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

Abstract

This invention belongs to the field of wireless communication technology and discloses an adaptive beam tracking method and system for flight equipment based on multi-source information fusion. It addresses the problem of how to efficiently and quickly adjust the beam direction of the antenna array to maintain optimal signal quality and communication rate in highly dynamic mobile scenarios, such as communication for low-altitude flight equipment. By combining multiple sensing technologies such as attitude sensors, GPS modules, and barometers, this invention provides an innovative solution that enables accurate beam tracking of high-speed moving targets while ensuring low cost, significantly improving the real-time performance and reliability of low-altitude communication systems. By introducing intelligent algorithms for real-time calculation and adjustment of the phase shift matrix, this invention not only adapts to complex and changing environmental conditions but also greatly reduces the number of cell handovers caused by changes in user location, thereby reducing the maintenance cost and energy consumption of the communication system.

Description

Technical Field

[0001] This invention belongs to the field of wireless communication technology, and more specifically, relates to an adaptive beam tracking method and system for flight equipment based on multi-source information fusion. Background Technology

[0002] In the field of low-altitude communication, the signal transmission quality and communication rate of flight equipment (such as drones) are crucial. While traditional omnidirectional antennas can provide all-around coverage, it is often difficult to simultaneously optimize and improve coverage and communication rate under the same transmit power conditions. Phased array antennas, due to their directional transmission characteristics, can significantly improve communication distance and data transmission rate without increasing transmit power. However, real-time beam direction adjustment becomes a major challenge when dealing with highly dynamic mobile users.

[0003] Existing technologies typically employ iterative algorithms such as greedy algorithms and row / column scanning to adjust the phase shift matrix based on the Received Signal Strength Indication (RSSI) or Signal-to-Noise Ratio (SINR) at adjacent time points. This process is time-consuming and results in slow convergence. Furthermore, the angle of arrival of flying equipment changes much faster than that of phased array antennas. Therefore, existing methods cannot adjust the beam direction in real time when dealing with highly dynamic mobile users. In low-altitude communication scenarios, timely and accurate beam adjustment is crucial for extending communication distance and improving communication quality. Summary of the Invention

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

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

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

[0007] S2. Based on the latitude, longitude, and altitude of the antenna array, and the latitude, longitude, and altitude of the flight equipment at the current moment, calculate the relative position between the antenna array and the flight equipment at the current moment.

[0008] S3. Input the relative position, the current speed and heading angle of the flight equipment into the dynamic model of the flight equipment to predict the relative position between the antenna array and the flight equipment at the next moment;

[0009] S4. Based on the attitude information of the antenna array and the predicted relative position between the antenna array and the flight equipment 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 so that the antenna array beam points to the flight equipment, and return to S2 to achieve real-time beam tracking.

[0010] Furthermore, in S2, the relative position between the antenna array and the flight equipment 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 equipment on the x, y, and z axes respectively in the world coordinate system at the current moment, used to characterize the relative position between the antenna array and the flight equipment at the current moment; r is the average radius of the Earth; φ g θ g z g These represent the longitude, latitude, and altitude of the antenna array, respectively; φ a θ a z a These represent the longitude, latitude, and altitude of the flight equipment, respectively; where 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 from the ground, respectively.

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

[0016] Δx=Δx'+v x ·Δt

[0017] Δy=Δy'+v y ·Δt

[0018] Δz=Δz'+v z ·Δt

[0019] Where Δx, Δy, and Δz represent the components of the distance vector between the antenna array and the flight equipment at the next predicted moment in the world coordinate system, on the x, y, and z axes, respectively, used to characterize the relative positions between the antenna array and the flight equipment at the predicted next moment; v x v y v zΔt represents the velocity components along the x, y, and z axes, determined by the speed and heading angle of the flight equipment in the world coordinate system; Δt is an empirical value representing the time required to calculate the corresponding phase shift matrix based on the latitude, longitude, altitude, and speed of the flight equipment at the current moment.

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

[0026] φ=φ'-α

[0027] ν=ν'-β

[0028] Where φ and ν are the azimuth and elevation angles of the flight equipment relative to the antenna array, respectively, used to characterize the optimal beam angle of the antenna array; α and β are the yaw and elevation 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 based on the optimal beam angle adaptive adjustment is... nm (φ,ν) is:

[0030]

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

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

[0033] The phase shift matrix of the antenna array is optimized with the following optimization objectives: 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. The optimized phase shift matrix is ​​then obtained.

