Antenna control method and device, computer equipment and storage medium

Abstract

The invention discloses an antenna control method and device, computer equipment and a storage medium. Belongs to the technical field of antenna control. The method specifically comprises the following steps: acquiring antenna association information of an antenna at the current moment and ship body navigation information at the current moment; wherein the antenna association information comprises antenna pose information. And determining antenna angle control information and antenna beam control information of the antenna based on the antenna association information and / or the ship navigation information. And controlling the antenna based on the antenna angle control information and / or the antenna beam control information. When the antenna is controlled, the antenna association information of the antenna at the current moment and the ship body navigation information at the current moment are considered, flexible control over the antenna of the marine ship body is achieved, and the communication service quality of the antenna is improved.

Description

Technical Field

[0001] This application relates to the field of wireless communication technologies, and particularly to an antenna control method, apparatus, computer device, and storage medium. Background Art

[0002] In the field of marine communication, it is usually necessary to use a marine CPE (Customer Premise Equipment) to convert the mobile network signal provided by an operator into a broadband signal to provide access services for end users.

[0003] Different from land, due to the characteristics of seawater, the hull of a sailing ship will sway unsteadily. The sway of the hull will cause rapid changes in the antenna height and angle, which will seriously affect the communication stability. Summary of the Invention

[0004] Based on this, it is necessary to provide an antenna control method, apparatus, computer device, and storage medium that can improve communication stability for the above technical problems.

[0005] In a first aspect, this application provides an antenna control method, which includes:

[0006] Obtain the antenna association information at the current moment and the hull navigation information at the current moment of the antenna; wherein, the antenna association information includes antenna pose information;

[0007] Based on the antenna association information and / or the hull navigation information, determine the antenna angle control information and the antenna beam control information of the antenna;

[0008] Control the antenna based on the antenna angle control information and / or the antenna beam control information.

[0009] In one embodiment, the antenna pose information includes antenna attitude information and antenna position information; the hull navigation information includes hull heading information and hull speed information;

[0010] Determining the antenna angle control information of the antenna based on the antenna association information and / or the hull navigation information includes:

[0011] Based on the hull heading information, determine the antenna angle information of the antenna at the current moment;

[0012] Based on the hull speed information, determine the antenna speed information of the antenna at the current moment;

[0013] According to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, determine the antenna angle control information of the antenna.

[0014] In one embodiment, determining the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment includes:

[0015] Predicting the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment;

[0016] Determining the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment.

[0017] In one embodiment, the antenna association information further includes antenna environment information;

[0018] Determining the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment includes:

[0019] Determining the initial angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment;

[0020] Adjusting the initial angle control information according to the antenna environment information to obtain the antenna angle control information of the antenna.

[0021] In one embodiment, the antenna environment information includes at least one of air pressure information, temperature information, wind speed information, wind direction information, and humidity information.

[0022] In one embodiment, determining the antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information includes:

[0023] Determining the channel estimation matrix of the antenna according to the antenna association information;

[0024] Determining the second precoding matrix of the antenna according to the channel estimation matrix;

[0025] Determining the antenna beam control information of the antenna according to the second precoding matrix.

[0026] In one embodiment, determining the antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information includes:

[0027] Determine the distance information between the antenna and the terrestrial base station according to the antenna position information; wherein, the terrestrial base station is the base station to which the antenna is connected at the current moment;

[0028] Determine the target scanning mode of the antenna according to the distance information and the hull navigation information;

[0029] Determine the first precoding matrix according to the target scanning mode;

[0030] Determine the antenna beam control information of the antenna based on the first precoding matrix.

[0031] In one embodiment, controlling the antenna based on the antenna angle control information and / or the antenna beam control information includes:

[0032] Control the orientation angle of the antenna according to the antenna angle control information; wherein, the orientation angle includes the horizontal angle and the pitch angle;

[0033] Control the antenna beam information of the antenna according to the antenna beam control information; wherein, the antenna beam information includes the beam pattern and the beam pointing information.

[0034] In one embodiment, the antenna is disposed on a pan-tilt head; the pan-tilt head has a control motor;

[0035] Correspondingly, controlling the orientation angle of the antenna according to the antenna angle control information includes:

[0036] Determine the motor control parameters according to the antenna angle control information;

[0037] Control the orientation angle of the antenna according to the motor control parameters.

[0038] In a second aspect, the present application provides an antenna control device, which includes:

[0039] An acquisition module, configured to acquire the antenna association information of the antenna at the current moment and the hull navigation information at the current moment; wherein, the antenna association information includes the antenna pose information;

[0040] A determination module, configured to determine the antenna angle control information and the antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information;

[0041] A control module, configured to control the antenna based on the antenna angle control information and / or the antenna beam control information.

[0042] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0043] Obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment; wherein, the antenna association information includes antenna pose information;

[0044] Based on the antenna association information and / or the hull navigation information, determine the antenna angle control information and the antenna beam control information of the antenna;

[0045] Control the antenna based on the antenna angle control information and / or the antenna beam control information.

[0046] In a fourth aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0047] Obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment; wherein, the antenna association information includes antenna pose information;

[0048] Based on the antenna association information and / or the hull navigation information, determine the antenna angle control information and the antenna beam control information of the antenna;

[0049] Control the antenna based on the antenna angle control information and / or the antenna beam control information.

[0050] In a fifth aspect, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0051] Obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment; wherein, the antenna association information includes antenna pose information;

[0052] Based on the antenna association information and / or the hull navigation information, determine the antenna angle control information and the antenna beam control information of the antenna;

[0053] Control the antenna based on the antenna angle control information and / or the antenna beam control information.

