Satellite communication terminal and low-orbit satellite dynamic roaming communication method

Abstract

The present invention belongs to the technical field of satellite communications and provides a satellite communication terminal and a low-orbit satellite dynamic roaming communication method, which is implemented based on the satellite communication terminal and includes: acquiring current position information of the satellite communication terminal; determining satellite search ranges of a primary antenna and a backup antenna respectively according to the acquired current position information; capturing low-orbit satellites within the determined search ranges, wherein the low-orbit satellites include primary satellites and backup satellites; dynamically compensating the primary antenna azimuth and the backup antenna azimuth of the captured primary satellites and backup satellites; calibrating the satellite visible window according to the orbital data of the primary satellites and backup satellites after dynamic compensation; and when a satellite connected to the primary antenna is about to disappear from the satellite visible window, connecting to the backup satellite via the backup antenna to complete switching between the primary antenna and the backup antenna, thereby realizing low-orbit satellite dynamic roaming communication based on the satellite communication terminal.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite communications, and in particular relates to a satellite communication terminal and a low-orbit satellite dynamic roaming communication method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Satellite communication technology is an important modern communication method, using satellites as relay stations to enable communication between earth stations. With advantages such as wide coverage, large communication capacity, high communication quality, and strong anti-interference capabilities, satellite communication technology is widely used in broadcasting, television, communications, navigation, meteorology, and military fields. With the advancement of science and technology, satellite communication technology is also constantly developing. Among them, low-orbit communication satellites have become a key component of satellite communication technology due to their low orbital altitude, low latency, and high bandwidth. However, the high speed of low-orbit communication satellites and the rapid changes in communication coverage make the automatic satellite search and rapid switching of low-orbit communication satellites a key issue in the field of satellite communication technology.

[0004] Existing low-orbit communication satellite search technology primarily relies on ground station measurement and control systems. This system tracks and measures low-orbit communication satellites through the station's antenna, enabling satellite search and communication. This method relies on the construction and maintenance of ground stations, which is costly. Furthermore, due to geographical constraints, it cannot achieve all-weather satellite search and communication. Other satellite search technologies rely on the satellites themselves, such as inter-satellite links and autonomous navigation. While these technologies can achieve autonomous satellite search, they require the satellites to possess advanced autonomous navigation and computing capabilities, resulting in high costs and complex technical implementation.

[0005] Existing satellite search technology for low-orbit communication satellites presents several challenges. First, existing ground-based search technology is costly and, due to geographical constraints, cannot achieve all-weather satellite search and communication. Second, existing satellite-based search technology requires the satellites to possess high levels of autonomous navigation and computing power, which is costly and technically complex. Furthermore, existing low-orbit communication satellite search technology suffers from long switching times and low reliability. When the signal quality of a satellite degrades or disappears, it takes a long time to switch to another satellite, resulting in communication interruptions and impacting communication reliability.

[0006] Therefore, how to achieve fast, reliable, and all-weather satellite search and switching of low-orbit communication satellites is an urgent problem to be solved in the field of satellite communication technology. Summary of the Invention

[0007] To solve the above problems, the present invention proposes a satellite communication terminal and a low-orbit satellite dynamic roaming communication method, which are implemented in the satellite communication terminal. Through two sets of directional antennas, two satellites are simultaneously aimed at. When the signal quality of one satellite decreases or disappears, it can immediately switch to another satellite to ensure the continuity and reliability of communication.

[0008] According to some embodiments, a first solution of the present invention provides a satellite communication terminal, which adopts the following technical solution:

[0009] A satellite communication terminal, comprising:

[0010] an acquisition module configured to acquire current location information of the satellite communication terminal;

[0011] a determination module configured to determine the satellite search ranges of the primary antenna and the backup antenna respectively according to the acquired current position information;

[0012] a capture module configured to capture low-orbit satellites within the determined search range, wherein the low-orbit satellites include active satellites and backup satellites;

[0013] a compensation module configured to dynamically compensate for a primary antenna direction angle and a backup antenna direction angle of the captured primary satellite and backup satellite;

[0014] a calibration module configured to calibrate the satellite visible window according to the orbital data of the active satellite and the backup satellite after dynamic compensation;

[0015] The switching module is configured to connect to the backup satellite through the backup antenna when the satellite connected to the main antenna is about to disappear from the satellite visible window, complete the switching between the main antenna and the backup antenna, and realize low-orbit satellite dynamic roaming communication based on the satellite communication terminal.

