude. In the difference between the current attitude and the target attitude, the pitch angle difference is equal to pitch angle A - pitch angle B, the azimuth angle difference is equal to azimuth angle A - azimuth angle B, and the roll angle difference is equal to roll angle A - roll angle B. The pitch angle, azimuth angle, and rotation angle of the electronic device in the initial attitude are all 0°.

[0066] In some possible cases, the electronic device can detect the pitch angle, azimuth angle, and roll angle of the current attitude of the electronic device in the reference coordinate system as angular parameters B through built-in sensors (such as gyroscope sensors, acceleration sensors, etc.).

[0067] In some possible cases, the method for determining angle A includes: First, determining the vector pointing to the satellite by the electronic device in the initial attitude and the vector in the radiation direction of the antenna of the electronic device in the initial attitude Taking the vector as a reference, calculating the rotation matrix that can make the vector coincide with the vector when rotating the electronic device from the initial attitude. The number of such rotation matrices is not unique, denoted as N1, where N1 is an integer greater than or equal to 1. Each of the N1 rotation matrices can be decomposed into a pitch angle, an azimuth angle, and a roll angle, that is, the N1 rotation matrices can determine N1 angular parameters.

[0068] It should be noted here that rotating the electronic device according to the N1 angular parameters can make the electronic device rotate from the initial attitude to a target attitude. It can also be understood that an angular parameter includes the pitch angle, azimuth angle, and roll angle corresponding to a target attitude to be screened. Then, N1 target attitudes to be screened can be obtained from the N1 angular parameters. Although the radiation directions of the electronic device in the N1 target attitudes to be screened are all aligned with the target satellite. However, there are target attitudes among the N1 target attitudes to be screened that will make the user uncomfortable. When viewing the screen of the electronic device, the user will feel "very awkward", which does not conform to the user's viewing screen habits. Among them, N1 is a positive number greater than or equal to 1.

[0069] Therefore, the electronic device can screen out an angle parameter corresponding to a target posture that conforms to the user's viewing screen habit from N1 angle parameters (denoted as angle parameter A) based on a preset rule. Then, a prompt message is generated using the difference between angle parameter A and angle parameter B to prompt the user to adjust the posture of the electronic device. After the electronic device detects the operation of the user adjusting the device posture, the adjusted posture is used as the current posture, and the pitch angle, azimuth angle, and roll angle of the current posture in the reference coordinate system are recalculated as angle parameter B (updated). Then, the difference between angle parameter A and the updated angle parameter B is calculated. When this difference is less than the threshold, the electronic device determines that the satellite alignment is completed. When this difference is greater than or equal to the threshold, a prompt message is generated again using the difference between angle parameter A and angle parameter B to prompt the user to adjust the posture of the electronic device, and this process is repeated until the satellite alignment is completed.

[0070] In different embodiments, the electronic device can determine an angle parameter that meets the conditions from N1 angle parameters as angle parameter A based on different rules. Specifically, reference can be made to the descriptions of Embodiment 1 - Embodiment 3 below.

[0071] Embodiment 1: To simplify the process of the user adjusting the device posture. By default, the roll angle of the electronic device is not adjusted, and the gap between the current posture and the target posture is reduced only by adjusting the pitch angle and azimuth angle of the electronic device in the reference coordinate system to complete the satellite alignment.

[0072] In Embodiment 1, the electronic device can determine, from N1 angle parameters, an angle parameter with the smallest difference between the roll angle and roll angle B, a pitch angle greater than 0° and less than a preset value 11 as angle parameter A (denoted as angle parameter A1). Then, based on angle parameter A1 and angle parameter B, the pitch angle difference and azimuth angle difference are determined. Then, a satellite alignment prompt message 11 is generated through the pitch angle difference and azimuth angle difference to guide the user to adjust the device posture.

[0073] In angle parameter A1, the reason why the pitch angle is greater than 0° and less than the preset value 11 is as follows: Refer to Figure 3 and Figure 4A , the pitch angle of the electronic device (equivalent to θ) affects the angle at which the user looks up or down at the screen of the electronic device. Also, when adjusting the pitch angle of the electronic device through the arm, the pitch angle of the electronic device also affects the degree of arm elevation. Therefore, the pitch angle of the electronic device in angle parameter A1 needs to be determined within a suitable range so that the user's head and the electronic device are at a more suitable distance. For example, being greater than 0° and less than the preset value 11 (such as an angle between 10° and 90°) can be regarded as a suitable range. Refer to Figure 4AAs shown in (1), when θ is appropriate, the viewing posture is appropriate: when the pitch angle of the electronic device is appropriate, the degree of head pitch of the user when viewing the electronic device is appropriate. In addition, the height of the arm is also appropriate, so that the user does not feel awkward when viewing the electronic device screen.

[0074] Refer to Figure 4A As shown in (2), θ is too large, and the viewing posture is uncomfortable: the pitch angle of the electronic device is too large, and the user tilts his head high when viewing the electronic device. In addition, the arm is usually raised high, and the user feels "awkward" when viewing the electronic device screen. Figure 4A As shown in (3), θ is less than 0, and the viewing posture is uncomfortable: the pitch angle of the electronic device is too small, and the user will lower his head when viewing the electronic device. At this time, the user will feel "awkward" when viewing the electronic device screen.

[0075] The reason why the roll angle requirement in angle parameter A1 is the smallest difference with roll angle B is: Figure 3 and Figure 4B , the roll angle (equivalent to ω) is the angle of rotation around the Z axis, which affects the degree to which the user tilts his head when viewing an electronic device. Adjustment of the roll angle B will cause the screen to "tilt" relative to the user. Generally speaking, at the current roll angle of the electronic device (roll angle B), the user's head tilt is already a degree of head tilt that the user feels comfortable with. Therefore, it is required here that the roll angle in the angle parameter A1 is minimized from the roll angle B so as not to change the roll angle to a large extent, and keep the user in a state where he can face the screen without tilting his head as much as possible. For example, refer to Figure 4B , users tend to watch the screen of the electronic device facing the screen, and they do not need to tilt their heads when watching the screen of the electronic device. When the roll angle (equivalent to ω) of the electronic device is adjusted too much, the user will tilt his head more seriously in order to keep facing the screen, which will cause discomfort. If the head is not tilted, the screen will be "tilted" relative to the user, affecting the experience of watching the screen of the electronic device.

[0076] For details about Example 1, please refer to the following Figure 8 The description of is not repeated here.

[0077] Embodiment 2: When the satellite is at the zenith, only adjusting the pitch angle and azimuth angle of the electronic device cannot make the radiation direction align with the satellite, because there is a certain deviation in the direction of the roll angle. Therefore, in order to achieve more accurate satellite alignment, in addition to adjusting the pitch angle and azimuth angle of the electronic device in the reference coordinate system, it also includes adjusting the roll angle of the electronic device in the reference coordinate system.

[0078] In Embodiment 2, the electronic device can determine, from N1 angular parameters, the angular parameter with the smallest roll angle, a pitch angle greater than 0° and less than a preset value 11 as the angular parameter A (denoted as angular parameter A2). Then, based on the angular parameter A2 and the angular parameter B, the pitch angle difference, the azimuth angle difference, and the roll angle difference are determined. Then, the star alignment prompt message 12 is generated through the pitch angle difference, the azimuth angle difference, and the roll angle difference to guide the user to adjust the posture.

[0079] The reason why the roll angle requirement in the angular parameter A1 is the smallest roll angle among the N1 angular parameters is as follows: Refer to Figure 3 and Figure 4B , the roll angle (equivalent to ω) is the angle of rotation around the Z-axis, which affects the degree of head tilting when the user views the electronic device. When the roll angle is equal to 0, the side of the electronic device is perpendicular to the Z-axis. Generally, the user's head is not tilted at this time, but the adjustment of the roll angle B will cause the screen to be "tilted" relative to the user's head: the larger the roll angle, the greater the degree of "tilting". Therefore, it is necessary to select the smallest roll angle to reduce the degree of the screen being "tilted" relative to the user's head, or to minimize the degree of head tilting when the user's head is directly facing the electronic device screen.