[0054] The above antenna control method, device, computer device and storage medium obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment; wherein, the antenna association information includes antenna pose information. Based on the antenna association information and / or the hull navigation information, determine the antenna angle control information and the antenna beam control information of the antenna. And based on the antenna angle control information and / or the antenna beam control information, control the antenna. When the present application controls the antenna, it considers the antenna association information of the antenna at the current moment and the hull navigation information at the current moment, and determines the antenna angle control information and the antenna beam control information of the antenna according to the antenna association information and the hull navigation information. Finally, according to the antenna angle control information and / or the antenna beam control information, control the antenna. It not only realizes the flexible control of the antenna on the marine hull, but also improves the communication service quality of the antenna. Description of the Drawings

[0055] Figure 1 It is an application environment diagram of an antenna control method provided in this embodiment;

[0056] Figure 2 It is a schematic flowchart of the first antenna control method provided in this embodiment;

[0057] Figure 3 It is a schematic flowchart of determining the antenna angle control information of the antenna provided in this embodiment;

[0058] Figure 4 It is a schematic flowchart of determining the antenna beam control information of the antenna provided in this embodiment;

[0059] Figure 5 It is a schematic diagram of the scanning mode principle provided in this embodiment;

[0060] Figure 6 It is a schematic flowchart of controlling the antenna beam information of the antenna provided in this embodiment;

[0061] Figure 7 It is a schematic diagram of the principle of controlling the antenna provided in this embodiment;

[0062] Figure 8 It is a schematic flowchart of the second antenna control method provided in this embodiment;

[0063] Figure 9 It is a structural block diagram of an antenna control device provided in this embodiment;

[0064] Figure 10 It is an internal structure diagram of the computer device provided in this embodiment. Detailed Embodiments

[0065] In order to make the objectives, technical solutions, and advantages of this application more clear and understandable, the following further elaborates on this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0066] The antenna control method provided by the embodiments of this application is mainly applied to an application environment such as Figure 1 as shown. Among them, the control device obtains the antenna association information of the antenna at the current moment and the hull navigation information at the current moment. The control device determines the antenna angle control information and antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information; and controls the antenna based on the antenna angle control information and / or the antenna beam control information. Among them, the antenna association information includes antenna pose information.

[0067] Among them, the control device refers to an antenna control device used to control the angle and beam of the antenna. In this application, the control device can be an external control device or a control module configured inside the antenna.

[0068] The antenna mainly refers to the communication antenna of a marine vessel.

[0069] In one embodiment, Figure 2 is a schematic flowchart of an antenna control method provided by the embodiments of this application. Taking the method applied to the Figure 1 control device in as an example, the method includes the following steps:

[0070] S201. Obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment.

[0071] Among them, the antenna association information refers to the relevant information of the hull antenna at the current moment; the antenna association information includes antenna pose information. The antenna pose information includes, but is not limited to, antenna position information and antenna attitude information. The hull navigation information refers to the market information of the hull at the current moment; the hull navigation information may include hull heading information, GNSS (Global Navigation Satellite System) information, hull speed information, etc.

[0072] Optionally, in this embodiment, the control device can be connected to the detection devices on the hull, and obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment through the detection devices. Among them, the detection devices can include attitude sensors, position sensors, speed sensors, etc. The attitude sensors include, but are not limited to, gyroscopes, multi-axis accelerometers (for example, three-axis, six-axis, etc.), electronic compasses, etc.

[0073] Optionally, in this embodiment, the control device may send an information acquisition request to the query device, so that the query device feeds back the antenna association information of the antenna at the current moment and the hull navigation information at the current moment based on the information acquisition request.

[0074] S202. Determine the antenna angle control information and the antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information.

[0075] The antenna angle control information refers to the angle information for controlling the adjustment of the antenna angle, such as adjusting the horizontal angle by X degrees and the pitch angle by Y degrees. The antenna beam control information refers to the beam adjustment information for controlling the adjustment of the antenna beam, such as adjusting the beam pattern, the beam direction, etc.

[0076] As an alternative implementation manner of the embodiment of the present application, determine the antenna angle control information and the antenna beam control information of the antenna based on the antenna association information. Optionally, determine the antenna adjustment angle based on the antenna attitude information of the antenna association information; determine the antenna angle control information based on the antenna adjustment angle. The antenna adjustment angle refers to the angle that the antenna needs to be adjusted. Determine the beam adjustment information based on the antenna attitude information of the antenna association information; determine the antenna beam control information according to the beam adjustment information; the beam control information refers to the information that the antenna beam needs to be adjusted.

[0077] As another alternative implementation manner of the embodiment of the present application, determine the antenna angle control information and the antenna beam control information of the antenna based on the hull navigation information. Optionally, determine the antenna adjustment angle based on the hull navigation information; determine the antenna angle control information based on the antenna adjustment angle. The antenna adjustment angle refers to the angle that the antenna needs to be adjusted. Determine the beam adjustment information based on the hull navigation information; determine the antenna beam control information according to the beam adjustment information; the beam control information refers to the information that the antenna beam needs to be adjusted.

[0078] As yet another alternative implementation manner of the embodiment of the present application, determine the antenna angle control information and the antenna beam control information of the antenna based on the antenna association information and the hull navigation information. Optionally, determine the antenna adjustment angle based on the antenna association information and the hull navigation information; determine the antenna angle control information based on the antenna adjustment angle. The antenna adjustment angle refers to the angle that the antenna needs to be adjusted. Determine the beam adjustment information based on the antenna association information and the hull navigation information; determine the antenna beam control information according to the beam adjustment information; the beam control information refers to the information that the antenna beam needs to be adjusted.

