Flight equipment adaptive beam tracking method and system based on multi-source information fusion

Abstract

The invention belongs to the technical field of wireless communication, discloses a flight equipment adaptive beam tracking method and system based on multi-source information fusion, and solves the problem of how to efficiently and quickly adjust the beam direction by an antenna array to maintain the optimal signal quality and communication rate in a high-dynamic mobile scene, such as communication of low-altitude flight equipment. The invention provides an innovative solution by combining various sensing technologies such as an attitude sensor, a GPS module and a barometer, accurate beam tracking of a high-speed moving target can be realized on the premise of ensuring low cost, and the real-time performance and reliability of a low-altitude communication system are remarkably improved. By introducing an intelligent algorithm to carry out real-time calculation and adjustment of the phase shift matrix, the method can adapt to complex and changeable environmental conditions, and greatly reduces the number of cell switching times caused by user position changes, thereby reducing the maintenance cost and energy consumption of a communication system.

Description

Technical Field

[0001] The present invention belongs to the technical field of wireless communications, and more specifically, relates to a method and system for adaptive beam tracking of flight equipment based on multi-source information fusion. Background Art

[0002] In the field of low-altitude communications, signal transmission quality and communication speed for flying devices (such as drones) are crucial. While traditional omnidirectional antennas can provide all-round coverage, it is often difficult to optimize both coverage and communication speed at the same transmit power. Phased array antennas, due to their directional transmission characteristics, can significantly increase communication range and data transmission speed without increasing transmit power. However, for highly dynamic mobile users, real-time beam adjustment becomes a major challenge.

[0003] Existing technologies typically use iterative algorithms such as greedy algorithms and row-column scanning to adjust the phase shift matrix based on the received signal strength indicator (RSSI) or signal-to-noise ratio (SINR) at adjacent moments. This takes a long time and results in slow algorithm convergence. However, the angle of arrival of flying devices changes more rapidly than that of phased array antennas. Therefore, existing methods are unable to adjust the beam direction in real time for highly dynamic mobile users. In low-altitude communication scenarios, timely and accurate beam adjustment is crucial for extending communication range and improving communication quality. Summary of the Invention

[0004] In response to the above-mentioned defects or improvement needs of the prior art, the present invention provides a method and system for adaptive beam tracking of flying equipment based on multi-source information fusion, the purpose of which is to improve the real-time performance and accuracy of beam tracking of highly dynamic mobile flying equipment.

[0005] To achieve the above objectives, the present invention provides a method for adaptive beam tracking of flight equipment based on multi-source information fusion, comprising:

[0006] S1. Obtain the attitude information, longitude and latitude of the ground-side antenna array, and the altitude. Obtain the longitude and latitude, altitude, and speed of the flight device at the current moment.

[0007] S2. Calculating the relative position between the antenna array and the aircraft at the current moment based on the latitude, longitude, and altitude of the antenna array and the latitude, longitude, and altitude of the aircraft at the current moment;

[0008] S3. Inputting the relative position, the current speed and heading angle of the aerial device into a dynamic model of the aerial device to predict the relative position between the antenna array and the aerial device at a next moment;

[0009] S4. Based on the attitude information of the antenna array and the predicted relative position between the antenna array and the aircraft at the next moment, calculate the optimal beam angle of the antenna array at the next moment, adaptively adjust the phase shift matrix of the antenna array based on the optimal beam angle to point the antenna array beam at the aircraft, and return to S2 to achieve real-time beam tracking.

[0010] Furthermore, in S2, the relative position between the antenna array and the flight device at the current moment is calculated as follows:

[0011]

[0012] Δy′=r(θ a -θ g )

[0013] Δz'=z a -z g

[0014] Where Δx′, Δy′, and Δz′ represent the components of the distance vector between the antenna array and the flight device at the current moment in the world coordinate system on the x, y, and z axes, respectively, and are used to represent the relative position between the antenna array and the flight device at the current moment; r is the average radius of the Earth; φ g ,θ g 、z g are the longitude, latitude and altitude of the antenna array respectively; φ a ,θ a 、z a are the longitude, latitude, and altitude of the flight device, respectively. The origin of the world coordinate system is the location of the antenna array, and the positive directions of the x, y, and z axes are due east, due north, and vertically upward, respectively.