[0080] For the detailed content involved in Embodiment 2, reference can be made to the following description of Figure 8 , which will not be elaborated here for the time being.

[0081] Embodiment 3: To achieve more accurate star alignment and reduce the user's operations, the electronic device can first determine whether the roll angle in the angular parameter A2 is less than 1°. When the roll angle is greater than or equal to 1°, the user needs to be guided to adjust the roll angle, pitch angle, and azimuth angle of the electronic device in the reference coordinate system. This process includes: based on the angular parameter A2 and the angular parameter B, determining the pitch angle difference, the azimuth angle difference, and the roll angle difference. Then, the star alignment prompt message 12 is generated through the pitch angle difference, the azimuth angle difference, and the roll angle difference to guide the user to adjust the posture. When the roll angle is less than 1°, only the user is guided to adjust the pitch angle and azimuth angle of the electronic device in the reference coordinate system. This process includes: based on the angular parameter A2 and the angular parameter A, determining the pitch angle difference and the azimuth angle difference. Then, the star alignment prompt message 11 is generated through the pitch angle difference and the azimuth angle difference to guide the user to adjust the posture.

[0082] Among them, 1° is an example, indicating that the roll angle in the angular parameter A2 is very small and close to 0°. In fact, it can be other values, such as 0.5, 2°, etc. The embodiments of the present application do not limit this.

[0083] It should be understood here that when the roll angle in the angle parameter A2 is close to 0°, it means that the satellite acquisition can be completed without adjusting the roll angle from the initial attitude to the target attitude. The current attitude may be an intermediate attitude from the initial attitude to the target attitude, and then the roll angle of the electronic device may not be adjusted from the current attitude to the target attitude either.

[0084] The method for determining the angle parameter A2 in Embodiment 3 is the same as that in Embodiment 2. For relevant descriptions, reference can be made to the related content, which will not be elaborated here.

[0085] For the detailed content involved in Embodiment 3, reference can be made to the following description of Figure 9 which will not be elaborated here for the time being.

[0086] The satellite acquisition prompt information 11 involved in the foregoing Embodiments 1-3 refers to the prompt information for guiding the user to adjust the device attitude when adjusting the pitch angle and azimuth angle of the electronic device but not adjusting the roll angle. The satellite acquisition prompt information 12 refers to the prompt information for guiding the user to adjust the device attitude when adjusting the pitch angle, azimuth angle, and roll angle of the electronic device.

[0087] Among them, the satellite acquisition prompt information 11 includes pitch angle difference information and azimuth angle difference information. The pitch angle difference information is used to represent the pitch angle difference and the way to guide the user to adjust the pitch angle of the electronic device. Moreover, after detecting the operation of the user adjusting the pitch angle of the electronic device, the change (increase, decrease, or remain unchanged) of the pitch angle difference will also be reflected in the display state of the pitch angle difference information to continue guiding the user to adjust the pitch angle of the electronic device.

[0088] The pitch angle difference information for guiding the user to adjust the pitch angle of the electronic device includes: the pitch angle difference information may include one or more types of prompt contents such as text prompts and graphic prompts.

[0089] The azimuth angle difference information is used to guide the user to adjust the azimuth angle of the electronic device. For the description of the related content of the azimuth angle difference information, reference can be made to the foregoing description of the pitch angle difference information, just change the pitch angle to the azimuth angle, and this will not be elaborated in the embodiments of the present application.

[0090] Among them, the satellite acquisition prompt information 12 includes pitch angle difference information, azimuth angle difference information, and roll angle difference information. The roll angle difference information is used to guide the user to adjust the roll angle of the electronic device. The related descriptions of the pitch angle difference information and the azimuth angle difference information are the same as the foregoing content. For the description of the related content of the roll angle difference information, reference can be made to the foregoing description of the pitch angle difference information, just change the pitch angle to the roll angle, and this will not be elaborated in the embodiments of the present application.

[0091] The following describes the satellite alignment prompt message 11. For the scenario where the electronic device guides the user to adjust the device's attitude through the satellite alignment prompt message 11 (including the pitch angle difference information and the azimuth angle difference information), the following can be referred to. Figure 5A .

[0092] As Figure 5A described in (1) below, the user interface 21 is an exemplary desktop of the electronic device. The user interface 21 includes a satellite communication application icon 211 (abbreviated as icon 211), etc. Among them, the icon 211 can be used to trigger the electronic device to turn on the satellite communication function. The electronic device can send a data packet including the message content input by the user to other electronic devices through the satellite communication application. Refer to Figure 5A in (2) below. The user interface 22 is a message content editing interface provided by the satellite communication application. The user interface 22 also includes a send control 221. The send control 221 can be used to trigger the electronic device to display the satellite alignment prompt message 11 to guide the user to adjust the device's attitude to complete satellite alignment.

[0093] Refer to Figure 5A shown in (3) below. The user interface 23 is an exemplary satellite alignment interface including the satellite alignment prompt message 11. At this time, the satellite alignment prompt message 11 may include pitch angle difference information 231 and azimuth angle difference information 232.

[0094] Among them, the pitch angle difference information 231 may include a "black circle" icon and a "white circle" icon. In addition, it may also include a dotted arrow icon. The pitch angle difference information 231 can be used to indicate that rotating the device up and down (up or down) can achieve the adjustment of the pitch angle. The direction of the dotted arrow icon is used to prompt the user whether to adjust the pitch angle of the device up or down.

[0095] In the pitch angle difference information 231, the distance between the centers of the two circles ("black circle" and "white circle") can represent the magnitude of the pitch angle difference. The greater the distance between the centers of the two circles, the greater the pitch angle difference. When the user adjusts the pitch angle of the electronic device up and down to change the pitch angle of the electronic device, the "white circle" can move to indicate that the pitch angle difference is changing. When the centers of the two circles coincide, it means that the pitch angle difference is less than the preset threshold, and at this time, the dotted arrow icon may not be displayed.

[0096] In some possible cases, in order to set the way of adjusting the pitch angle to conform to the user's habit of using the electronic device. In addition to the "black circle" icon, the "white circle" icon, and the dotted arrow icon, the pitch angle difference information 231 also includes a text prompt: "Please move your arm up and down to adjust the device until the centers of the two circles coincide."

[0097] The azimuth difference information 232 may include a top black area and a satellite icon. In addition, it may also include a solid arrow icon. The pitch angle difference information 232 can be used to indicate that rotating the device clockwise or counterclockwise can achieve the adjustment of the azimuth angle. The direction of the solid arrow icon is used to prompt the user whether to adjust the azimuth angle of the device clockwise or counterclockwise.

[0098] In the azimuth difference information 232, the distance between the black top area and the satellite icon can represent the magnitude of the azimuth difference. The greater the distance between the black top area and the satellite icon, the greater the pitch angle difference. When the user adjusts the azimuth angle of the electronic device clockwise or counterclockwise, the satellite icon can move to indicate that the azimuth difference is changing. When the black top area and the satellite icon are aligned, it indicates that the azimuth difference is less than a preset threshold, and at this time, the solid arrow icon may not be displayed.

[0099] In some possible cases, in order to set the way of adjusting the azimuth angle to conform to the user's habit of using the electronic device. In addition to the top black area, the satellite icon, and the solid arrow icon, the azimuth difference information 232 also includes a text prompt: "Please rotate the device around your body to align the satellite icon with the top black area".

[0100] After the electronic device detects the operation of the user adjusting the device posture, it will recalculate the pitch angle difference and the azimuth angle difference to determine whether the satellite alignment is completed. When the pitch angle difference and the azimuth angle difference are less than a preset threshold, the electronic device determines that the satellite alignment is completed. At this time, the electronic device can display a prompt message indicating that the satellite alignment is completed to prompt the user that the alignment is completed. This prompt message indicating that the satellite alignment is completed can include at least one of the prompt contents such as a vibration prompt and a text prompt. Refer to Figure 5A The user interface 24 shown in (4) in is an exemplary interface displayed after the electronic device completes the satellite alignment.