[0079] As another alternative implementation manner of the embodiment of the present application, according to the antenna association information, determine the channel estimation matrix of the antenna. According to the channel estimation matrix, determine the second precoding matrix of the antenna. According to the second precoding matrix, determine the antenna beam control information of the antenna. Optionally, in this embodiment, the antenna association information at least includes the number of antennas N, the number of subcarrier beams M, the number of paths L, the antenna spacing d, and the carrier wavelength λ; where d = λ / 2. The antenna association information further includes the pilot signal matrix I' of the receiver. On this basis, an alternative implementation manner of determining the channel estimation matrix of the antenna according to the antenna association information in this embodiment is to configure a random matrix A for pre-whitening processing; where, A = [A1 T , …, A P T T , P is the length of the pilot signal, and A x is randomly selected from {-1, +1} / √N (x = 1, 2, …, P). Based on the antenna association information, construct a polar coordinate transformation matrix T; where, the expression of the polar coordinate transformation matrix T is T = [T(θ0, r0), …, T(θ N-1 , r N-1 )]; where, θ n = (2n - N - 1) / N; r n = N 2 d 2 (1 - θ n 2 ) / (2λβ 2 ); θ represents the polar angle; r represents the polar radius, where β is a polar coordinate transformation parameter and can be preset according to the actual scenario. Determine the initial transformation matrix (specifically, take the product of the random matrix A and the polar coordinate transformation matrix T as the initial transformation matrix). Perform pre-whitening processing on the pilot signal matrix I' and the initial transformation matrix to obtain the processed pilot signal matrix and the processed initial transformation matrix. Take the processed pilot signal matrix as the second signal matrix; take the processed initial transformation matrix as the second transformation matrix. According to the second signal matrix and the second transformation matrix, determine the orthogonal projection matrix. According to the orthogonal projection matrix and the polar coordinate transformation matrix T, determine the channel estimation matrix of the antenna. In this embodiment, an alternative implementation manner of performing pre-whitening processing on the pilot signal matrix I' and the initial transformation matrix to obtain the processed pilot signal matrix and the processed initial transformation matrix is to determine a pre-whitening matrix D based on the random matrix A. According to the pre-whitening matrix D and the pilot signal matrix I', determine the processed pilot signal matrix, that is, the second signal matrix. Specifically, an alternative implementation manner of determining the pre-whitening matrix D based on the random matrix A is to construct a covariance matrix C; where, the expression of the covariance matrix C is C = blkdiag(A1A1 H , …, A P A P ​H ) Solve for C = DD H to obtain the pre-whitening matrix D; according to the following formula I = D −1 I’, determine the processed pilot signal matrix I, that is, the second signal matrix. Based on the random matrix A, the pre-whitening matrix D, and the polar coordinate transformation matrix T, determine the processed initial transformation matrix, that is, the second transformation matrix; specifically, according to the following formula W = D −1 AT, determine to obtain the second signal matrix. In this embodiment, an optional implementation manner for determining the orthogonal projection matrix according to the second signal matrix and the second transformation matrix is that, according to the following formula H ’ S,: = W† :,S I, where W† :,S =(W H :,S W :,S ) -1 W H :,S ; determine to obtain the orthogonal projection matrix. Where s is the support set. In this embodiment, an optional implementation manner for determining the channel estimation matrix of the antenna according to the orthogonal projection matrix and the polar coordinate transformation matrix T is that, according to the following formula H = T :,S H ’ S,； determine to obtain the channel estimation matrix H. In this embodiment, an optional implementation manner for determining the second precoding matrix of the antenna based on the channel estimation matrix H is that, when determining the channel estimation matrix H, the ZF (Zero-Forcing Precoding) precoding method or the MMSE (Minimum Mean Square Error Pre-coding) precoding method can be combined to determine the second precoding matrix of the antenna. In this embodiment, an optional implementation manner for determining the antenna beam control information of the antenna according to the second precoding matrix is that the second precoding matrix can be used as the antenna beam control information of the antenna. Based on the second precoding matrix, the beam state and beam direction of the antenna beam can be adjusted.

[0080] It should be noted that in this embodiment, after determining the signal estimation matrix, the support set S also needs to be updated, specifically as follows: According to the following formula Γ = W H R, calculate the correlation matrix Γ; according to the correlation matrix Γ, combine the following formula , determine to obtain the support amount s * ; take the union of the original support set and the support amount as the updated support set, that is, S = S ∪ s * .

[0081] S203. Control the antenna based on the antenna angle control information and / or the antenna beam control information.

[0082] Among them, the candidate processing node refers to the processing device selected as an alternative for processing the data to be processed. The target processing node refers to the processing device finally selected for processing the data to be processed.

[0083] As an optional implementation manner of the embodiment of the present application, the antenna is controlled based on the antenna angle control information. Optionally, in this embodiment, the orientation angle of the antenna is controlled based on the antenna angle control information. Among them, the orientation angle includes the pitch angle and the horizontal angle.

[0084] As another optional implementation manner of the embodiment of the present application, the antenna is controlled based on the antenna beam control information. Optionally, the beam pattern and beam pointing of the antenna are controlled based on the antenna beam control information.

[0085] As yet another optional implementation manner of the embodiment of the present application, the antenna is controlled based on the antenna angle control information and the antenna beam control information. Optionally, in this embodiment, the orientation angle of the antenna is controlled based on the antenna angle control information. The beam pattern and beam pointing of the antenna are controlled based on the antenna beam control information. Among them, the orientation angle includes the pitch angle and the horizontal angle.

[0086] Optionally, in this embodiment, based on the distribution node identifier, the node performance of the candidate processing node associated with the target distribution node pointed to by the distribution node is queried through the query device, and the candidate processing node whose node performance can meet the antenna control requirements is used as the target processing node.

[0087] For the above antenna control method, obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment; among them, the antenna association information includes the antenna pose information. Determine the antenna angle control information and the antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information. And control the antenna based on the antenna angle control information and / or the antenna beam control information. When the present application controls the antenna, it considers the antenna association information of the antenna at the current moment and the hull navigation information at the current moment, and determines the antenna angle control information and the antenna beam control information of the antenna according to the antenna association information and the hull navigation information. Finally, the antenna is controlled according to the antenna angle control information and / or the antenna beam control information. It not only realizes the flexible control of the antenna on the offshore hull, but also improves the communication service quality of the antenna.