[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 master controller, which is used to execute the adaptive beam tracking method for flight equipment described in any of the above claims.

[0037] The present invention also provides an adaptive beam tracking system for flight equipment 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 used to read executable instructions stored in the computer-readable storage medium and execute the adaptive beam tracking method for flight equipment described above.

[0040] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the adaptive beam tracking method for flight equipment as described in any of the preceding claims.

[0041] In summary, the above-described technical solutions conceived in this invention can achieve the following beneficial effects:

[0042] (1) The adaptive beam tracking method for flight equipment based on multi-source information fusion of the present invention obtains the attitude information, latitude, longitude, and altitude information of the antenna array by adding attitude sensors and GPS modules to the antenna array, and obtains the latitude, longitude, and altitude information of the flight equipment at different times by using the GPS module on the flight equipment. The relative position between the antenna array and the flight equipment is calculated based on the multi-source information obtained by these sensors. Compared with the existing methods that adjust 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 beam direction of the antenna array can be adjusted in real time based on the multi-source information fusion method of the present invention. 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, the future relative position change trend is estimated based on the current relative position information and the speed and heading angle of the flight equipment. The beam direction is adjusted in advance based on the predicted optimal beam direction for the next moment, thereby improving the accuracy, reliability, and real-time performance of beam tracking for highly dynamic moving targets.

[0043] (2) As a preferred option, considering errors and non-ideal factors in actual operation, such as sensor accuracy limitations or environmental interference, the phase shift matrix is ​​further optimized by using a convex optimization algorithm to maximize the received signal strength, received signal power, received signal strength indication (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) Preferably, a high-gain DMA array or smart metasurface is used as the antenna array, which can reduce the number of cell handovers caused by changes in user location, and reduce maintenance costs and energy consumption.

[0045] In summary, this invention achieves accurate 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, this invention can complete beam adjustment in a shorter time, reducing the number of cell handovers caused by changes in user location and further enhancing the user experience. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of an adaptive beam tracking method for flight equipment based on multi-source information fusion in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of a DMA communication system combining attitude sensor and GPS information in an embodiment of the present invention;

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

[0049] Figure 4 This is a schematic diagram of the attitude sensor in an embodiment of the present invention;

[0050] Figure 5 The figure shows the simulation results in an embodiment of the present invention. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can 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 acquire the attitude information of the antenna array, and the GPS module is used to acquire the latitude, longitude, and altitude of the antenna array. The antenna array can be 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 acquire the real-time latitude, longitude, altitude, and speed information of the flight equipment; the barometer is used to assist in altitude measurement.

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

[0055] S1. The latitude, longitude, altitude, and speed of the flight equipment at the current moment are obtained based on the GPS module mounted on the flight equipment in the sky; and the latitude, longitude, and altitude are fed back to the main control terminal of the antenna array on the ground through the data transmission link to ensure real-time performance.

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

[0057] S3. Input the relative position between the antenna array and the flight equipment at the current moment, the speed and heading angle of the flight equipment at the current moment into the dynamic model of the flight equipment to estimate the future position change trend and obtain the predicted relative position between the antenna array and the flight equipment 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 equipment at the next moment, calculate the optimal beam angle of the antenna array at the next moment, and adaptively adjust the phase shift matrix of the antenna array 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 equipment) to achieve beam tracking.

[0059] As a preferred option, considering errors and non-ideal factors in actual operation, such as sensor accuracy limitations or environmental interference, the following are also included:

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

[0061] In this embodiment of the invention, employing a high-gain DMA array or a smart metasurface can significantly reduce the number of cell handovers caused by changes in user location, thereby reducing the maintenance cost and energy consumption of the communication system. A schematic diagram of a DMA array is shown below. Figure 3 As shown, the DMA array consists of N*M array cells, and the symbol θ of each array cell is... nm (n = 1, 2, ..., N), (m = 1, 2, ..., M) represent the phase shifts of the array cells, which can be controlled by the master controller. The phase shift matrix θ of the DMA array is:

[0062]

[0063] θ nm ∈[0,2π)

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

[0065] In this embodiment of the invention, the attitude sensor part is as follows: Figure 4 As shown, the plane where the attitude sensor is located is taken as the XOY plane. The XOY plane of the attitude sensor is placed parallel to the DMA array. The attitude information acquired by the attitude sensor is represented by Euler angles, namely heading, pitch, and roll, and is calculated as follows:

[0066] Yaw angle heading (α): Rotation around the Z-axis (0° ≤ heading ≤ 360°). In this embodiment of the invention, 0° = North, 90° = East, 180° = South, 270° = West. Heading increases when rotating clockwise around the Z-axis.