[0101] As Figure 5A shown in (4) in , the user interface 24 may include a prompt message 241: "The device has been aligned with the target satellite. After feeling the vibration, satellite messages will be sent and received. Please keep the posture unchanged".

[0102] Compared with the azimuth difference information 232 in the user interface 23, the state of the azimuth difference information 232 in the user interface 24 has changed. The azimuth difference information 232 in the user interface 24 no longer includes a solid arrow icon, and the top black area and the satellite icon are already aligned. Compared with the user interface 23 and the user interface 23, the state of the pitch angle difference information 231 also changes. The pitch angle difference information 231 no longer includes a dashed arrow icon, and the centers of the two circles coincide.

[0103] After the satellite alignment is completed, the electronic device can send a data packet including the message content of the user input to other electronic devices.

[0104] In some possible cases, before displaying the satellite alignment interface (such as the user interface 23), the electronic device can also display a satellite selection interface. This satellite selection interface is used for the user to determine the target satellite from at least one satellite according to the satellite selection rules through the electronic device.

[0105] It should be understood here that Figure 5A in, the pitch angle difference information 231 and the azimuth angle difference information 232 included in the satellite alignment prompt information 11 are only examples. In actual situations, there can be other forms, and the embodiments of the present application are not limited to the object. For example, refer to the following Figure 5B , Figure 5B shows another exemplary satellite alignment prompt information 11.

[0106] As Figure 5B shown, the user interface 25 is another exemplary satellite alignment interface different from the user interface 23. In the user interface 25, the satellite alignment prompt information 11 can include pitch angle difference information 251 and azimuth angle difference information 252. Compared with the pitch angle difference information 231, the pitch angle difference information 251 adds a text prompt for the pitch angle difference. For example, pitch angle difference: -39.036. Compared with the azimuth angle difference information 232, the azimuth angle difference information 252 adds a text prompt for the azimuth angle difference. For example, azimuth angle difference: 100.128. In this way, the user can be more intuitively informed of the magnitude of the azimuth angle difference and the pitch angle difference between the current posture and the target posture, which is convenient for the user to adjust the device posture.

[0107] The following describes the satellite alignment prompt information 12. For the scenario where the electronic device guides the user to adjust the device posture through the satellite alignment prompt information 12 (including pitch angle difference information, azimuth angle difference information, and roll angle difference information), reference can be made to the following Figure 6A .

[0108] As Figure 6A in (1) shown, the user interface 30 is an exemplary satellite alignment interface including the satellite alignment prompt information 12. At this time, the satellite alignment prompt information 12 can include pitch angle difference information 231, azimuth angle difference information 232, and roll angle difference information 233.

[0109] Among them, the roll angle difference information 233 may include a solid-line device icon and a dashed-line device icon. In addition, it may also include a solid-line arrow icon. The roll angle difference information 233 can be used to indicate that rotating the device clockwise or counterclockwise perpendicular to the screen (along the Z-axis) can achieve the adjustment of the roll angle. The direction of the solid-line arrow icon in the roll angle difference information 233 is used to prompt the user whether to adjust the pitch angle of the device clockwise or counterclockwise.

[0110] In the roll angle difference information 233, the included angle between the solid-line device icon and the dashed-line device icon can represent the magnitude of the roll angle difference. The larger the included angle, the larger the roll angle difference. When the user rotates the electronic device along the Z-axis to change the roll angle of the electronic device, the included angle between the solid-line device icon and the dashed-line device icon will change to indicate that the roll angle difference is changing. When the solid-line device icon and the dashed-line device icon coincide, it indicates that the roll angle difference is less than a preset threshold, and at this time, the solid-line arrow icon may not be displayed.

[0111] In some possible cases, in order to set the method of adjusting the pitch angle to conform to the user's habit of using the electronic device. In addition to the included angle between the solid-line device icon, the dashed-line device icon, and the solid-line arrow icon, the roll angle difference information 233 may also include a text prompt: "Rotate the device clockwise or counterclockwise perpendicular to the screen until the two device icons coincide".

[0112] After the electronic device detects the operation of the user adjusting the device attitude, it will recalculate the pitch angle difference, azimuth angle difference, and roll angle difference to determine whether the satellite alignment is completed. When the pitch angle difference, azimuth angle difference, and roll angle difference are less than the preset threshold, the electronic device determines that the satellite alignment is completed. At this time, the electronic device can display a prompt message indicating that the satellite alignment is completed to prompt the user that the alignment is completed. The prompt message indicating that the satellite alignment is completed may include at least one of prompt contents such as a vibration prompt and a text prompt. Refer to Figure 6A The user interface 31 shown in (2) in the reference is an exemplary interface displayed after the electronic device completes the satellite alignment.

[0113] As Figure 6A As shown in (2) in the reference, the user interface 31 may include a prompt message 241: "The device has been aligned with the target satellite. After feeling the vibration, satellite messages will be sent and received. Please keep the attitude unchanged".

[0114] Compared with the roll angle difference information 233 in the user interface 30, the state of the roll angle difference information 233 in the user interface 31 has changed. The roll angle difference information 233 in the user interface 30 no longer includes the solid-line arrow icon, and the solid-line device icon and the dashed-line device icon have been aligned.

[0115] Here, it should be noted that the description of the pitch angle difference information 231 and the azimuth angle difference information 232 can refer to the foregoing pairFigure 5A The description of (3) will not be repeated here.

[0116] In some possible cases, before displaying the satellite alignment interface (such as user interface 23), the electronic device can also display a satellite selection interface. This satellite selection interface is used to enable the electronic device to determine a target satellite from at least one satellite.

[0117] It should be understood here that Figure 6A in, the pitch angle difference information 231, azimuth angle difference information 232, and roll angle difference 133 included in the satellite alignment prompt information 12 are only examples. In actual situations, there can be other forms, and the embodiments of the present application are not limited to the object.

[0118] For example, refer to the following Figure 6B , Figure 6B shows another exemplary satellite alignment prompt information 12.

[0119] Such as Figure 6B shown, the user interface 32 is another exemplary satellite alignment interface different from the user interface 30 and including the satellite alignment prompt information 12. In the user interface 32, the satellite alignment prompt information 12 can include pitch angle difference information 251, azimuth angle difference information 252, and roll angle difference information 253. Compared with the roll angle difference information 233, the roll angle difference information 253 adds a text prompt for the roll angle difference. For example, roll angle difference: 20.000. At the same time, the pitch angle difference information 251 and the azimuth angle difference information 252 also add corresponding text prompts compared with the pitch angle difference information 231 and the azimuth angle difference information 232 respectively. In this way, it can more intuitively inform the user of the magnitude of the azimuth angle difference, pitch angle difference, and roll angle difference between the current attitude and the target attitude, facilitating the user to adjust the device attitude.

[0120] For another example, refer to the following Figure 6C , Figure 6C shows two other exemplary satellite alignment prompt information 12.

[0121] Such as Figure 6C shown in (1) of, the user interface 33 is an exemplary satellite alignment interface including the satellite alignment prompt information 12. At this time, the pitch angle difference information and azimuth angle difference information included in the satellite alignment prompt information 12 have not changed compared with the previous user interface 30, but the roll angle difference information has changed from the roll angle difference information 233 to the roll angle difference information 234. Compared with the previously involved roll angle difference information 233, the roll angle difference information 234 adds a text prompt: "Please rotate the device clockwise by 20°", so that it can more directly inform the user how to adjust the roll angle of the electronic device.

[0122] Since the text prompt method is relatively direct and simple, in some possible cases, the roll angle difference information may not include a graphical prompt and only consists of a text prompt. For example, referring to Figure 6C the user interface 34 shown in (2) of

[0123] . The roll angle difference information 235 included in the star alignment prompt information 12 can be a text prompt: "Please rotate the device clockwise by 20° perpendicular to the screen". Here, the roll angle difference information is used as an example for illustration. In actual situations, the pitch angle difference information and the azimuth angle difference information can also be composed only of text prompts, and the embodiments of the present application do not make any limitations in this regard.