[0088] In one embodiment, the antenna pose information includes antenna attitude information and antenna position information; the hull navigation information includes hull heading information and hull speed information; on this basis, in order to more accurately control the antenna angle, as Figure 3 shown, an optional implementation manner of determining the antenna angle control information of the antenna based on the antenna association information and / or the hull navigation information in S202 includes:

[0089] S301, based on the hull heading information, determine the antenna angle information of the antenna at the current moment.

[0090] Among them, the antenna angle information refers to the heading angle of the antenna following the hull.

[0091] Optionally, in this embodiment, the hull heading angle at the current moment can be determined according to the hull heading information at the current moment. The hull heading angle at the current moment is used as the antenna angle information of the antenna at the current moment.

[0092] S302, based on the hull speed information, determine the antenna speed information of the antenna at the current moment.

[0093] Among them, the hull speed information refers to the ship speed of a marine vessel. The antenna speed information refers to the moving speed of the antenna relative to the ground.

[0094] Optionally, in this embodiment, the hull speed information at the current moment is used as the antenna speed information of the antenna at the current moment.

[0095] S303, according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, determine the antenna angle control information of the antenna.

[0096] Among them, in this embodiment, the antenna pose information refers to the attitude information of the antenna relative to the hull, including the horizontal angle, pitch angle, tilt angle, etc. at the current moment.

[0097] As an optional implementation manner of the embodiment of the present application, according to the antenna pose information and antenna angle information of the antenna at the current moment, the angle information of the antenna relative to the ground at the current moment can be determined. According to the angle information of the antenna relative to the ground at the current moment and the antenna speed information, determine the antenna angle control information of the antenna. An optional implementation manner of determining the antenna angle control information of the antenna according to the angle information of the antenna relative to the ground at the current moment and the antenna speed information in this embodiment is to determine the angle difference between the antenna and the ground base station according to the angle information of the antenna relative to the ground at the current moment, the antenna speed information, and the base station position of the ground base station, and based on the angle difference between the antenna and the ground base station, determine the antenna angle control information of the antenna, and control the antenna to face the ground base station based on the antenna angle control information.

[0098] As another alternative implementation manner of the embodiment of the present application, according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, predict the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment. According to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, determine the antenna angle control information of the antenna. In this embodiment, an alternative implementation manner of predicting the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment is to input the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment into a prediction model, and the prediction model predicts the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment. It should be noted that when predicting the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, the prediction model can also combine the hull environment information (i.e., antenna environment information), including but not limited to at least one of air pressure information, temperature information, wind speed information, wind direction information, and humidity information. In this embodiment, an alternative implementation manner of determining the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, is to determine the attitude change information, angle change information, and speed change information of the antenna within a future time period according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, and determine the antenna angle control information of the antenna according to the attitude change information, angle change information, and speed change information, so as to control the angle orientation of the antenna based on the antenna angle control information, and make the angle orientation of the antenna at a future moment consistent with the angle orientation of the antenna at the current moment. Another alternative implementation manner of determining the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, in this embodiment, is to determine the initial angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment. Adjust the initial angle control information according to the antenna environment information to obtain the antenna angle control information of the antenna.In this embodiment, an optional implementation manner for determining the initial angle control information of the antenna based on the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, is to determine the attitude change information, angle change information, and speed change information of the antenna during a future time period based on the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, and determine the initial angle control information of the antenna according to the attitude change information, angle change information, and speed change information; since the antenna environment information will affect the accuracy of the initial angle control information, therefore, in this embodiment, the initial angle control information is further adjusted according to the antenna environment information to obtain the antenna angle control information of the antenna. It should be noted that the method for adjusting the initial angle control information can be adjusted based on a look-up table method or can be adjusted based on an intelligent analysis tool. Among them, the intelligent analysis tool can be a neural network model.

[0099] In this embodiment, based on the hull heading information, the antenna angle information of the antenna at the current moment is determined. Based on the hull speed information, the antenna speed information of the antenna at the current moment is determined. According to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, the antenna angle control information of the antenna is determined. In this embodiment, the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment can be accurately determined, and based on the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, the antenna angle control information of the antenna is determined, which can achieve accurate control of the antenna angle and further improve the communication service quality and stability.

[0100] In one of the embodiments, in order to more accurately determine the antenna beam control information, as Figure 4 shown, an optional implementation manner of S202 includes:

[0101] S401, determine the distance information between the antenna and the land base station according to the antenna position information.

[0102] Among them, the land base station is the base station accessed by the antenna at the current moment. The distance information refers to the interval distance between the antenna to be controlled and the land base station accessed by the antenna.

[0103] S402, determine the target scanning mode of the antenna according to the distance information and the hull navigation information.

[0104] Among them, the scanning mode refers to the mode in which the antenna scans the target beam signal. As Figure 5 shown, the scanning mode includes omnidirectional scanning and area scanning. The target scanning mode refers to the beam scanning mode of the antenna to be controlled.

[0105] Optionally, in this embodiment, the target scanning mode of the antenna may be determined according to the distance information and the hull heading information in the hull navigation information. Specifically, according to the hull heading information, the antenna angle information is determined. If the antenna angle information does not face the land base station and the distance information exceeds the distance threshold, it is determined that the target scanning mode of the antenna is omnidirectional scanning.

[0106] S403. Determine the first precoding matrix according to the target scanning mode.

[0107] Among them, the precoding matrix is a technology used for signal preprocessing in a wireless communication system, especially in a multiple-input multiple-output (MIMO) system. The precoding matrix is a matrix used to perform a linear transformation on the signal at the transmitting end to optimize the spatial distribution of the signal, so that the receiving end can better receive and decode the signal. The first precoding matrix refers to the precoding matrix determined based on the target scanning mode.