[0016] According to some embodiments, a second solution of the present invention provides a low-orbit satellite dynamic roaming communication method, which adopts the following technical solutions:

[0017] A low-orbit satellite dynamic roaming communication method, implemented based on the satellite communication terminal in the first solution, includes:

[0018] Obtaining the current location information of the satellite communication terminal;

[0019] Determine the satellite search ranges of the main antenna and the backup antenna respectively based on the current position information obtained;

[0020] Capturing low-orbit satellites within the determined search range, wherein the low-orbit satellites include primary satellites and backup satellites;

[0021] Dynamically compensate the main antenna direction angle and the backup antenna direction angle of the captured main satellite and backup satellite;

[0022] Calibrate the satellite visible window based on the orbital data of the active satellite and the backup satellite after dynamic compensation;

[0023] When the satellite connected to the main antenna is about to disappear from the satellite visible window, the backup antenna is connected to the backup satellite to complete the switching between the main antenna and the backup antenna, realizing low-orbit satellite dynamic roaming communication based on the satellite communication terminal.

[0024] It should be noted that the satellite communication terminal includes a positioning module and a gyroscope, and the current location information of the satellite communication terminal is determined by the positioning module; the positioning module can use GPS positioning, Beidou positioning, GLONASS, etc.

[0025] As a further technical limitation, when the satellite connected to the main antenna is not about to disappear from the satellite visible window, dynamic compensation of the main antenna direction angle and the backup antenna direction angle is performed again.

[0026] As a further technical limitation, in the process of determining the satellite search range of the main antenna and the backup antenna, the main antenna controller and the backup antenna controller respectively control the azimuth angle and elevation angle of the main antenna and the backup antenna, and the azimuth angle of the main antenna is controlled within the range of 90°~270° and the elevation angle is controlled within the range of 10°~90° to search for the main satellite; the azimuth angle of the backup antenna is controlled within the range of 0°~360° and the elevation angle is controlled within the range of 0°~90° to search for the backup satellite.

[0027] As a further technical limitation, the primary satellite is captured based on the primary satellite signal strength received by the primary antenna within the determined satellite search range of the primary antenna, and the capture of the primary satellite is completed if and only if the received primary satellite signal strength is within the preset primary satellite signal strength range; the backup satellite is captured based on the backup satellite signal strength received by the backup antenna within the determined satellite search range of the backup antenna and the direction angle adjusted by the main antenna when tracking the movement of the primary satellite, and the capture of the backup satellite is completed if and only if the received backup satellite signal strength is within the preset backup satellite signal strength range and the dynamic compensation trend of the main antenna direction angle is within the preset dynamic compensation trend range.

[0028] As a further technical limitation, in the process of calibrating the satellite visible window, a lidar scan is performed in the antenna compensation direction to extract the obstacle contour on the satellite motion trajectory, and the obstacle occlusion trend is determined based on the extracted obstacle contour. The satellite's extreme visible window is determined based on the obstacle occlusion trend, and the calibration of the satellite visible window is completed based on the extreme visible window and the determined satellite search range.

[0029] Furthermore, the current angle of the satellite communication terminal is determined based on the current position information, and the relationship between the determined current angle of the satellite communication terminal and the calibrated satellite visible window is judged. When the current angle of the satellite communication terminal is at the edge of the satellite visible window, it is judged that the satellite is about to disappear from the satellite visible window.

[0030] According to some embodiments, a third solution of the present invention provides a computer-readable storage medium, which adopts the following technical solution:

[0031] A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps of a low-orbit satellite dynamic roaming communication method as described in the second solution of the present invention.

[0032] According to some embodiments, a fourth solution of the present invention provides an electronic device, which adopts the following technical solution:

[0033] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps of a low-orbit satellite dynamic roaming communication method as described in the second solution of the present invention.