[0015] Furthermore, in S3, the dynamic model of the flight equipment is:

[0016] Δx=Δx'+v x ·Δt

[0017] Δy=Δy'+v y ·Δt

[0018] Δz=Δz'+v z ·Δt

[0019] Wherein, Δx, Δy, and Δz represent the components of the distance vector between the antenna array and the flight device on the x, y, and z axes respectively, predicted in the world coordinate system at the next moment, and are used to represent the relative position between the antenna array and the flight device at the next moment; v x 、v y 、v zare the velocity components in the x, y, and z axes, determined in the world coordinate system based on the aircraft's velocity and heading angle. Δt is an empirical value representing the time required to calculate the corresponding phase shift matrix based on the aircraft's latitude, longitude, altitude, and velocity at the current moment.

[0020] Furthermore, in S4, the calculating of the optimal beam angle of the antenna array at the next moment includes:

[0021] Calculate the relative azimuth angle φ' and relative elevation angle ν' between the antenna array and the flight equipment at the next moment:

[0022] φ'=arctan(Δx / Δy),(Δy≥0)

[0023] φ′=arctan(Δx / Δy)+180°, (Δy<0)

[0024]

[0025] Then the optimal beam angle of the antenna array at the next moment is:

[0026] φ=φ'-α

[0027] ν=ν'-β

[0028] Wherein, φ and ν are the azimuth and pitch angles of the flight device relative to the antenna array, respectively, and are used to characterize the optimal beam angle of the antenna array; α and β are the yaw and pitch angles of the antenna array.

[0029] Furthermore, in S4, the phase shift θ of each array element in the phase shift matrix of the antenna array obtained by adaptively adjusting the optimal beam angle is nm (φ,ν) is:

[0030]

[0031] Wherein, λ is the wavelength corresponding to the center frequency used in communication, n and m respectively represent the nth row and mth column of the phase shift matrix, n=1,2,...,N, m=1,2,..,M, N and M respectively represent the number of rows and columns of array elements of the antenna array; dx and dz respectively represent the horizontal spacing and vertical spacing of the array elements.

[0032] Furthermore, after obtaining the phase shift matrix of the antenna array, the method further includes:

[0033] The received signal strength, received signal power, received signal strength indication RSSI, signal-to-noise ratio SNR, signal-to-interference-plus-noise ratio SINR, reference signal received power RSRP, or reference signal received quality RSRQ of the antenna array at the next moment are maximized as the optimization target, and the phase shift matrix of the antenna array is optimized to obtain an optimized phase shift matrix.

[0034] Furthermore, the altitude is calculated using a GPS module or a barometer;

[0035] The antenna array is a DMA array, a smart metasurface, a holographic beamforming array, or a phased array antenna.

[0036] The present invention also provides an antenna array main controller, which is used to execute any of the above-mentioned flight equipment adaptive beam tracking methods.

[0037] The present invention also provides a flight equipment adaptive beam tracking system based on multi-source information fusion, comprising: a computer-readable storage medium and a processor;

[0038] The computer-readable storage medium is used to store executable instructions;

[0039] The processor is configured to read the executable instructions stored in the computer-readable storage medium to execute any one of the above-described methods for adaptive beam tracking of a flying device.

[0040] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method for adaptive beam tracking of a flying device as described in any one of the above items is implemented.