[0108] Optionally, in this embodiment, the codebook structure of the target scanning mode may be determined according to the target scanning mode, and the first precoding matrix is generated based on the codebook structure. Specifically, the codebook structure may be determined according to the target scanning mode in combination with the look-up table method. Then, the first precoding matrix is generated based on the codebook structure and the spatial sparse precoding algorithm of OMP (Orthogonal Matching Pursuit).

[0109] S404. Determine the antenna beam control information of the antenna based on the first precoding matrix.

[0110] Optionally, in this embodiment, the first precoding matrix may be used as the antenna beam control information of the antenna. The first precoding matrix can be used to adjust the beam pattern and beam direction.

[0111] In this embodiment, the distance information between the antenna and the land base station is determined according to the antenna position information, where the land base station is the base station accessed by the antenna at the current moment. The target scanning mode of the antenna is determined according to the distance information and the hull navigation information. The first precoding matrix is determined according to the target scanning mode. The antenna beam control information of the antenna is determined based on the first precoding matrix. This embodiment can more accurately determine the antenna beam control information, and can more accurately control the beam pattern and beam execution of the antenna beam based on the antenna beam control information.

[0112] In one of the embodiments, in order to control the antenna, as Figure 6 shown, an optional implementation manner of S203 includes:

[0113] S601. Control the orientation angle of the antenna according to the antenna angle control information.

[0114] Among them, the orientation angle includes the horizontal angle and the pitch angle. The horizontal angle refers to the orientation angle of the antenna in the horizontal direction. The pitch angle refers to the orientation angle of the antenna in the vertical direction.

[0115] Optionally, in this embodiment, the antenna is configured on a pan-tilt head; the pan-tilt head has a control motor. That is, as Figure 7 shown, based on the control motor, the horizontal angle and the pitch angle of the pan-tilt head can be controlled. Specifically, according to the antenna angle control information, the motor control parameters are determined. According to the motor control parameters, the orientation angle of the antenna is controlled. Exemplarily, if the angle control information is a 30° clockwise rotation in the horizontal direction and a 20° upward adjustment in the pitch, first convert the angle control information into the motor control parameters for controlling the motor, and finally, based on the motor control parameters, control the orientation angle of the antenna. It should be noted that the number of control motors can be more than one. For example, it can be two, one is a pitch motor for controlling the pitch angle of the pan-tilt head, and the other is a horizontal motor for controlling the horizontal angle of the pan-tilt head.

[0116] S602, according to the antenna beam control information, control the antenna beam information of the antenna.

[0117] Among them, the antenna beam information includes the beam pattern and the beam pointing information. The beam pointing information refers to the pointing angle information of the beam.

[0118] Optionally, in this embodiment, based on the antenna beam control information, precoding is performed on the antenna radio frequency and baseband modules, and then the antenna beam information of the antenna is controlled. Optionally, the antenna beam control information can be a first precoding matrix, and based on the first precoding matrix, the signal amplitude and phase of each antenna element in the antenna radio frequency and baseband modules are adjusted, and then the antenna beam information of the antenna.

[0119] In this embodiment, the orientation angle of the antenna can be controlled according to the antenna angle control information. The antenna beam information of the antenna can be controlled according to the antenna beam control information. By adopting the method of jointly adjusting the angle and the beam to control the antenna, the quality and stability of maritime communication can be effectively improved.

[0120] In one of the embodiments, as Figure 8 shown, an alternative implementation manner of an antenna control method includes:

[0121] S801, obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment. Among them, the antenna association information includes the antenna pose information and the antenna environment information; the antenna pose information includes the antenna attitude information and the antenna position information; the hull navigation information includes the hull heading information and the hull speed information; the antenna environment information includes at least one of the air pressure information, the temperature information, the wind speed information, the wind direction information, and the humidity information.

[0122] S802. Determine the antenna angle information of the antenna at the current moment based on the hull heading information.

[0123] S803. Determine the antenna speed information of the antenna at the current moment based on the hull speed information.

[0124] S804. Predict the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment based on the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment.

[0125] S805. Determine the initial angle control information of the antenna based on the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment.

[0126] S806. Adjust the initial angle control information according to the antenna environment information to obtain the antenna angle control information of the antenna.

[0127] S807. Determine the distance information between the antenna and the terrestrial base station according to the antenna position information. The terrestrial base station is the base station to which the antenna connects at the current moment.

[0128] S808. Determine the target scanning mode of the antenna according to the distance information and the hull navigation information.

[0129] S809. Determine the first precoding matrix according to the target scanning mode.

[0130] S810. Determine the antenna beam control information of the antenna based on the first precoding matrix.

[0131] S811. Determine the motor control parameters according to the antenna angle control information.

[0132] S812. Control the operation of the control motor of the antenna pan-tilt according to the motor control parameters to control the orientation angle of the antenna. The orientation angle includes the horizontal angle and the pitch angle.

[0133] S813. Control the antenna beam information of the antenna according to the antenna beam control information. The antenna beam information includes the beam pattern and the beam pointing information.

[0134] In this embodiment, the antenna association information of the antenna at the current moment and the hull navigation information at the current moment are obtained; wherein, the antenna association information includes antenna pose information. Based on the antenna association information and / or the hull navigation information, the antenna angle control information and the antenna beam control information of the antenna are determined. And based on the antenna angle control information and / or the antenna beam control information, the antenna is controlled. When the present application controls the antenna, it takes into account the antenna association information of the antenna at the current moment and the hull navigation information at the current moment, and determines the antenna angle control information and the antenna beam control information of the antenna according to the antenna association information and the hull navigation information. Finally, according to the antenna angle control information and / or the antenna beam control information, the antenna is controlled. It not only realizes the flexible control of the antenna on the offshore hull, but also improves the communication service quality of the antenna.

[0135] It should be understood that although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indications of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps or stages in other steps.

[0136] Based on the same inventive concept, the embodiment of the present application also provides an antenna control device for implementing the above-mentioned antenna control method. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the antenna control device provided below can refer to the limitations on the antenna control method in the above text, and will not be repeated here.