[0124] It should be understood here that the aforementioned 20° is for illustrative purposes, and in actual situations, it is the magnitude of the roll angle difference calculated by the electronic device in the background. Figure 6D , Figure 6D shows another exemplary star alignment prompt information 12.

[0125] As Figure 6D shown in (1) of , the lines and arrows describing Δω displayed in the user interface 35 are an exemplary roll angle prompt information, the lines and arrows describing Δθ are an exemplary pitch angle prompt information, and the lines and arrows describing Figure 6D are an exemplary azimuth angle prompt information. The arrows indicate the way to move the mobile electronic device. After the user completes an angle adjustment, the electronic device may no longer display the lines and arrows of that angle. Referring to

[0126] the user interface 36 shown in (2) of Figure 5A , Figure 5B and Figure 6A - Figure 6D shown above, the electronic device achieves star alignment by guiding the user to rotate two or three angles, but the order of the rotation angles is not specified, which may cause the user to rotate two or three angles simultaneously to change the posture of the electronic device, and there are too many changing factors, resulting in mutual influence of rotations in multiple directions. Based on this, the electronic device can specify the order of the rotation angles so that the user can consciously control the rotation to only change the angle in one direction, control the changing factors, and improve the efficiency of star alignment.

[0127] Referring to Figure 7 shown, it describes an exemplary scenario involved in adjusting the pitch angle, azimuth angle, and roll angle of the electronic device in sequence based on the star alignment prompt information 12.

[0128] As Figure 7In the user interface 40 shown in (1), the star prompt information 12 includes pitch angle difference information 411, azimuth angle difference information 412, and roll angle difference information 413.

[0129] Among them, the pitch angle difference information 411 may include a "white large circle" icon, a "black circle" icon, and a "dotted circle" icon (located within the "white large circle" icon). The azimuth angle difference information 412 may include a "white large circle" icon, a "white small circle" icon, and a "dotted circle" icon. The roll angle difference information 413 may include a top black area and a vertical line icon.

[0130] The electronic device can sequentially display the adjustment method prompt information corresponding to one rotation angle (pitch angle, azimuth angle, and roll angle) in order. After completing the adjustment of one rotation angle, the electronic device then displays the adjustment method prompt information corresponding to the next rotation angle in order. Furthermore, based on the displayed adjustment method prompt information corresponding to the rotation angle, the user is guided to adjust the device posture.

[0131] For example, refer to Figure 7 the user interface 40 shown in (1). First, the electronic device can display the adjustment method prompt information 412a corresponding to the azimuth angle. The adjustment method prompt information 412a may include a text prompt: "Please turn your body counterclockwise to rotate the device", and may also include a direction arrow prompt. Based on this adjustment method prompt information 412a, the user can turn their body to adjust the azimuth angle of the electronic device.

[0132] When the user turns their body to change the azimuth angle of the electronic device, the "white small circle" included in the azimuth angle difference information 412 can move to indicate the change in the azimuth angle difference. The "dotted circle" can be used to guide the user to move the electronic device until the "white small circle" moves to the "dotted circle". At this time, the centers of the "white large circle" and the "white small circle" coincide, indicating that the azimuth angle difference is less than the preset threshold. It should be noted that the distance between the centers of the "white large circle" and the "white small circle" in the azimuth angle difference information 412 can represent the magnitude of the elevation angle difference. The greater the distance between the centers of the two circles, the greater the azimuth angle difference.

[0133] After adjusting the azimuth angle of the electronic device, the electronic device can display the adjustment method prompt information 411a corresponding to the pitch angle. Refer to Figure 7 the user interface 41 shown in (2). The adjustment method prompt information 411a may include a text prompt: "Please move the device downward", and may also include a direction arrow prompt. Based on this adjustment method prompt information 411a, the user can move the electronic device up and down to adjust the pitch angle of the electronic device.

[0134] When the user moves the electronic device up and down to change the pitch angle of the electronic device, the "black circle" included in the pitch angle difference information 411 can move to indicate that the pitch angle difference is changing. The "dashed circle" can be used to guide the user to move the electronic device until the "black circle" moves to the "dashed circle". At this time, the centers of the "white large circle" and the "black circle" coincide, indicating that the pitch angle difference is less than the preset threshold. It should be noted that the distance between the centers of the "white large circle" and the "black circle" in the pitch angle difference information 411 can represent the magnitude of the pitch angle difference. The greater the distance between the centers of the two circles, the greater the pitch angle difference.

[0135] After adjusting the pitch angle of the electronic device, the electronic device can display the adjustment method prompt information 413a corresponding to the roll angle. Refer to Figure 7 the user interface 42 shown in (3) of. The adjustment method prompt information 413a can include a text prompt: "Please rotate the device counterclockwise perpendicular to the screen", and can also include a direction arrow prompt. Based on this adjustment method prompt information 413a, the user can rotate the electronic device perpendicular to the screen to adjust the roll angle of the electronic device.

[0136] When the user rotates the electronic device perpendicular to the screen to change the roll angle of the electronic device, the top black area included in the roll angle difference information 413 can move to indicate that the roll angle difference is changing. The vertical line icon can be used to guide the user to move the electronic device until the central axis of the black top area is close to the vertical line. At this time, the black top area is centered, indicating that the roll angle difference is less than the preset threshold. It should be noted that the distance between the central axis of the black top area and the vertical line in the roll angle difference information 413 can represent the magnitude of the roll angle difference. The greater the distance from the vertical line, the greater the roll angle difference.

[0137] After the azimuth angle, pitch angle, and roll angle of the electronic device are all adjusted in sequence, the electronic device can display Figure 7 the user interface 43 shown in (4) of to prompt the user that the star alignment is completed.

[0138] Based on the foregoing content, it should be noted that guiding the user to adjust the device posture through the star alignment prompt information 11 or the star alignment prompt information 12 includes: quantifying the angles such as the pitch angle and azimuth angle to be rotated through the star alignment prompt information 11 or the star alignment prompt information 12, and informing the user of the magnitude of the angle to be rotated. The star alignment prompt information 11 or the star alignment prompt information 12 can be in the form of an icon for prompting the angle magnitude, can also be in the form of text for accurately prompting the angle magnitude, can also combine the icon form and the text form, and can also be in other forms, such as animation. The embodiments of the present application do not limit this.

[0139] Next, it is described how the electronic device completes star alignment based on the pitch angle difference and the azimuth angle difference in the foregoing embodiment 1.

[0140] An exemplary description of the process involved can be referred to Figure 8 the steps S101a, S101b, S102 - S109 shown in

[0141] S101a. Determine the vector of the electronic device pointing to the satellite in the initial attitude

[0142] The initial attitude refers to the attitude when the pitch angle, azimuth angle, and roll angle of the electronic device are all 0° in the reference coordinate system (such as the ground coordinate system). For example, in the ground coordinate system, the initial attitude of the electronic device can be: the electronic device is parallel to the plane formed by the north direction and the east direction, and the top of the electronic device points to the north direction.

[0143] Unless otherwise specified in the following content, the default initial attitude of the electronic device is: the electronic device is parallel to the plane formed by the north direction and the east direction, and the top of the electronic device points to the north direction.

[0144] Vector has the same direction as the transmission link direction. Vector is used to represent the transmission link direction.

[0145] This vector is determined by the position of the electronic device (Position 1) and the position of the target satellite (Position 2). Among them, Position 1 can include, but is not limited to, one or more of the longitude, latitude, and altitude of the electronic device, etc. Position 2 can include, but is not limited to, one or more of the longitude and latitude of the beam center of the target satellite, the height of the target satellite from the ground, etc.

[0146] Here, taking the example that both Position 1 and Position 2 include longitude and latitude to illustrate an exemplary determination process of this vector : First, calculate the difference between the longitude in Position 1 and the longitude in Position 2 to obtain the longitude difference, and calculate the difference between the latitude in Position 1 and the latitude in Position 2 to obtain the latitude difference. Then convert the longitude difference and the latitude difference into radian form. Then substitute the longitude difference in radian form and the latitude difference in radian form into the spherical trigonometry formula to calculate and obtain vector

[0147] It should be noted that Position 1 is the position of the electronic device when performing step S101a. Although the attitude of the electronic device may not be the initial attitude at this time, due to the small size of the electronic device, the influence of the attitude on the position of the electronic device can be ignored. Position 2 is pre - stored in the electronic device. Or, it can be calculated according to the ephemeris of the target satellite.