[0041] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

[0042] (1) The present invention relates to an adaptive beam tracking method for flight equipment based on multi-source information fusion. The method obtains the attitude information, longitude and latitude, and altitude information of the antenna array by adding an attitude sensor and a GPS module to the antenna array, obtains the longitude and latitude and altitude information of the flight equipment at different times by using the GPS module on the flight equipment, and calculates the relative position between the antenna array and the flight equipment based on the multi-source information obtained by these sensors. Compared with the existing method of adjusting the phase shift matrix by iterating the received signal strength indication (RSSI) or signal-to-noise ratio (SINR) at different times, the transmission time and data processing time of the multi-source sensor data in the present invention are much lower than the convergence time of the existing iterative algorithm. Therefore, the present invention can adjust the beam direction of the antenna array in real time based on the multi-source information fusion method. At the same time, considering that the flight equipment moves at high speed, the flight equipment has already flown away from its original position during the transmission and processing time of the multi-source sensor data. Therefore, based on the relative position information at the current moment and the speed and heading angle of the flight equipment, the future relative position change trend is estimated, and the beam direction is adjusted in advance based on the predicted optimal beam direction at the next moment, thereby improving the accuracy, reliability and real-time performance of beam tracking of highly dynamic moving targets.

[0043] (2) As a preference, taking into account errors and non-ideal factors in actual operation, such as sensor accuracy limitations or environmental interference, the phase shift matrix is further optimized using a convex optimization algorithm to maximize the received signal strength, received signal power, received signal strength indicator (RSSI) or signal-to-interference-plus-noise ratio (SINR), signal-to-noise ratio (SNR), reference signal received power (RSRP), or reference signal received quality (RSRQ) of the antenna array at the next moment.

[0044] (3) As a preference, a high-gain DMA array or smart metasurface is used as the antenna array, which can reduce the number of cell switching caused by changes in user location, thereby reducing maintenance costs and energy consumption.

[0045] In summary, the present invention achieves precise tracking of high-speed moving targets through multi-source information fusion technology, which not only improves the overall performance of the communication system but also reduces maintenance costs and energy consumption. Compared with traditional beam control methods, the present invention can complete beam adjustment in a shorter time, reduce the number of cell switching caused by changes in user location, and further improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Schematic diagram of an adaptive beam tracking method for flying equipment based on multi-source information fusion in an embodiment of the present invention;

[0047] Figure 2 Schematic diagram of a DMA communication system combining a posture sensor and GPS information in an embodiment of the present invention;

[0048] Figure 3 is a schematic diagram of a DMA array in an embodiment of the present invention;

[0049] Figure 4 Schematic diagram of a posture sensor in an embodiment of the present invention;

[0050] Figure 5 4 is a diagram of simulation results in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0052] Example 1

[0053] like Figure 1 and Figure 2 As shown, the antenna array is equipped with sensors such as an attitude sensor, a GPS module, and a barometer. The attitude sensor is used to obtain the antenna array's attitude information, and the GPS module is used to obtain the antenna array's latitude, longitude, and altitude. The antenna array is a phased array antenna, a smart metasurface, a holographic beamforming array, or a dynamic metasurface array (DMA array). Low-altitude users (flight equipment) are equipped with sensors such as a GPS module and a barometer. The GPS module is used to obtain the flight equipment's real-time latitude, longitude, altitude, and speed information; the barometer is used to assist in altitude measurement.

[0054] The adaptive beam tracking method for flying equipment based on multi-source information fusion in an embodiment of the present invention mainly includes:

[0055] S1. The GPS module on the airborne device obtains the current latitude, longitude, altitude, and speed of the aircraft. This latitude, longitude, and altitude are then fed back to the main control unit of the antenna array on the ground via a data transmission link to ensure real-time performance.

[0056] S2. Calculate the relative position between the antenna array and the aircraft at the current moment based on the latitude, longitude, and altitude of the antenna array at the current moment obtained by the GPS module on the ground-side antenna array, as well as the latitude, longitude, and altitude of the aircraft at the current moment.

[0057] S3. The relative position between the antenna array and the aircraft at the current moment, the speed and heading angle of the aircraft at the current moment are input into the dynamic model of the aircraft to estimate the future position change trend and obtain the predicted relative position between the antenna array and the aircraft at the next moment.

[0058] S4. Based on the attitude angle of the antenna array and the predicted relative position between the antenna array and the flight device at the next moment, the optimal beam angle of the antenna array at the next moment is calculated, and the phase shift matrix of the antenna array is adaptively adjusted based on the optimal beam angle. Return to step S2 to continuously monitor and update the relative position relationship between the sky end and the ground end to ensure that the beam always points to the target (flight device) to achieve beam tracking.