[0067] Pitch (β): Rotates around the X-axis (-180°≤pitch≤180°). Pitch increases as the Z-axis moves along the Y-axis.

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

[0069] In this embodiment of the invention, prior to S1, the method further includes: calibrating sensors such as the attitude sensor, GPS module, and barometer of the antenna array, and calibrating sensors such as the GPS module and barometer mounted on the low-altitude user (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), and roll angle roll (ρ). The angles obtained by the attitude sensor are determined based on the antenna array's own coordinate system. The GPS module can accurately acquire the position information (including latitude, longitude, altitude, and speed of the flight equipment) of the antenna array and the flight equipment. The barometer is used to combine local meteorological data, such as standard atmospheric pressure and temperature, to assist in the altitude measurement of the antenna array and the flight equipment.

[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 the accelerometer sensor respectively. Then, use manual rotation or ellipse fitting to calibrate and eliminate interference from soft and hard iron in the magnetometer. Finally, obtain the heading, pitch, and roll of the attitude sensor. It is assumed that after calibration, the y-axis of the array's own coordinate system is parallel to the ground, then the value of roll(ρ) can be considered 0.

[0071] For barometers (if altitude information is obtained using this sensor): altitude can be calibrated according to a formula based on the local standard atmospheric pressure.

[0072] Calibrate other corresponding sensors following the steps described above.

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

[0074]

[0075] Δy′=r(θ a -θ g )

[0076] Δz'=z a -z g

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

[0078] As a preferred implementation, in S3, the dynamic model used to predict the relative position between the antenna array and the flight equipment at the next moment is as follows:

[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 predicted relative x-axis distance, relative y-axis distance, and relative altitude between the antenna array and the flight equipment at the next moment, respectively, used to characterize the relative positions between the antenna array and the flight equipment at the predicted next moment; Δt is the time required to calculate the corresponding phase shift matrix based on the current position information of the flight equipment (including latitude, longitude, and altitude), and is an empirical value; v x v y v zThe velocity components of the flight equipment in the x, y, and z axes, determined by its velocity and heading angle in the world coordinate system. In this embodiment of the invention, in the world coordinate system, 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 upwards. Since Δt is short, the flight equipment is considered to be moving at a uniform linear velocity, and the relative position between the antenna array and the flight equipment 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 equipment 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 communication, the Earth's curvature can be ignored when the relative distance between the sky and ground ends is small. In this embodiment of the invention, the origin of the world coordinate system is moved to the center of the array, 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 equipment relative to the antenna array, respectively, used to characterize the optimal beam angle of the antenna array; α and β are the yaw angle and pitch angle 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, when there is an error in the relative position calculated based on the data from each sensor, and the flight equipment is far from the antenna array, the magnitude of the error will not cause the flight equipment to fall outside the first null point of the beam under the phase shift matrix adjusted in the previous step. At this time, finding the optimal beam angle can be considered a convex optimization problem.

[0097] Convex optimization algorithms are used to optimize the phase shift matrix. 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 as: φ-Δφ≤φ≤φ+Δφ, ν-Δv≤v≤v+Δv, where Δφ and Δv are preset azimuth and elevation errors. The convex optimization algorithm can be a derivativeless optimization algorithm (such as the Nelder-Mead simplex method) or a random search algorithm, etc.

[0098] The method of the present invention will be further illustrated below with specific examples.

[0099] The communication system in this embodiment of the invention includes a low-altitude user (UAV) and a DMA array (as an access point), such as... Figure 2 As shown. The low-altitude user moves at a speed not exceeding 27 m / s, and its location is unknown; the specific structure of the DMA array is known. The DMA array has an attitude sensor and a GPS module. The low-altitude user terminal has a GPS module and can obtain its location information from the DMA array via data transmission or some other method. The attitude sensor's XOY plane is placed parallel to the DMA array. The DMA has a rectangular, uniformly distributed structure, as shown... Figure 3 As shown, the total number of antenna elements is N*M, with M rows and N columns. The horizontal spacing between 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: The Matlab 2019a simulation platform was used. The DMA array had 8 rows and 8 columns, with a total of 64 array cells. The row spacing and column spacing were both half the wavelength (λ / 2). The positions and attitudes of the user at the sky and the DMA array were set to be random. The distance between them was controlled to be no less than 500m, and the GPS and attitude sensor information obtained at the DMA array was supplemented with a certain random quantity to simulate the errors of the sensors and other equipment. The GPS error was set to ±10m (much larger than the error in the actual system).