[0148] It should also be noted that the timing of the execution of step S101a includes: after the electronic device determines the target satellite in response to the input of sending a satellite message.

[0149] S101b. Determine the vector in the radiation direction of the antenna of the electronic device in the initial attitude

[0150] The radiation direction here refers to the optimal radiation direction of the antenna in the initial attitude.

[0151] Vector Used to represent the radiation direction of the antenna in the initial attitude.

[0152] Generally, the electronic device is not affected by external forces in the initial attitude. At this time, the radiation direction of the antenna is related to the main axis of the electronic device or the antenna design and is fixed. Therefore, the vector Is a preset parameter related to the main axis of the electronic device or the antenna design.

[0153] S102. Based on the vector And the vector Determine N1 rotation matrices for converting the attitude of the electronic device from the initial attitude to the target attitude.

[0154] The rotation matrix is a 3×3 matrix that rotates the vector To coincide with the vector When the vector Coincides with the vector It also means that the radiation direction of the electronic device is aligned with the target satellite. Therefore, the rotation matrix can be used to convert the attitude of the electronic device from the initial attitude to the target attitude.

[0155] The number of this rotation matrix is not unique, denoted as N1. N1 rotation matrices can obtain N1 target attitudes to be screened. It is necessary to select a rotation matrix 1 from the N1 rotation matrices, and this rotation matrix 1 can determine the target attitude that conforms to the user's screen viewing habit. For the relevant description of the rotation matrix 1 and the process of determining the target attitude that conforms to the user's screen viewing habit based on the rotation matrix 1, reference can be made to the following description of step S103.

[0156] The process of determining N1 rotation matrices here includes: first determining the vector And the vector The normal vector of the plane formed by And determining the angle d between the vector And the vector Then, rotate the angle d along the normal vector To obtain the first rotation matrix, and then along the vector Each rotation angle e can obtain the other N1 - 1 rotation matrices. N1 is equal to 360° / angle e. Angle e is greater than or equal to 0° but less than or equal to 360°.

[0157] S103. The electronic device decomposes each of the N1 rotation matrices into Euler angles in the ZXZ mode, and determines the azimuth angle A1, pitch angle A1, and roll angle A1 of the target pose relative to the initial pose; when the roll angle A1 is the closest to the roll angle B among the N1 roll angles and the pitch angle A1 is greater than 0° and less than the preset value 11, the N1 roll angles are determined based on the N1 rotation matrices.

[0158] The Euler angles in the ZXZ mode consist of three rotation angles with a rotation order: the angle of rotation around the Z - axis of the electronic device first (Z - axis angle 11), then the angle of rotation around the X - axis of the electronic device (X - axis angle 11), and the angle of rotation around the Z - axis again (Z - axis angle 12).

[0159] Decomposing a rotation matrix into the Euler angles in the in - rotation ZXZ mode means: referring to Figure 9 as shown in (1) below, by decomposing the rotation matrix, three consecutive rotation operations are applied to the electronic device in the rotation order corresponding to the ZXZ mode, so that the electronic device is rotated from the initial pose to the target pose.

[0160] The electronic device can use the Euler angles in the ZXZ mode as the angle parameters that the electronic device needs to rotate from the initial pose to the target pose: among them, the Z - axis angle 11 in the Euler angles in the ZXZ mode can be used as the azimuth angle of the target pose relative to the initial pose, the X - axis angle 11 in the Euler angles in the ZXZ mode can be used as the pitch angle of the target pose relative to the initial pose, and the X - axis angle 12 in the Euler angles in the ZXZ mode can be used as the roll angle of the target pose relative to the initial pose. The reason can be referred to the description of the content shown in (2) below: When the electronic device is in the initial pose, since the top of the electronic device points north (N) and the electronic device is parallel to the horizontal plane (parallel to the plane formed by north and east). Then in the initial pose, the Z - axis of the electronic device can be regarded as a celestial direction. At this time, rotating around the Z - axis is the azimuth angle of rotating around the celestial direction Figure 9 The angle of rotation around the Z - axis of the electronic device first (Z - axis angle 11) in the Euler angles in the ZXZ mode can be used as the azimuth angle of the target pose relative to the initial pose. When the electronic device is in the pose after rotating around the Z - axis, the Z - axis of the electronic device is equivalent to an east direction. At this time, rotating around the X - axis of the electronic device is equivalent to the pitch angle (θ) of rotating around the east - west direction. The angle of rotation around the Z - axis when the electronic device is in the pose after rotating around the X - axis is the roll angle (ω) that the electronic device needs to adjust. The angle of rotation around the Z - axis of the electronic device first (Z - axis angle 11) in the Euler angles in the ZXZ mode can be used as the azimuth angle of the target pose relative to the initial pose. When the electronic device is in the pose after rotating around the Z - axis, the Z - axis of the electronic device is equivalent to an east direction. At this time, rotating around the X - axis of the electronic device is equivalent to the pitch angle (θ) of rotating around the east - west direction. The angle of rotation around the Z - axis when the electronic device is in the pose after rotating around the X - axis is the roll angle (ω) that the electronic device needs to adjust.

[0161] Decompose N1 rotation matrices into Euler angles in the ZXZ mode respectively to obtain N1 sets of Euler angles in the ZXZ mode. Taking a set of Euler angles in the ZXZ mode as an angular parameter, N1 angular parameters can be obtained. Screen out the angular parameter A1 (the angular parameter for which the determined target pose conforms to the user's viewing screen habit) from the N1 angular parameters. The roll angle (roll angle A1) in the angular parameter A1 is closest to the roll angle B among the N1 roll angles, and the pitch angle (pitch angle A1) in the angular parameter A1 is greater than 0° and less than the preset value 11. The azimuth angle in the angular parameter A1 is azimuth angle A1.

[0162] It should be understood here that decomposing the rotation matrix into the angular parameter from the initial pose to the target pose in the ZXZ mode is based on the initial pose being "parallel to the plane formed by the north direction and the east direction, and the top pointing northward".

[0163] When the initial pose of the electronic device changes, the angular parameter from the initial pose to the target pose can also be obtained according to other modes except the ZXZ mode, which is not limited in the embodiments of the present application. For example: when the initial pose of the electronic device is "the electronic device is perpendicular to the plane formed by the north direction and the east direction, and the top of the electronic device points to the skyward direction", the electronic device can decompose the N1 rotation matrices into Euler angles in the YXZ mode of internal rotation to obtain N1 angular parameters. It should be noted here that the angle of rotation around the Y axis in the Euler angles in the YXZ mode can be used as the azimuth angle in the angular parameter, the angle of rotation around the X axis in the Euler angles in the YXZ mode can be used as the pitch angle in the angular parameter, and the angle of rotation around the Z axis in the Euler angles in the YXZ mode can be used as the roll angle in the angular parameter.

[0164] It should be understood here that 0° is for illustration, and actually it can be other values, close to 0°, and actually it can be other values, such as 0.5, 2°, etc., which is not limited in the embodiments of the present application.

[0165] S104. Obtain the azimuth angle B, pitch angle B, and roll angle B of the electronic device in the current pose relative to the initial pose.

[0166] The azimuth angle B, pitch angle B, and roll angle B are respectively the azimuth angle, pitch angle, and roll angle of the electronic device in the current pose relative to the initial pose in the reference coordinate system (such as the ground coordinate system).

[0167] The electronic device can determine the azimuth angle B, pitch angle B, and roll angle B through built-in sensors (such as gyroscope sensors, acceleration sensors, etc.), and for related content, refer to the following description.

[0168] In some possible cases, the electronic device can directly output the azimuth angle B, pitch angle B, and roll angle B through built-in sensors.