[0059] As a preference, taking into account errors and non-ideal factors in actual operation, such as sensor accuracy limitations or environmental interference, the following is also included:

[0060] S5. Optimize the phase shift matrix of the antenna array using a convex optimization algorithm, taking the received signal strength, received signal power, received signal strength indicator RSSI, signal-to-noise ratio SNR, signal-to-interference plus noise ratio SINR, reference signal received power RSRP, or reference signal received quality RSRQ of the antenna array at the next moment as the maximum optimization objective.

[0061] In the embodiment of the present invention, the use of a high-gain DMA array or smart metasurface can greatly reduce the number of cell switching caused by user location changes, thereby reducing the maintenance cost and energy consumption of the communication system. Figure 3 As shown, the DMA array includes N*M array units, and the symbol θ of each array unit is nm (n=1,2,...,N),(m=1,2,..,M) represents the phase shift of the array unit, which can be controlled by the master. Among them, the phase shift matrix θ of the DMA array is:

[0062]

[0063] θ nm ∈[0,2π)

[0064] Wherein, N is the number of rows of the antenna array (DMA array), and M is the number of columns of the antenna array.

[0065] In the embodiment of the present invention, the posture sensor part is as follows Figure 4 As shown, the plane where the attitude sensor is located is the XOY plane. The XOY plane of the attitude sensor is placed parallel to the DMA array. The attitude information obtained by the attitude sensor is expressed in Euler angles, namely heading, pitch, and roll. The calculation method is:

[0066] Yaw angle heading (α): Rotation around the Z axis (0°≤heading≤360°). In the embodiment of the present invention, 0° = north, 90° = east, 180° = south, and 270° = west. Heading increases as the Z axis rotates clockwise.

[0067] Pitch angle (β): Rotates around the X-axis (-180°≤pitch≤180°). When the Z-axis moves toward the Y-axis, the pitch increases.

[0068] Roll angle (ρ): Rotation around the Y axis (-90°≤roll≤90°). Roll increases as the X axis moves toward the Z axis.

[0069] In an embodiment of the present invention, before S1, it also includes: calibration of the attitude sensor, GPS module, barometer and other sensors of the antenna array, as well as calibration of the GPS module and barometer and other sensors carried by low-altitude users (flight equipment), to ensure that the attitude sensor can accurately provide the attitude information of the antenna array, including: yaw angle heading (α), pitch angle pitch (β), roll angle roll (ρ), and the angle obtained by the attitude sensor is determined based on the antenna array's own coordinate system. The GPS module can accurately obtain the location information of the antenna array and the flight equipment (including latitude and longitude, altitude and speed of the flight equipment), and the barometer is used to combine local meteorological data, such as standard atmospheric pressure, temperature, etc., to assist the antenna array and flight equipment in altitude measurement.

[0070] During calibration, for the attitude sensor, first place the array parallel to the ground and stationary. Use static calibration and gravity acceleration calibration to calibrate the angular acceleration sensor and accelerometer, respectively. Then, use manual rotation or ellipse fitting to eliminate soft-iron and hard-iron interference from the magnetometer. Finally, calculate the attitude sensor's heading, pitch, and roll. Assuming the y-axis of the array's coordinate system is parallel to the ground after calibration, roll (ρ) is assumed to be 0.

[0071] For the barometer (if this sensor is used to obtain altitude information): the altitude can be calibrated according to the formula based on the local standard atmospheric pressure.

[0072] Follow the above steps to calibrate other appropriate sensors.

[0073] As a preferred implementation, in S2, based on the latitude, longitude, and altitude of the antenna array at the current moment obtained by the GPS module on the antenna array, and the latitude, longitude, and altitude of the aircraft at the current moment, the relative position between the antenna array and the aircraft at the current moment is calculated as follows:

[0074]

[0075] Δy′=r(θ a -θ g )

[0076] Δz'=z a -z g

[0077] Wherein, Δx', Δy', and Δz' respectively represent the relative x-axis distance (the x-axis component of the distance vector between the antenna array and the aircraft), the relative y-axis distance (the y-axis component of the distance vector between the antenna array and the aircraft), and the relative altitude (the z-axis component of the distance vector between the antenna array and the aircraft) between the antenna array and the aircraft at the current moment, and are used to characterize the relative position between the antenna array and the aircraft at the current moment; r is the average radius of the Earth; φ g is the longitude of the antenna array, θ g is the latitude of the antenna array, z g is the altitude of the antenna array; φ a is the longitude of the flight equipment, θ a is the latitude of the flight equipment, z a is the altitude of the flight device. When calculating relative positions, both can be considered as points.