[0137] In one of the embodiments, through Figure 9 The structural block diagram of the antenna control device in one embodiment is shown. As Figure 9 shown, an antenna control device 1 is provided. The device includes: an acquisition module 10, a determination module 20, and a control module 30, wherein:

[0138] The acquisition module 10 is configured to acquire the antenna association information of the antenna at the current moment and the hull navigation information at the current moment; wherein, the antenna association information includes antenna pose information;

[0139] The determination module 20 is configured to determine the antenna angle control information and the antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information;

[0140] The control module 30 is configured to control the antenna based on the antenna angle control information and / or the antenna beam control information.

[0141] In one embodiment, the antenna pose information includes antenna attitude information and antenna position information; the hull navigation information includes hull heading information and hull speed information. On this basis, the determination module 20 is further specifically configured to:

[0142] Determine the antenna angle information of the antenna at the current moment based on the hull heading information;

[0143] Determine the antenna speed information of the antenna at the current moment based on the hull speed information;

[0144] Determine the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment.

[0145] In one embodiment, the determination module 20 is further specifically configured to:

[0146] Predict the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment;

[0147] Determine the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, antenna speed information of the antenna at the current moment, and the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment.

[0148] In one embodiment, the antenna association information further includes antenna environment information; on this basis, the determination module 20 is further specifically configured to:

[0149] Determine the initial angle control information of the antenna according to the antenna pose information, antenna angle information, antenna speed information of the antenna at the current moment, and the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment;

[0150] Adjust the initial angle control information according to the antenna environment information to obtain the antenna angle control information of the antenna.

[0151] In one embodiment, the antenna environment information includes at least one of air pressure information, temperature information, wind speed information, wind direction information, and humidity information.

[0152] In one embodiment, the determination module 20 is further specifically configured to:

[0153] Determine the channel estimation matrix of the antenna according to the antenna association information;

[0154] Determine the second precoding matrix of the antenna according to the channel estimation matrix;

[0155] Determine the antenna beam control information of the antenna according to the second precoding matrix.

[0156] In one embodiment, the determining module 20 is further specifically configured to:

[0157] Determine the distance information between the antenna and the terrestrial base station according to the antenna position information; wherein, the terrestrial base station is the base station to which the antenna is connected at the current moment;

[0158] Determine the target scanning mode of the antenna according to the distance information and the hull navigation information;

[0159] Determine the first precoding matrix according to the target scanning mode;

[0160] Determine the antenna beam control information of the antenna based on the first precoding matrix.

[0161] In one embodiment, the control module 30 is further specifically configured to:

[0162] Control the orientation angle of the antenna according to the antenna angle control information; wherein, the orientation angle includes the horizontal angle and the pitch angle;

[0163] Control the antenna beam information of the antenna according to the antenna beam control information; wherein, the antenna beam information includes the beam pattern and the beam pointing information.

[0164] In one embodiment, the antenna is disposed on a pan-tilt head; the pan-tilt head has a control motor;

[0165] Correspondingly, controlling the orientation angle of the antenna according to the antenna angle control information includes:

[0166] Determine the motor control parameters according to the antenna angle control information;

[0167] Control the orientation angle of the antenna according to the motor control parameters.

[0168] Each module in the above antenna control device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0169] In one embodiment, a computer device is provided. The computer device can be on the platform side, and its internal structure diagram can be as Figure 10As shown. The computer device includes a processor, a memory, and a network interface connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant information of the antenna control method. The network interface of the computer device is used to communicate with the external user side through a network connection. When the computer program is executed by the processor, it implements an antenna control method.

[0170] Those skilled in the art can understand that Figure 10 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. Specifically, the computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0171] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented:

[0172] Obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment; among them, the antenna association information includes antenna pose information;

[0173] Based on the antenna association information and / or the hull navigation information, determine the antenna angle control information and the antenna beam control information of the antenna;

[0174] Based on the antenna angle control information and / or the antenna beam control information, control the antenna.

[0175] In one embodiment, when the processor executes the computer program, the following steps are also implemented: the antenna pose information includes antenna attitude information and antenna position information; the hull navigation information includes hull heading information and hull speed information;

[0176] Based on the antenna association information and / or the hull navigation information, determining the antenna angle control information of the antenna includes:

[0177] Based on the hull heading information, determine the antenna angle information of the antenna at the current moment;

[0178] Based on the hull speed information, determine the antenna speed information of the antenna at the current moment;

[0179] According to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, determine the antenna angle control information of the antenna.

[0180] In one embodiment, when the processor executes the computer program, the following steps are further implemented: Determine the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, including:

[0181] Predict the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment;

[0182] Determine the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, and the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment.

[0183] In one embodiment, when the processor executes the computer program, the following steps are further implemented: The antenna association information further includes antenna environment information;

[0184] Determine the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, and the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, including:

[0185] Determine the initial angle control information of the antenna according to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, and the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment;

[0186] Adjust the initial angle control information according to the antenna environment information to obtain the antenna angle control information of the antenna.

[0187] In one embodiment, when the processor executes the computer program, the following steps are further implemented: The antenna environment information includes at least one of barometric pressure information, temperature information, wind speed information, wind direction information, and humidity information.

[0188] In one embodiment, when the processor executes the computer program, the following steps are further implemented: Determine the antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information, including:

[0189] Determine the channel estimation matrix of the antenna according to the antenna association information;

[0190] Determine the second precoding matrix of the antenna according to the channel estimation matrix;

[0191] Determine the antenna beam control information of the antenna according to the second precoding matrix.

[0192] In one embodiment, when the processor executes the computer program, the following steps are further implemented: Based on the antenna association information and / or the hull navigation information, determine the antenna beam control information of the antenna, including:

[0193] According to the antenna position information, determine the distance information between the antenna and the terrestrial base station; wherein, the terrestrial base station is the base station accessed by the antenna at the current moment;

[0194] According to the distance information and the hull navigation information, determine the target scanning mode of the antenna;

[0195] According to the target scanning mode, determine the first precoding matrix;

[0196] Based on the first precoding matrix, determine the antenna beam control information of the antenna.