[0034] According to some embodiments, a fifth solution of the present invention provides a computer program product, which adopts the following technical solution:

[0035] A computer program product includes software code, wherein the program in the software code executes the steps in the low-orbit satellite dynamic roaming communication method as described in the second embodiment of the present invention.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The present invention utilizes a satellite communication terminal with a built-in positioning module and gyroscope to achieve automatic satellite search and rapid switching, without requiring the satellite to have high autonomous navigation and computing capabilities, thereby reducing costs and simplifying technical implementation. It also solves the problem that existing satellite-based low-orbit communication satellite search technology requires the satellite to have high autonomous navigation and computing capabilities, resulting in high costs and complex technical implementation.

[0038] The present invention utilizes two sets of directional antennas to achieve automatic satellite search and rapid switching between two satellites, eliminating the need for ground station construction and maintenance, reducing costs, and enabling all-weather satellite search and communication. This solves the problems of existing ground station-based low-orbit communication satellite search technology, which is high in cost, restricted by geographical environments, and unable to achieve all-weather satellite search and communication.

[0039] When the signal quality of a certain satellite decreases or disappears, the technical solution of the present invention can be used to quickly switch to another satellite, shortening the switching time and improving the reliability of communication; it solves the problems of long switching time and low reliability of existing low-orbit communication satellite search technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings constituting a part of the specification of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments and descriptions of this embodiment are used to explain this embodiment and do not constitute an improper limitation on this embodiment.

[0041] Figure 1 This is a structural block diagram of a satellite communication terminal in Embodiment 1 of the present invention;

[0042] Figure 2 This is a flow chart of a low-orbit satellite dynamic roaming communication method in embodiment 2 of the present invention;

[0043] Figure 3 Schematic diagram of the direction angle and elevation angle of the main antenna in the second embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of the direction angle and elevation angle of the backup antenna in the second embodiment of the present invention;

[0045] Figure 5 This is a structural diagram of satellite visible window calibration in the second embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0047] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0048] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0049] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention, and should not be understood as limiting the present invention.

[0050] In the present invention, terms such as "fixed connection," "connected," and "connection" should be interpreted broadly to mean a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediary. Relevant researchers or technicians in this field may determine the specific meanings of these terms in the present invention based on specific circumstances, and they should not be construed as limitations of the present invention.

[0051] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0052] Example 1

[0053] Embodiment 1 of the present invention introduces a satellite communication terminal.

[0054] like Figure 1 A satellite communication terminal is shown, comprising:

[0055] an acquisition module configured to acquire current location information of the satellite communication terminal;

[0056] a determination module configured to determine the satellite search ranges of the primary antenna and the backup antenna respectively according to the acquired current position information;

[0057] a capture module configured to capture low-orbit satellites within the determined search range, wherein the low-orbit satellites include active satellites and backup satellites;

[0058] a compensation module configured to dynamically compensate for a primary antenna direction angle and a backup antenna direction angle of the captured primary satellite and backup satellite;

[0059] a calibration module configured to calibrate the satellite visible window according to the orbital data of the active satellite and the backup satellite after dynamic compensation;

[0060] The switching module is configured to connect to the backup satellite through the backup antenna when the satellite connected to the main antenna is about to disappear from the satellite visible window, complete the switching between the main antenna and the backup antenna, and realize low-orbit satellite dynamic roaming communication based on the satellite communication terminal.

[0061] Example 2

[0062] The second embodiment of the present invention introduces a low-orbit satellite dynamic roaming communication method.

[0063] like Figure 2 The low-orbit satellite dynamic roaming communication method shown is implemented based on the satellite communication terminal introduced in the first embodiment, including:

[0064] Obtaining the current location information of the satellite communication terminal;

[0065] Determine the satellite search ranges of the main antenna and the backup antenna respectively based on the current position information obtained;

[0066] Capturing low-orbit satellites within the determined search range, wherein the low-orbit satellites include primary satellites and backup satellites;

[0067] Dynamically compensate the main antenna direction angle and the backup antenna direction angle of the captured main satellite and backup satellite;

[0068] Calibrate the satellite visible window based on the orbital data of the active satellite and the backup satellite after dynamic compensation;

[0069] When the satellite connected to the main antenna is about to disappear from the satellite visible window, the backup antenna is connected to the backup satellite to complete the switching between the main antenna and the backup antenna, realizing low-orbit satellite dynamic roaming communication based on the satellite communication terminal.

[0070] As one or more implementation methods, a satellite communication terminal is used to obtain current position information of low-orbit satellites (i.e., primary satellites and backup satellites), and the initial direction angles of the primary antenna and the backup antenna are determined in combination with the obtained current position information.