[0078] As a preferred implementation, in S3, when predicting the relative position between the antenna array and the flight device at the next moment, the dynamic model used is:

[0079] Δx=Δx'+v x ·Δt

[0080] Δy=Δy'+v y ·Δt

[0081] Δz=Δz'+v z ·Δt

[0082] Where Δx, Δy, and Δz represent the relative x-axis distance, relative y-axis distance, and relative altitude between the antenna array and the flight device at the next predicted moment, respectively, and are used to characterize the relative position between the antenna array and the flight device at the next predicted moment; Δt is the time required to calculate the corresponding phase shift matrix based on the current flight device location information (including latitude, longitude, and altitude), which is an empirical value; v x 、v y 、v zare the x-, y-, and z-axis velocity components of the aircraft in the world coordinate system, determined based on its velocity and heading angle. In this embodiment of the present invention, in world coordinates, the positive direction of the x-axis is due east, the positive direction of the y-axis is due north, and the positive direction of the z-axis is perpendicular to the ground and upward. Because Δt is short, the aircraft is assumed to be in uniform linear motion, and the relative position between the antenna array and the aircraft at the next moment is predicted based on the above formula.

[0083] As a preferred implementation, in S4, based on the attitude angle of the antenna array and the predicted relative position between the antenna array and the flight device at the next moment, the optimal beam angle of the antenna array at the next moment is calculated, including:

[0084] Calculate the relative azimuth angle φ' and relative elevation angle ν' between the antenna array and the flight equipment at the next moment:

[0085] φ'=arctan(Δx / Δy),(Δy≥0)

[0086] φ'=arctan(Δx / Δy)+180°,(Δy<0)

[0087]

[0088] In low-altitude communications, the curvature of the earth can be ignored when the distance between the sky terminal and the ground terminal is small. In this embodiment of the present invention, the origin of the world coordinate system is moved to the array center, and φ' and ν' are calculated in spherical coordinates with the array center as the origin.

[0089] The optimal beam angle of the antenna array at the next moment is:

[0090] φ=φ'-α

[0091] ν=ν'-β

[0092] Where φ and ν are the azimuth and pitch angles of the flight device relative to the antenna array, respectively, which are used to characterize the optimal beam angle of the antenna array; α and β are the heading and pitch angles of the antenna array measured by the attitude sensor.

[0093] As a preferred implementation, in S4, the phase shift matrix of the antenna array at the next moment is adaptively adjusted based on the optimal beam angle, wherein the phase shift of each array element in the phase shift matrix is:

[0094]

[0095] Where λ is the wavelength corresponding to the center frequency used in communication, n represents the nth row of the phase shift matrix, m represents the mth column of the phase shift matrix, the horizontal spacing of the array elements is dx, and the vertical spacing is dz.

[0096] As a preferred implementation, in S5, if there is an error in the relative position calculated based on the data from each sensor and the aircraft is far from the antenna array, the error should not be large enough to cause the aircraft to fall outside the first zero point of the beam based on the phase shift matrix adjusted in the previous step. In this case, finding the optimal beam angle can be considered a convex optimization problem.

[0097] The phase shift matrix is optimized using a convex optimization algorithm. The objective function can be set to minimize -RSSI(φ,ν), -SINR(φ,ν), -SNR(φ,ν), -RSRP(φ,ν), -RSRQ(φ,ν), etc. The domain of (φ,ν) can be set to: φ - Δφ ≤ φ ≤ φ + Δφ, ν - Δv ≤ v ≤ v + Δv, where Δφ and Δv are the preset azimuth and elevation errors. The convex optimization algorithm can be a derivative-free optimization algorithm (such as the Nelder-Mead simplex method) or a random search algorithm.