[0169] In some other possible cases, the process of determining the azimuth angle B, the pitch angle B, and the roll angle B may include: The electronic device can detect the angles of rotation of the electronic device around the three axes (the Z-axis, the Y-axis, and the Z-axis) in a non-reference coordinate system (such as the magnetic north coordinate system) through built-in sensors, and determine the pitch angle, azimuth angle, and roll angle of the electronic device in the non-reference coordinate system based on the angles of rotation around the three axes. Then, the electronic device determines the magnetic declination between the non-reference coordinate system and the reference coordinate system, and further combines the magnetic declination to convert the pitch angle, azimuth angle, and roll angle of the electronic device in the non-reference coordinate system into the azimuth angle (azimuth angle B), pitch angle (pitch angle B), and roll angle (roll angle B) of the electronic device in the reference coordinate system.

[0170] S105. The electronic device obtains the azimuth difference by using azimuth angle A1 - azimuth angle B, and obtains the pitch difference by using pitch angle A1 - pitch angle B.

[0171] S106. The electronic device generates the star alignment prompt information 11 based on the azimuth difference and the pitch difference to guide the user to adjust the posture.

[0172] The star alignment prompt information 11 includes pitch difference information and azimuth difference information. The description of the star alignment prompt information 11 can refer to the foregoing related content, and will not be elaborated here.

[0173] For relevant examples of the star alignment prompt information 11 and an exemplary interface for guiding the user to adjust the posture based on the star alignment prompt information 11, reference can be made to the foregoing description of Figure 5A and Figure 5B For example, for relevant examples of the star alignment prompt information 11, reference can be made to the pitch difference information 231 and azimuth difference information 232 shown in (3) of the foregoing Figure 5A Or reference can be made to the pitch difference information 251 and azimuth difference information 252 shown in the foregoing Figure 5B

[0174] S107. The electronic device determines whether the azimuth difference is less than threshold 1 and whether the pitch difference is less than threshold 2.

[0175] When the electronic device determines that the azimuth difference is less than threshold 1 and the pitch difference is less than threshold 2, the electronic device can determine that the current posture is already the target posture. Execute the following step S109 to prompt the user that the star alignment is completed.

[0176] Otherwise, the electronic device executes the following step S108 and continues to receive the input for adjusting the posture of the electronic device.

[0177] S108. Receive the input for adjusting the posture of the electronic device. ​

[0178] In step S108, the electronic device does not display the prompt message 21, which allows the user to adjust the device's posture. Then the electronic device can receive an input for adjusting the posture of the electronic device, and update the current posture to the adjusted posture.

[0179] Then the electronic device executes steps S104 - S107 again to re - determine whether the current posture of the electronic device has been adjusted to the target posture.

[0180] S109. Display the prompt message 21, and this accurate prompt message 21 is used to prompt the user that the radiation direction of the satellite antenna has been aligned with the target satellite.

[0181] In step S109, an exemplary description of the electronic device displaying the prompt message 21 can refer to the prompt message 241 shown in (4) above. Figure 5A in the above.

[0182] Next, it is described how the electronic device completes satellite alignment based on the pitch angle difference, azimuth angle difference, and roll angle difference in Embodiment 2 described above.

[0183] An exemplary description of this process can refer to Figure 10 steps S201a, S201b, S202 - S209 shown in the above.

[0184] S201a. Determine the vector by which the electronic device points to the satellite in the initial posture

[0185] S201b. Determine the vector in the radiation direction of the antenna in the initial posture of the electronic device

[0186] S202. Based on the vector and the vector determine N1 rotation matrices for converting the posture of the electronic device from the initial posture to the target posture.

[0187] It should be noted here that steps S201a, S201b, and S202 are the same as steps S101a, S101b, and S102 respectively described above, and will not be elaborated here.

[0188] S203. Decompose each of the N1 rotation matrices into Euler angles in the ZXZ mode, and determine the azimuth angle A2, pitch angle A2, and roll angle A2 of the target posture relative to the initial posture; among them, the roll angle A2 is the smallest among the N1 roll angles, the pitch angle A2 is greater than 0° and less than the preset value 11, and the N1 roll angles are determined based on the N1 rotation matrices.

[0189] In step S203, the process of determining N1 angular parameters from the decomposition rotation matrix of the electronic device is the same as that in the previous step S103, which will not be elaborated here.

[0190] Then, the electronic device screens out the angular parameter A2 (the angular parameter whose determined target posture conforms to the user's viewing screen habit) from the N1 angular parameters. The roll angle (roll angle A2) in this angular parameter A2 is the smallest among the N1 roll angles, and the pitch angle (pitch angle A2) in the angular parameter A2 is greater than 0° and less than the preset value 11. The azimuth angle in this angular parameter A2 is azimuth angle A2.

[0191] S204. Obtain the azimuth angle B, pitch angle B, and roll angle B of the electronic device in the current posture relative to the initial posture.

[0192] Step S204 is the same as the previous step S104, and reference can be made to the description of step S104 above, which will not be elaborated here.

[0193] S205. Obtain the azimuth difference by using azimuth angle A2 - azimuth angle B, obtain the pitch difference by using pitch angle A2 - pitch angle B, and obtain the roll difference by using roll angle A2 - roll angle B.

[0194] S206. Generate the star alignment prompt information 12 based on the azimuth difference, pitch difference, and roll difference to guide the user to adjust the posture.

[0195] The star alignment prompt information 12 includes pitch difference information, azimuth difference information, and roll angle information. The description of the star alignment prompt information 12 can refer to the relevant content above, which will not be elaborated here.

[0196] The prompt information and an exemplary interface for guiding the user to adjust the posture based on the star alignment prompt information 12 can refer to the above Figure 6A - Figure 6D , or Figure 7 's description, which will not be elaborated here. For example, the relevant examples of the star alignment prompt information 12 can refer to the pitch difference information 231, azimuth difference information 232, and roll difference information 233 shown in (1) above. Or, it can refer to the pitch difference information 251, azimuth difference information 252, and roll difference information 253 shown above. Figure 6A in Figure 6B shown.

[0197] S207. The electronic device determines whether the azimuth difference is less than the threshold 1, whether the pitch difference is less than the threshold 2, and whether the roll difference is less than the threshold 3.

[0198] When the electronic device determines that the azimuth difference is less than threshold 1, the pitch difference is less than threshold 2, and whether the roll difference is less than threshold 3, the electronic device can determine that the current attitude has been the target attitude. Then execute the following step S209 to prompt the user to complete satellite alignment.

[0199] Otherwise, the electronic device executes the following step S208 and continues to receive the input for adjusting the attitude of the electronic device.

[0200] S208. Receive the input for adjusting the attitude of the electronic device.

[0201] In step S208, the electronic device does not display the prompt message 22, which allows the user to adjust the device attitude. Then the electronic device can receive the input for adjusting the attitude of the electronic device and update the current attitude to the adjusted attitude.

[0202] Then the electronic device executes steps S204 - S207 again to re - judge whether the current attitude of the electronic device has been adjusted to the target attitude.

[0203] S209. Display the prompt message 22, and this accurate prompt message 22 is used to prompt the user that the radiation direction of the satellite antenna has been aligned with the target satellite.

[0204] In step S209, an exemplary description of the electronic device displaying the prompt message 22 can refer to the Figure 6A prompt message 241 shown in (2) above.

[0205] Next, describe how the electronic device completes satellite alignment based on the pitch difference, azimuth difference, and roll difference in the foregoing embodiment 3.

[0206] An exemplary description of this process can refer to Figure 11 steps S301a, S301b, S303, S304, S305a - S310a, and S305b - S310b shown in

[0207] S301a. Determine the vector of the electronic device pointing to the satellite in the initial attitude of the electronic device

[0208] S301b. Determine the vector in the radiation direction of the antenna of the electronic device in the initial attitude

[0209] S302. Based on the vector and the vector determine N1 rotation matrices for converting the attitude of the electronic device from the initial attitude to the target attitude.

[0210] S303. Decompose each of the N1 rotation matrices into Euler angles in the ZXZ pattern, and determine the azimuth angle A2, pitch angle A2, and roll angle A2 of the target attitude relative to the initial attitude; among them, the roll angle A2 is the smallest among the N1 roll angles, the pitch angle A2 is greater than 0° and less than the preset value 11, and the N1 roll angles are determined based on the N1 rotation matrices.