[0197] In one embodiment, when the processor executes the computer program, the following steps are further implemented: Based on the antenna angle control information and / or the antenna beam control information, control the antenna, including:

[0198] According to the antenna angle control information, control the orientation angle of the antenna; wherein, the orientation angle includes the horizontal angle and the pitch angle;

[0199] According to the antenna beam control information, control the antenna beam information of the antenna; wherein, the antenna beam information includes the beam pattern and the beam pointing information.

[0200] In one embodiment, when the processor executes the computer program, the following steps are further implemented: The antenna is configured on a gimbal; the gimbal has a control motor;

[0201] Correspondingly, according to the antenna angle control information, control the orientation angle of the antenna, including:

[0202] According to the antenna angle control information, determine the motor control parameters;

[0203] According to the motor control parameters, control the orientation angle of the antenna.

[0204] In one of the embodiments, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0205] Obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment; wherein, the antenna association information includes the antenna pose information;

[0206] Based on the antenna association information and / or the hull navigation information, determine the antenna angle control information and the antenna beam control information of the antenna;

[0207] Based on the antenna angle control information and / or the antenna beam control information, control the antenna.

[0208] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The antenna pose information includes antenna attitude information and antenna position information; the hull navigation information includes hull heading information and hull speed information;

[0209] Based on the antenna association information and / or the hull navigation information, determine the antenna angle control information of the antenna, including:

[0210] Based on the hull heading information, determine the antenna angle information of the antenna at the current moment;

[0211] Based on the hull speed information, determine the antenna speed information of the antenna at the current moment;

[0212] According to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, determine the antenna angle control information of the antenna.

[0213] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: According to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, determine the antenna angle control information of the antenna, including:

[0214] According to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, predict the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment;

[0215] According to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, determine the antenna angle control information of the antenna.

[0216] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The antenna association information further includes antenna environment information;

[0217] According to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, determine the antenna angle control information of the antenna, including:

[0218] According to the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, determine the initial angle control information of the antenna;

[0219] According to the antenna environment information, adjust the initial angle control information to obtain the antenna angle control information of the antenna.

[0220] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The antenna environment information includes at least one of barometric pressure information, temperature information, wind speed information, wind direction information, and humidity information.

[0221] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: Based on the antenna association information and / or the hull navigation information, determine the antenna beam control information of the antenna, including:

[0222] Determine the channel estimation matrix of the antenna according to the antenna association information;

[0223] Determine the second precoding matrix of the antenna according to the channel estimation matrix;

[0224] Determine the antenna beam control information of the antenna according to the second precoding matrix.

[0225] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: Based on the antenna association information and / or the hull navigation information, determine the antenna beam control information of the antenna, including:

[0226] Determine the distance information between the antenna and the terrestrial base station according to the antenna position information; wherein, the terrestrial base station is the base station accessed by the antenna at the current moment;

[0227] Determine the target scanning mode of the antenna according to the distance information and the hull navigation information;

[0228] Determine the first precoding matrix according to the target scanning mode;

[0229] Based on the first precoding matrix, determine the antenna beam control information of the antenna.

[0230] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: Based on the antenna angle control information and / or the antenna beam control information, control the antenna, including:

[0231] Control the orientation angle of the antenna according to the antenna angle control information; wherein, the orientation angle includes the horizontal angle and the pitch angle;

[0232] Control the antenna beam information of the antenna according to the antenna beam control information; wherein, the antenna beam information includes the beam pattern and the beam pointing information.

[0233] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: The antenna is configured on a gimbal; the gimbal has a control motor;

[0234] Correspondingly, control the orientation angle of the antenna according to the antenna angle control information, including:

[0235] Determine the motor control parameters according to the antenna angle control information;

[0236] Control the orientation angle of the antenna according to the motor control parameters.

[0237] In one embodiment, a computer program product is provided, including a computer program, which when executed by a processor implements the following steps:

[0238] Obtain the antenna association information of the antenna at the current moment and the hull navigation information at the current moment; wherein, the antenna association information includes antenna pose information;

[0239] Determine the antenna angle control information and antenna beam control information of the antenna based on the antenna association information and / or hull navigation information;

[0240] Control the antenna based on the antenna angle control information and / or antenna beam control information.

[0241] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: the antenna pose information includes antenna attitude information and antenna position information; the hull navigation information includes hull heading information and hull speed information;

[0242] Determine the antenna angle control information of the antenna based on the antenna association information and / or hull navigation information, including:

[0243] Determine the antenna angle information of the antenna at the current moment based on the hull heading information;

[0244] Determine the antenna speed information of the antenna at the current moment based on the hull speed information;

[0245] Determine the antenna angle control information of the antenna according to the antenna pose information, antenna angle information and antenna speed information of the antenna at the current moment.

[0246] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determine the antenna angle control information of the antenna according to the antenna pose information, antenna angle information and antenna speed information of the antenna at the current moment, including:

[0247] Predict the antenna position information, antenna angle information and antenna speed information of the antenna at a future moment according to the antenna pose information, antenna angle information and antenna speed information of the antenna at the current moment;

[0248] Determine the antenna angle control information of the antenna according to the antenna pose information, antenna angle information, antenna speed information of the antenna at the current moment, and the antenna position information, antenna angle information and antenna speed information of the antenna at a future moment.

[0249] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: the antenna association information further includes antenna environment information;

[0250] Based on the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, determine the antenna angle control information of the antenna, including:

[0251] Based on the antenna pose information, antenna angle information, and antenna speed information of the antenna at the current moment, as well as the antenna position information, antenna angle information, and antenna speed information of the antenna at a future moment, determine the initial angle control information of the antenna;

[0252] Adjust the initial angle control information according to the antenna environment information to obtain the antenna angle control information of the antenna.