[0098] The method of the present invention is further described below with reference to specific examples.

[0099] The communication system in the embodiment of the present invention includes a low-altitude user (drone), a DMA array (as AP), such as Figure 2 As shown. Among them, the low-altitude user moves at a speed of no more than 27m / s per second, and its position is unknown; the specific structure of the DMA array is known. There is an attitude sensor and a GPS module on the DMA array. The low-altitude user terminal is equipped with a GPS module and can use data transmission or some other method to allow the DMA array to know its position information. The attitude sensor XOY plane is placed parallel to the DMA array. The DMA is a rectangular uniformly distributed structure, as shown Figure 3 As shown, the total number of antenna elements is N*M, where the number of rows is M and the number of columns is N. The horizontal spacing between the elements is dx, and the vertical spacing is dz. The y-axis of the antenna array's own coordinate system is parallel to the ground.

[0100] Simulation Parameters: Using the Matlab 2019a simulation platform, the DMA array has 8 rows and 8 columns, with a total of 64 elements. Both the row and column spacing are half a wavelength (λ / 2). The positions and attitudes of the sky user and the DMA array are randomized. The distance between them is maintained at no less than 500 meters. GPS and attitude sensor information obtained at the DMA array is supplemented with a certain random amount to simulate errors in sensors and other equipment. The GPS error is set to ±10 meters (much larger than the error in a real system).

[0101] The simulation results are as follows Figure 5 As shown, from Figure 5It can be seen that, compared with the existing commonly used greedy algorithm, under the same circumstances, the method in the embodiment of the present invention can quickly align the beam to the sky end user, thereby quickly increasing the signal strength.

[0102] The present invention implements an adaptive beam tracking method through a wireless communication system constructed by a DMA array based on multi-source information fusion to quickly determine the beam direction and improve communication quality. In practical applications, the adaptive beam tracking method for flight equipment based on multi-source information fusion in the embodiment of the present invention can be installed on the main control end of the antenna array, that is, Figure 2 The master control shown is used to achieve real-time beam tracking.

[0103] Example 2

[0104] An embodiment of the present invention provides an adaptive beam tracking system for an aircraft device based on multi-source information fusion, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the adaptive beam tracking method for an aircraft device based on multi-source information fusion in the above-mentioned embodiment 1 are implemented.

[0105] The relevant technical solutions are the same as above and will not be repeated here.

[0106] Example 3

[0107] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for adaptive beam tracking of a flying device based on multi-source information fusion in the above-mentioned embodiment 1 are implemented.

[0108] Specifically, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0109] The relevant technical solutions are the same as above and will not be repeated here.

[0110] Example 4

[0111] An embodiment of the present invention provides a computer program product, including a computer program. When the computer program is run on a computer, the computer is caused to execute the steps of the method for adaptive beam tracking of a flying device based on multi-source information fusion in the above-mentioned embodiment 1.

[0112] The relevant technical solutions are the same as above and will not be repeated here.

[0113] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for adaptive beam tracking of flying equipment based on multi-source information fusion, characterized in that: include: S1. Obtain the attitude information, longitude and latitude, and altitude of the ground-side antenna array; And obtain the current latitude and longitude, altitude and speed of the flight equipment; S2. Calculating the relative position between the antenna array and the aircraft at the current moment based on the latitude, longitude, and altitude of the antenna array and the latitude, longitude, and altitude of the aircraft at the current moment; S3. Inputting the relative position, the current speed and heading angle of the aerial device into a dynamic model of the aerial device to predict the relative position between the antenna array and the aerial device at a next moment; S4. Based on the attitude information of the antenna array and the predicted relative position between the antenna array and the aircraft at the next moment, calculate the optimal beam angle of the antenna array at the next moment, adaptively adjust the phase shift matrix of the antenna array based on the optimal beam angle to point the antenna array beam at the aircraft, and return to S2 to achieve real-time beam tracking.