[0211] It should be noted here that step S301a, step S301b, step S302, and step S303 are the same as the aforementioned steps S201a, step S201b, step S202, and step S203 respectively, and will not be elaborated here.

[0212] S304. The electronic device determines whether the roll angle A2 is less than 1°.

[0213] It should be noted that 1° here is for illustration, indicating that the roll angle A2 is very small and close to 0°, and it can actually be other values, such as 0.5, 2°, etc. The embodiments of the present application do not limit this.

[0214] When it is determined that the absolute value of the roll angle A2 is greater than or equal to 1°, it means that the roll angle of the electronic device needs to be adjusted from the initial attitude to the target attitude, indicating that the current attitude requires adjusting the roll angle of the electronic device to achieve accurate satellite alignment. At this time, the electronic device can execute the following steps S305a - step S310a.

[0215] When it is determined that the absolute value of the roll angle A2 is less than 1°, it means that the roll angle of the electronic device does not need to be adjusted from the initial attitude to the target attitude, indicating that the current attitude can achieve accurate satellite alignment without adjusting the roll angle of the electronic device. At this time, the electronic device can execute the following steps S305b - step S310b.

[0216] The following describes the process of the electronic device achieving satellite alignment through the pitch angle, azimuth angle, and roll angle when the absolute value of the roll angle A2 is greater than or equal to 1°. This process can refer to the following description of steps S305a - step S310a.

[0217] S305a. Obtain the azimuth angle B, pitch angle B, and roll angle B of the electronic device in the current attitude relative to the initial attitude.

[0218] S306a. Obtain the azimuth angle difference by using azimuth angle A2 - azimuth angle B, obtain the pitch angle difference by using pitch angle A2 - pitch angle B, and obtain the roll angle difference by using roll angle A2 - roll angle B.

[0219] S307a. Generate satellite alignment prompt information 12 based on the azimuth angle difference, pitch angle difference, and roll angle difference to guide the user to adjust the attitude.

[0220] S308a. The electronic device determines whether the azimuth difference is less than threshold 1, whether the pitch angle difference is less than threshold 2, and whether the roll angle difference is less than threshold 3.

[0221] S309a. Receive an input for adjusting the attitude of the electronic device.

[0222] S310a. Display prompt message 22, which is used to prompt the user that the radiation direction of the satellite antenna has been aligned with the target satellite.

[0223] Steps S305a - S310a are the same as the aforementioned steps S204 - S209 respectively, and will not be elaborated here.

[0224] The following describes the process in which the absolute value of the roll angle A2 is less than 1°, and the electronic device achieves satellite alignment through the pitch angle and azimuth angle. This process can refer to the following description of steps S305b - S310b.

[0225] S305b. Obtain the azimuth angle B and pitch angle B of the electronic device in the current attitude relative to the initial attitude.

[0226] S306b. Obtain the azimuth difference by using azimuth angle A2 - azimuth angle B, and obtain the pitch angle difference by using pitch angle A2 - pitch angle B.

[0227] S307b. Generate a satellite alignment prompt message 11 based on the azimuth difference and pitch angle difference to guide the user to adjust the attitude.

[0228] S308b. The electronic device determines whether the azimuth difference is less than threshold 1 and whether the pitch angle difference is less than threshold 2.

[0229] S309b. Receive an input for adjusting the attitude of the electronic device.

[0230] S310b. Display prompt message 21, which is used to prompt the user that the radiation direction of the satellite antenna has been aligned with the target satellite.

[0231] Steps S305b - S310b are the same as the aforementioned steps S104 - S109 respectively, and will not be elaborated here.

[0232] It should be noted here that there is no order of precedence between the aforementioned steps S101a and S101b. There is no order of precedence between steps S104 and S103. There is no order of precedence between the aforementioned steps S201a and S201b. There is no order of precedence between steps S204 and S203. There is no order of precedence between the aforementioned steps S301a and S301b. There is no order of precedence between steps S204 and S203.

[0233] It should also be noted here that the aforementioned threshold 1, threshold 2, and threshold 3 can be collectively referred to as preset thresholds. The threshold 1, threshold 2, and threshold 3 can be equal or unequal, and the embodiments of the present application do not limit this.

[0234] First, the exemplary electronic device provided by the embodiments of the present application will be introduced below.

[0235] Figure 12 is a schematic structural diagram of the electronic device provided by the embodiments of the present application.

[0236] Below, the embodiments will be specifically described by taking the electronic device as an example. It should be understood that the electronic device may have more or fewer components than those shown in Figure 12 It may combine two or more components, or may have different component configurations. Figure 12 The various components shown in

[0237] The electronic device may include: a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, a headphone interface 170D, a sensor module 180, a key 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. Among them, the sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, a barometric pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0238] It can be understood that the structure schematically shown in the embodiments of the present application does not constitute a specific limitation on the electronic device. In other embodiments of the present application, the electronic device may include more or fewer components than those shown in the figure, or combine certain components, or split certain components, or have different component arrangements. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0239] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated in one or more processors.

[0240] Among them, the controller may be the nerve center and command center of the electronic device. The controller may generate operation control signals according to the instruction operation code and timing signal to complete the control of fetching and executing instructions.

[0241] A memory may also be provided in the processor 110 for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. This memory may save the instructions or data that the processor 110 has just used or recycled. If the processor 110 needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated accesses, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

[0242] In some embodiments, the processor 110 may include one or more interfaces. The interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0243] It can be understood that the interface connection relationships among the modules illustrated in the embodiments of the present application are only illustrative descriptions and do not constitute a structural limitation on the electronic device. In other embodiments of the present application, the electronic device may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0244] The wireless communication function of the electronic device can be implemented by antenna 1, antenna 2, mobile communication module 150, wireless communication module 160, modulation and demodulation processor, baseband processor, etc.

[0245] Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in the electronic device can be used to cover a single or multiple communication frequency bands. Different antennas can also be multiplexed to improve the utilization rate of the antennas. For example: Antenna 1 can be multiplexed as the diversity antenna of the wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0246] The mobile communication module 150 can provide solutions for wireless communications such as 2G / 3G / 4G / 5G applied to the electronic device. The mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves through antenna 1, filter, amplify, etc. the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor and convert it into electromagnetic waves through antenna 1 for radiation. In some embodiments, at least some functional modules of the mobile communication module 150 can be disposed in the processor 110. In some embodiments, at least some functional modules of the mobile communication module 150 and at least some modules of the processor 110 can be disposed in the same device.

[0247] The modulation and demodulation processor can include a modulator and a demodulator. Among them, the modulator is used to modulate the low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. Subsequently, the demodulator transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is transmitted to the application processor. The application processor outputs a sound signal through an audio device (not limited to speaker 170A, receiver 170B, etc.), or displays an image or video through the display screen 194. In some embodiments, the modulation and demodulation processor can be an independent device. In other embodiments, the modulation and demodulation processor can be independent of the processor 110 and be disposed in the same device as the mobile communication module 150 or other functional modules.

[0248] The wireless communication module 160 may provide solutions for wireless communications applied to an electronic device, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite systems (GNSSs), frequency modulation (FM), near field communication (NFC), infrared (IR), etc. The wireless communication module 160 may be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, performs frequency modulation and filtering processing on the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 may also receive signals to be sent from the processor 110, perform frequency modulation and amplification on them, and convert them into electromagnetic waves through the antenna 2 for radiation.

[0249] The wireless communication module 160 further includes a satellite communication module (not shown in the figure). The satellite communication module may be used to communicate with satellite network devices using satellite communication technology. For example, in the Beidou communication system, the satellite network device may be a Beidou network device, and the satellite communication module may communicate with the Beidou network device. The satellite communication module supports short message transmission between the satellite communication module and the Beidou network device.