[0071] It should be noted that the satellite communication terminal includes a positioning module and a gyroscope. The positioning module determines the current location information of the satellite communication terminal, and the gyroscope obtains the attitude of the satellite communication device (in this embodiment, the direction angle and elevation angle); the positioning module can use GPS positioning, Beidou positioning, GLONASS positioning, etc. In one or more implementation methods, the direction angle and elevation angle of the main antenna and the backup antenna are controlled respectively based on the main antenna controller and the backup antenna controller, such as Figure 3 and Figure 4 As shown, the azimuth angle of the main antenna is controlled within the range of 90°~270° and the elevation angle is controlled within the range of 10°~90° to search for the main satellite; the azimuth angle of the backup antenna is controlled within the range of 0°~360° and the elevation angle is controlled within the range of 0°~90° to search for the backup satellite.

[0072] It should be noted that the elevation angle is the angle between the direction of the satellite antenna and the horizontal plane. 0° means that the antenna is parallel to the horizontal plane, and 90° means that the antenna is perpendicular to the horizontal plane (pointing directly above the sky).

[0073] It should be noted that the primary antenna's azimuth angle of 90° to 270° in this embodiment is based on true north. This sector range of 90° to 270° covers the primary visible area of ​​the satellite's orbital motion. The primary antenna's elevation angle range is 10° to 90°, providing zenith-first coverage that aligns with the overhead characteristics of low-orbit satellites (maximum elevation angles typically occur above 60° at orbital altitudes of 300 to 2000 km), while also avoiding areas below 10° that are susceptible to multipath interference. This configuration of the primary antenna shortens search time compared to omnidirectional search, allowing for faster initial acquisition. Compared to the primary antenna, the backup antenna's azimuth sector range is 360°, and its elevation sector range is 0° to 90°, providing full coverage.

[0074] In this embodiment, the primary satellite is captured based on the primary satellite signal strength received by the primary antenna within the determined satellite search range of the primary antenna. Capturing the primary satellite is completed if and only if the received primary satellite signal strength is within a preset primary satellite signal strength range (-70dBm to 90dBm).

[0075] In one or more implementations, the satellite visibility window is calibrated based on the orbital data of the active satellite and the backup satellite after dynamic compensation.

[0076] Through the gyroscope and the real-time information of the captured satellite, the antenna compensation device calculates and realizes the dynamic compensation of the pointing angles of the main antenna and the backup antenna.

[0077] Using a gyroscope to detect changes in the device's attitude and combining it with the real-time location information of captured satellite communications equipment, the antenna compensation device dynamically calculates and controls the pointing angles of the primary and backup antennas in real time, ensuring the antenna beams are always aligned with the captured satellite. For example, if the device's pitch angle changes by 10°, the antenna compensation device will control the pitch angles of the primary and backup antennas to change by 10° simultaneously.

[0078] As one or more implementation methods, the satellite visibility window is calibrated based on the orbital data of the main satellite and the backup satellite after dynamic compensation; the satellite visibility window is predicted through a pre-established satellite orbit database, and the satellite visibility window is calibrated based on a set signal value range (such as signal strength greater than -120dBm) and lidar feedback (such as whether the motion trajectory is blocked).

[0079] In this embodiment, during the process of calibrating the satellite visible window, a lidar scan is performed in the antenna compensation direction to extract the obstacle contour on the satellite motion trajectory, and the obstacle occlusion trend is determined based on the extracted obstacle contour. The extreme visible window of the satellite is determined based on the obstacle occlusion trend, and the calibration of the satellite visible window is completed based on the extreme visible window and the determined satellite search range.

[0080] like Figure 5 As shown in the figure, when there is no obstruction, that is, by default, the default setting of the antenna elevation angle is 10°-170°; however, during the movement of the satellite, objects such as buildings between the antenna and the satellite will block the signal. Therefore, when the lidar detects obstructions such as buildings, it is necessary to modify the satellite visible window; when the antenna elevation angle is 70° and the lidar measures an elevation angle of 65 degrees (the specific degrees of these two elevation angles can be obtained by controlling the angle of the servo motor), it is blocked by a building, then the default elevation angle limit value needs to be adjusted to 65°.