2. The method for adaptive beam tracking of a flying device according to claim 1, wherein: In S2, the relative position between the antenna array and the flight device at the current moment is calculated as follows: Δy'=r(θ a -θ g ) Δz'=z a -with g Where Δx', Δy', and Δz' represent the components of the distance vector between the antenna array and the flight device at the current moment in the world coordinate system on the x, y, and z axes, respectively, and are used to represent the relative position between the antenna array and the flight device at the current moment; r is the average radius of the Earth; φ g ,θ g 、z g are the longitude, latitude and altitude of the antenna array respectively; φ a ,θ a 、z a are the longitude, latitude, and altitude of the flight device, respectively. The origin of the world coordinate system is the location of the antenna array, and the positive directions of the x, y, and z axes are due east, due north, and vertically upward, respectively.

3. The method for adaptive beam tracking of a flying device according to claim 2, wherein: In S3, the dynamic model of the flight equipment is: Δx=Δx'+v x ·Δt Δy=Δy'+v y ·Δt Δz=Δz'+v z ·Δt Wherein, Δx, Δy, and Δz represent the components of the distance vector between the antenna array and the flight device on the x, y, and z axes respectively, predicted in the world coordinate system at the next moment, and are used to represent the relative position between the antenna array and the flight device at the next moment; v x 、v y 、v z are the velocity components along the x, y, and z axes, determined in the world coordinate system based on the aircraft's velocity and heading angle. Δt is an empirical value representing the time required to calculate the corresponding phase shift matrix based on the aircraft's latitude, longitude, altitude, and velocity at the current moment.

4. The method for adaptive beam tracking of a flying device according to claim 3, wherein: In S4, calculating the optimal beam angle of the antenna array at the next moment includes: Calculate the relative azimuth angle φ' and relative elevation angle ν' between the antenna array and the flight equipment at the next moment: φ'=arctan(Δx / Δy),(Δy≥0) φ'=arctan(Δx / Δy)+180°,(Δy<0) Then the optimal beam angle of the antenna array at the next moment is: φ=φ'-α ν=ν'-β Wherein, φ and ν are the azimuth and pitch angles of the flight device relative to the antenna array, respectively, and are used to characterize the optimal beam angle of the antenna array; α and β are the yaw and pitch angles of the antenna array.

5. The method for adaptive beam tracking of a flying device according to claim 4, wherein: In S4, the phase shift θ of each array element in the phase shift matrix of the antenna array obtained by adaptively adjusting the optimal beam angle is nm (φ,ν) is: Wherein, λ is the wavelength corresponding to the center frequency used in communication, n and m respectively represent the nth row and mth column of the phase shift matrix, n=1,2,...,N, m=1,2,..,M, N and M respectively represent the number of rows and columns of array elements of the antenna array; dx and dz respectively represent the horizontal spacing and vertical spacing of the array elements.

6. The method for adaptive beam tracking of a flying device according to any one of claims 1 to 5, wherein: After obtaining the phase shift matrix of the antenna array, the method further includes: The received signal strength, received signal power, received signal strength indication RSSI, signal-to-noise ratio SNR, signal-to-interference-plus-noise ratio SINR, reference signal received power RSRP, or reference signal received quality RSRQ of the antenna array at the next moment are maximized as the optimization target, and the phase shift matrix of the antenna array is optimized to obtain an optimized phase shift matrix.

7. The method for adaptive beam tracking of a flying device according to any one of claims 1 to 5, wherein: Calculating the altitude using a GPS module or a barometer; The antenna array is a DMA array, a smart metasurface, a holographic beamforming array, or a phased array antenna.

8. An antenna array main controller, characterized in that: The antenna array main controller is used to execute the flight equipment adaptive beam tracking method according to any one of claims 1 to 7.

9. An adaptive beam tracking system for flight equipment based on multi-source information fusion, characterized in that: include: Computer-readable storage medium and processor; The computer-readable storage medium is used to store executable instructions; The processor is configured to read the executable instructions stored in the computer-readable storage medium to execute the adaptive beam tracking method for a flying device according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the adaptive beam tracking method for a flying device according to any one of claims 1 to 7 is implemented.

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