[0253] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: the antenna environment information includes at least one of barometric pressure information, temperature information, wind speed information, wind direction information, and humidity information.

[0254] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: based on the antenna association information and / or the hull navigation information, determine the antenna beam control information of the antenna, including:

[0255] According to the antenna association information, determine the channel estimation matrix of the antenna;

[0256] According to the channel estimation matrix, determine the second precoding matrix of the antenna;

[0257] According to the second precoding matrix, determine the antenna beam control information of the antenna.

[0258] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: based on the antenna association information and / or the hull navigation information, determine the antenna beam control information of the antenna, including:

[0259] According to the antenna position information, determine the distance information between the antenna and the terrestrial base station; wherein, the terrestrial base station is the base station accessed by the antenna at the current moment;

[0260] According to the distance information and the hull navigation information, determine the target scanning mode of the antenna;

[0261] According to the target scanning mode, determine the first precoding matrix;

[0262] Based on the first precoding matrix, determine the antenna beam control information of the antenna.

[0263] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: controlling the antenna based on the antenna angle control information and / or the antenna beam control information, including:

[0264] Controlling the orientation angle of the antenna according to the antenna angle control information; wherein, the orientation angle includes a horizontal angle and a pitch angle;

[0265] Controlling the antenna beam information of the antenna according to the antenna beam control information; wherein, the antenna beam information includes a beam pattern and beam pointing information.

[0266] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: the antenna is configured on a pan-tilt head; the pan-tilt head has a control motor;

[0267] Correspondingly, controlling the orientation angle of the antenna according to the antenna angle control information includes:

[0268] Determining motor control parameters according to the antenna angle control information;

[0269] Controlling the orientation angle of the antenna according to the motor control parameters.

[0270] 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 instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, antenna control logic devices based on quantum computing, etc., without limitation.

[0271] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0272] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. An antenna control method, characterized in that: The method comprises: Acquire antenna association information of the antenna at the current moment and hull navigation information at the current moment; wherein the antenna association information includes antenna posture information; Determining antenna angle control information and antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information; The antenna is controlled based on the antenna angle control information and / or the antenna beam control information.

2. The method according to claim 1, characterized in that The antenna posture information includes antenna attitude information and antenna position information; the hull navigation information includes hull heading information and hull speed information; The determining of the antenna angle control information of the antenna based on the antenna association information and / or the hull navigation information includes: Based on the ship heading information, determining the antenna angle information of the antenna at the current moment; Based on the hull speed information, determining the antenna speed information of the antenna at the current moment; Determine antenna angle control information of the antenna according to the antenna posture information, the antenna angle information and the antenna speed information of the antenna at a current moment.

3. The method according to claim 2, characterized in that The determining the antenna angle control information of the antenna according to the antenna posture information, the antenna angle information and the antenna speed information of the antenna at the current moment includes: Predicting the antenna position information, the antenna angle information, and the antenna speed information of the antenna at a future time according to the antenna posture information, the antenna angle information, and the antenna speed information of the antenna at a current time; The antenna angle control information of the antenna is determined based on the antenna posture information, the antenna angle information, and the antenna speed information of the antenna at a current moment, and the antenna position information, the antenna angle information, and the antenna speed information of the antenna at a future moment.

4. The method according to claim 3, characterized in that: The antenna association information also includes antenna environment information; The determining the antenna angle control information of the antenna according to the antenna posture information, the antenna angle information, the antenna speed information of the antenna at the current moment, and the antenna position information, the antenna angle information, and the antenna speed information of the antenna at a future moment, includes: Determine initial angle control information of the antenna according to the antenna posture information, the antenna angle information, and the antenna speed information of the antenna at a current moment, and the antenna position information, the antenna angle information, and the antenna speed information of the antenna at a future moment; The initial angle control information is adjusted according to the antenna environment information to obtain antenna angle control information of the antenna.

5. The method according to claim 4, characterized in that The antenna environment information includes at least one of air pressure information, temperature information, wind speed information, wind direction information and humidity information.

6. The method according to claim 1, characterized in that Determining antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information includes: Determining a channel estimation matrix for the antenna according to the antenna association information; Determining a second precoding matrix for the antenna according to the channel estimation matrix; Antenna beam control information of the antenna is determined according to the second precoding matrix.

7. The method according to claim 2, characterized in that Determining antenna beam control information of the antenna based on the antenna association information and / or the hull navigation information includes: Determine the distance information between the antenna and a land base station according to the antenna position information; wherein the land base station is the base station to which the antenna is connected at the current moment; Determining a target scanning mode of the antenna according to the distance information and the ship navigation information; Determining a first precoding matrix according to the target scanning mode; Based on the first precoding matrix, antenna beam control information of the antenna is determined.

8. The method according to claim 1, characterized in that: The controlling the antenna based on the antenna angle control information and / or the antenna beam control information includes: Controlling the orientation angle of the antenna according to the antenna angle control information; wherein the orientation angle includes a horizontal angle and a pitch angle; According to the antenna beam control information, the antenna beam information of the antenna is controlled; wherein the antenna beam information includes beam shape and beam pointing information.

9. The method according to claim 7, characterized in that: The antenna is arranged on the platform; The pan / tilt head has a control motor; Correspondingly, controlling the orientation angle of the antenna according to the antenna angle control information includes: Determining motor control parameters according to the antenna angle control information; The orientation angle of the antenna is controlled according to the motor control parameter.

10. An antenna control device, characterized in that: The device comprises: An acquisition module, used to acquire antenna association information of the antenna at the current moment and the hull navigation information at the current moment; wherein the antenna association information includes antenna posture information; A determination module, configured to determine antenna angle control information and antenna beam control information of the antenna based on the antenna association information and / or the ship navigation information; A control module is used to control the antenna based on the antenna angle control information and / or the antenna beam control information.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

Images