[0081] It should be noted that the occlusion trend is to detect whether there are objects such as buildings blocking the view; the extreme visible window is the elevation angle when the occlusion is measured by the lidar.

[0082] As one or more implementation methods, the current angle of the satellite communication terminal is determined based on the current position information, and the relationship between the determined current angle of the satellite communication terminal and the calibrated satellite visible window is determined. When the current angle of the satellite communication terminal is at the edge of the satellite visible window, it is determined that the satellite is about to disappear in the satellite visible window; for example: the angle range of the satellite visible window is 10-90° relative to the ground, and at this time the elevation angle of the servo mechanism is 11°, which is close to the limit of the satellite visible window, then it is considered that the satellite is about to disappear in the satellite visible window.

[0083] When the satellite connected to the main antenna is about to disappear from the satellite visibility window, the RF module is controlled to switch to the backup antenna, connect to the backup satellite, and complete the switching of the main and backup antennas; in a mobile carrier environment, precise antenna orientation and efficient switching are achieved, ensuring the stability and reliability of satellite communications and improving communication performance.

[0084] This embodiment provides a low-cost, all-weather method for searching for low-orbit communication satellites and switching communication antennas. By using two sets of directional antennas, simultaneously aligning two satellites, and when the signal quality of one satellite degrades or disappears, the method immediately switches to the other satellite, ensuring the continuity and reliability of communication. This method does not rely on the construction and maintenance of ground stations, significantly reducing communication costs and improving communication flexibility and adaptability. Secondly, in the field of automatic control, the current position information of the satellite communication terminal can be obtained, and the current orientation and elevation angle of the two directional antennas can be obtained using a gyroscope. Automatic tracking and control of the satellite can be achieved based on the satellite communication terminal, thereby improving the degree of automation, reducing manual intervention, and improving the reliability and stability of dynamic roaming communications of low-orbit satellites.

[0085] The method proposed in this embodiment involves technologies such as calculation of satellite motion trajectories and prediction of satellite disappearance times, and can be applied to satellite navigation, weather forecasting, military reconnaissance and other fields, and has important scientific research and application value.

[0086] Example 3

[0087] A third embodiment of the present invention provides a computer-readable storage medium.

[0088] A computer-readable storage medium stores a program thereon, which, when executed by a processor, implements the steps of a low-orbit satellite dynamic roaming communication method as described in Embodiment 2 of the present invention.

[0089] The detailed steps are the same as those of the low-orbit satellite dynamic roaming communication method provided in Example 2, and will not be repeated here.

[0090] Example 4

[0091] A fourth embodiment of the present invention provides an electronic device.

[0092] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, it implements the steps of a low-orbit satellite dynamic roaming communication method as described in Example 2 of the present invention.

[0093] The detailed steps are the same as those of the low-orbit satellite dynamic roaming communication method provided in Example 2, and will not be repeated here.

[0094] Example 5

[0095] A fifth embodiment of the present invention provides a computer program product.

[0096] A computer program product includes software code, wherein the program in the software code executes the steps in the low-orbit satellite dynamic roaming communication method as described in the second embodiment of the present invention.

[0097] The detailed steps are the same as those of the low-orbit satellite dynamic roaming communication method provided in Example 2, and will not be repeated here.

[0098] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk drives, CD-ROMs, optical storage devices, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention may be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0099] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0102] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0103] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

[0104] The above description is merely a preferred embodiment of this embodiment and is not intended to limit this embodiment. Those skilled in the art will readily appreciate that this embodiment may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this embodiment shall be within the scope of protection of this embodiment.