[0250] In some embodiments, antenna 1 of the electronic device is coupled to the mobile communication module 150, and antenna 2 is coupled to the wireless communication module 160, enabling the electronic device to communicate with the network and other devices through wireless communication technologies. The wireless communication technologies may include Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time-Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS may include Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Beidou Navigation Satellite System (BDS), Quasi-Zenith Satellite System (QZSS), and / or Satellite Based Augmentation Systems (SBAS).

[0251] In the embodiments of the present application, the processor 110 may call computer instructions stored in the internal memory 121 to cause the electronic device to execute the method for the electronic device to align with the satellite in the embodiments of the present application.

[0252] As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

[0253] As used in the foregoing embodiments, depending on the context, the term "when" may be construed to mean "if" or "after" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "upon determining" or "if (the stated condition or event) is detected" may be construed to mean "if determined" or "in response to determining" or "when (the stated condition or event) is detected" or "in response to detecting (the stated condition or event)".

[0254] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and claims of the present application, the singular forms "a", "an", "the", "above-mentioned", "said", and "this" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in the present application refers to and encompasses any and all possible combinations of one or more of the listed items.

[0255] The terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0256] In the foregoing embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, fiber optic, digital subscriber line) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state drive), etc.

[0257] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by relevant hardware instructed by a computer program. This program can be stored in a computer-readable storage medium. When this program is executed, it can include the processes of the above method embodiments. The foregoing storage medium includes various media that can store program codes, such as ROM or random access memory RAM, magnetic disks, or optical discs.

Claims

1. An electronic device aligns with a satellite, characterized in that, the method includes: displaying pitch angle difference information and azimuth angle difference information for guiding the adjustment of the device attitude; wherein, the pitch angle difference information is used to indicate: the pitch angle difference between the pitch angle of the target attitude of the electronic device in the reference coordinate system and the pitch angle of the current attitude, and the azimuth angle difference information is used to indicate: in the reference coordinate system, the azimuth angle difference between the azimuth angle of the target attitude and the azimuth angle of the current attitude; the target attitude is the attitude when the radiation direction of the antenna in the electronic device aligns with the target satellite; responding to an operation of adjusting the azimuth angle of the electronic device, changing the display state of the azimuth angle difference information; responding to an operation of adjusting the pitch angle of the electronic device, changing the display state of the pitch angle difference information; when guiding the adjustment of the device attitude through the pitch angle difference information and the azimuth angle difference information, when the azimuth angle difference information after the state change indicates that the azimuth angle difference is less than the first threshold and the pitch angle difference information after the state change indicates that the pitch angle difference is less than the second threshold, the electronic device determines that the radiation direction of the antenna has aligned with the target satellite.

2. The method according to claim 1, characterized in that, the method further includes: displaying pitch angle difference information, azimuth angle difference information, and roll angle difference information for guiding the adjustment of the device attitude; wherein, the roll angle difference information is used to indicate: the roll angle difference between the roll angle of the target attitude and the roll angle of the current attitude in the reference coordinate system; responding to an operation of adjusting the roll angle of the electronic device, changing the display state of the roll angle difference information; when guiding the adjustment of the device attitude through the pitch angle difference information, the azimuth angle difference information, and the roll angle difference information, when the azimuth angle difference information after the state change indicates that the azimuth angle difference is less than the first threshold, the pitch angle difference information after the state change indicates that the pitch angle difference is less than the second threshold, and the pitch angle difference information after the state change indicates that the pitch angle difference is less than the third threshold, the electronic device determines that the radiation direction of the antenna has aligned with the target satellite.

3. The method according to claim 2, characterized in that, before displaying the pitch angle difference information and the azimuth angle difference information for guiding the adjustment of the device attitude, the method further includes: determining N1 rotation matrices for rotating the second vector to coincide with the first vector, where N1 is an integer greater than or equal to 1; the first vector is the vector pointing to the target satellite by the electronic device in the initial attitude, and the second vector is the vector in the radiation direction of the antenna in the initial attitude; decomposing each of the N1 rotation matrices into angular parameters to obtain N1 angular parameters, and one angular parameter includes a pitch angle, an azimuth angle, and a roll angle; screening out one angular parameter from the N1 angular parameters to represent the target attitude.

4. The method according to claim 3, characterized in that, When guiding the adjustment of the device attitude through the pitch angle difference information and the azimuth angle difference information but not through the roll angle difference information, screening out one angle parameter from the N1 angle parameters to represent the target attitude specifically includes: The electronic device determines that the first angle parameter among the N1 angle parameters represents the target attitude; the pitch angle, azimuth angle, and roll angle in the first angle parameter are respectively the pitch angle, azimuth angle, and roll angle of the target attitude in the reference coordinate system; wherein, the roll angle of the first angle parameter among the N1 angle parameters is closest to the roll angle of the current attitude, and the pitch angle in the first angle parameter is greater than 0° but less than the preset angle value.

5. The method according to claim 3, wherein, screening out one angle parameter from the N1 angle parameters to represent the target attitude specifically includes: The electronic device determines that the second angle parameter among the N1 angle parameters represents the target attitude, and the pitch angle, azimuth angle, and roll angle in the second angle parameter are respectively the pitch angle, azimuth angle, and roll angle of the target attitude in the reference coordinate system; wherein, the roll angle of the second angle parameter among the N1 angle parameters is the smallest, and the pitch angle in the first angle parameter is greater than 0° but less than the preset angle value; When guiding the adjustment of the device attitude through the pitch angle difference information and the azimuth angle difference information but not through the roll angle difference information, the method further includes: The electronic device determines that the second roll angle is less than the preset angle value.

6. The method according to claim 5, wherein, When guiding the adjustment of the device attitude through the pitch angle difference information, the azimuth angle difference information, and the roll angle difference information, the method further includes: The electronic device determines that the second roll angle is greater than or equal to the preset angle value.

7. The method according to any one of claims 1-6, wherein, When displaying the pitch angle difference information and the azimuth angle difference information for guiding the adjustment of the device attitude, the method further includes: Displaying that the adjustment method corresponding to the pitch angle of the electronic device is: adjusting by rotating the electronic device by moving the arm up and down; Displaying that the adjustment method corresponding to the azimuth angle of the electronic device is: adjusting by rotating the electronic device by turning the body.

8. The method according to any one of claims 1-7, wherein, When displaying the roll angle information, the method further includes: Displaying that the adjustment method corresponding to the roll angle of the electronic device is: adjusting by rotating the electronic device perpendicular to the screen.

9. The method according to any one of claims 2-8, wherein, When displaying the pitch angle difference information, the azimuth angle difference information, and the roll angle difference information for guiding the adjustment of the device attitude, the method further includes: The electronic device displays the adjustment method corresponding to the first rotation angle; After the adjustment of the first rotation angle is completed, the electronic device displays the adjustment method corresponding to the second rotation angle; After the adjustment of the second rotation angle is completed, the electronic device displays the adjustment method corresponding to the third rotation angle; Wherein, the first rotation angle, the second rotation angle, and the third rotation angle are one of the azimuth angle, the pitch angle, and the roll angle of the electronic device.

10. The method according to any one of claims 3-9, wherein, when the reference coordinate system is: a ground coordinate system established with the celestial direction, the north direction, and the east direction as three axes, and the initial attitude is: the electronic device is parallel to the plane formed by the north direction and the east direction, and the top of the electronic device points to the north direction, decomposing each of the N1 rotation matrices into angular parameters, specifically including: the electronic device decomposes each of the N1 rotation matrices into Euler angles in the ZXZ mode of internal rotation as angular parameters; the Euler angles in the ZXZ mode include: the angle of rotation around the Z axis of the electronic device first, then the angle of rotation around the X axis of the electronic device, and the angle of rotation around the Z axis again.

11. An electronic device, wherein, comprising: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to cause the electronic device to execute the method according to any one of claims 1-10.

12. A computer-readable storage medium, comprising computer instructions, wherein, when the computer instructions run on an electronic device, the electronic device is caused to execute the method according to any one of claims 1-10.

13. A chip system, the chip system is applied to an electronic device, wherein, the chip system includes one or more processors, and the processors are used to call computer instructions to cause the electronic device to execute the method according to any one of claims 1-10.

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