Claims

1. A satellite communication terminal, characterized in that: include: an acquisition module configured to acquire current location information of the satellite communication terminal; a determination module configured to determine the satellite search ranges of the primary antenna and the backup antenna respectively according to the acquired current position information; In the process of determining the satellite search ranges of the main antenna and the backup antenna, the main antenna controller and the backup antenna controller are used to control the azimuth and elevation angles of the main antenna and the backup antenna, respectively. a capture module configured to capture low-orbit satellites within the determined search range, wherein the low-orbit satellites include active satellites and backup satellites; a compensation module configured to dynamically compensate for a primary antenna direction angle and a backup antenna direction angle of the captured primary satellite and backup satellite; a calibration module configured to calibrate the satellite visible window according to the orbital data of the active satellite and the backup satellite after dynamic compensation; During the calibration of the satellite visible window, a lidar scan is performed in the antenna compensation direction to extract the obstacle outline on the satellite motion trajectory. The obstacle occlusion trend is determined based on the extracted obstacle outline. The satellite's extreme visible window is determined based on the obstacle occlusion trend. The satellite visible window calibration is completed based on the extreme visible window and the determined satellite search range. The switching module is configured to connect to the backup satellite through the backup antenna when the satellite connected to the main antenna is about to disappear from the satellite visible window, complete the switching between the main antenna and the backup antenna, and realize low-orbit satellite dynamic roaming communication based on the satellite communication terminal.

2. A low-orbit satellite dynamic roaming communication method, characterized in that: The satellite communication terminal according to claim 1 is implemented as follows: Obtaining the current location information of the satellite communication terminal; Determine the satellite search ranges of the main antenna and the backup antenna respectively based on the current position information obtained; Capturing low-orbit satellites within the determined search range, wherein the low-orbit satellites include primary satellites and backup satellites; Dynamically compensate the main antenna direction angle and the backup antenna direction angle of the captured main satellite and backup satellite; Calibrate the satellite visible window based on the orbital data of the active satellite and the backup satellite after dynamic compensation; When the satellite connected to the main antenna is about to disappear from the satellite visible window, the backup antenna is connected to the backup satellite to complete the switching between the main antenna and the backup antenna, realizing low-orbit satellite dynamic roaming communication based on the satellite communication terminal.

3. A low-orbit satellite dynamic roaming communication method as claimed in claim 2, characterized in that: When the satellite connected to the main antenna is not about to disappear from the satellite visible window, dynamic compensation of the main antenna direction angle and the backup antenna direction angle is performed again.

4. A low-orbit satellite dynamic roaming communication method as claimed in claim 2, characterized in that: In the process of determining the satellite search range of the main antenna and the backup antenna, the main antenna controller and the backup antenna controller respectively control the azimuth angle and elevation angle of the main antenna and the backup antenna, and control the azimuth angle of the main antenna within the range of 90°~270° and the elevation angle within the range of 10°~90° to search for the main satellite; control the azimuth angle of the backup antenna within the range of 0°~360° and the elevation angle within the range of 0°~90° to search for the backup satellite.

5. A low-orbit satellite dynamic roaming communication method as claimed in claim 4, characterized in that: capturing a primary satellite based on a primary satellite signal strength received by the primary antenna within the determined satellite search range of the primary antenna, and completing the capture of the primary satellite if and only if the received primary satellite signal strength is within a preset primary satellite signal strength range; The backup satellite is captured based on the backup satellite signal strength received by the backup antenna within the determined satellite search range of the backup antenna and the direction angle adjusted by the main antenna when tracking the movement of the main satellite. The capture of the backup satellite is completed if and only if the received backup satellite signal strength is within the preset backup satellite signal strength range and the dynamic compensation trend of the main antenna direction angle is within the preset dynamic compensation trend range.

6. A low-orbit satellite dynamic roaming communication method as claimed in claim 2, characterized in that: During the calibration of the satellite visible window, a lidar scan is performed in the antenna compensation direction to extract the obstacle contour on the satellite motion trajectory. The obstacle occlusion trend is determined based on the extracted obstacle contour. The satellite's extreme visible window is determined based on the obstacle occlusion trend. The satellite visible window calibration is completed based on the extreme visible window and the determined satellite search range.

7. A low-orbit satellite dynamic roaming communication method as claimed in claim 6, characterized in that: The current angle of the satellite communication terminal is determined based on the current position information, and the relationship between the determined current angle of the satellite communication terminal and the calibrated satellite visible window is judged. When the current angle of the satellite communication terminal is at the edge of the satellite visible window, it is judged that the satellite is about to disappear from the satellite visible window.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of a low-orbit satellite dynamic roaming communication method as described in any one of claims 2 to 7 are implemented.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of a low-orbit satellite dynamic roaming communication method as described in any one of claims 2 to 7 are implemented.

10. A computer program product comprising software code, characterized in that The program in the software code executes the steps of a low-orbit satellite dynamic roaming communication method as described in any one of claims 2 to 7.

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