[0101] Simulation results are as follows Figure 5 As shown, from Figure 5As can be seen, compared with the commonly used greedy algorithms, under the same conditions, the method in this embodiment of the invention can quickly align the beam with the user at the sky end, thereby rapidly increasing the signal strength.

[0102] This invention implements an adaptive beam tracking method in a wireless communication system constructed using a DMA array based on multi-source information fusion, thereby rapidly determining the beam direction and improving communication quality. In practical applications, the adaptive beam tracking method for flight equipment based on multi-source information fusion in this invention can be mounted on the main control end of the antenna array, i.e. Figure 2 The main controller shown is used to achieve real-time beam tracking.

[0103] Example 2

[0104] This invention provides an adaptive beam tracking system for flight equipment based on multi-source information fusion, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the adaptive beam tracking method for flight equipment based on multi-source information fusion in Embodiment 1 above.

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

[0106] Example 3

[0107] This invention provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the steps of the adaptive beam tracking method for flight equipment based on multi-source information fusion in Embodiment 1 above.

[0108] Specifically, the memory may include high-speed random access memory, as well as non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

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

[0110] Example 4

[0111] This invention provides a computer program product, including a computer program that, when run on a computer, causes the computer to execute the steps of the adaptive beam tracking method for flight equipment based on multi-source information fusion in Embodiment 1 above.

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

[0113] Those skilled in the art will readily understand 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 within the scope of protection of the present invention.

Claims

1. An adaptive beam tracking method for flight equipment based on multi-source information fusion, characterized in that, include: S1. Obtain the attitude information, latitude, longitude, and altitude of the ground-based antenna array; It also obtains the latitude, longitude, altitude, and speed of the flight equipment at the current moment; S2. Based on the latitude, longitude, and altitude of the antenna array, and the latitude, longitude, and altitude of the flight equipment at the current moment, calculate the relative position between the antenna array and the flight equipment at the current moment. S3. Input the relative position, the current speed and heading angle of the flight equipment into the dynamic model of the flight equipment to predict the relative position between the antenna array and the flight equipment at the next moment; S4. Based on the attitude information of the antenna array and the predicted relative position between the antenna array and the flight equipment 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 so that the antenna array beam points to the flight equipment, and return to S2 to achieve real-time beam tracking. In S2, the relative position between the antenna array and the flight equipment at the current moment is calculated as follows: in, , , These represent the components of the distance vector between the antenna array and the flight equipment at the current moment in the world coordinate system on the x, y, and z axes, respectively, and are used to characterize the relative position between the antenna array and the flight equipment at the current moment. The average radius of the Earth; , , These are the longitude, latitude, and altitude of the antenna array, respectively. , , These represent the longitude, latitude, and altitude of the flight equipment, respectively; where 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 perpendicular to the ground upwards, respectively; In S3, the dynamic model of the flight equipment is as follows: in, , , These represent the components of the distance vector between the antenna array and the flight equipment at the next predicted moment in the world coordinate system on the x, y, and z axes, respectively, and are used to characterize the relative positions between the antenna array and the flight equipment at the next predicted moment. , , These are the velocity components along the x, y, and z axes, determined in the world coordinate system based on the velocity and heading angle of the flight equipment. The time required to calculate the corresponding phase shift matrix based on the latitude, longitude, altitude, and speed of the flight equipment at the current moment; In S4, calculating the optimal beam angle of the antenna array at the next moment includes: Calculate the relative azimuth angle between the antenna array and the flight equipment at the next moment. and relative position pitch angle : The optimal beam angle of the antenna array at the next moment is: in, and These are the azimuth and elevation angles of the flight equipment relative to the antenna array, respectively, used to characterize the optimal beam angle of the antenna array; and Let yaw and pitch be the angles of the antenna array.

2. The adaptive beam tracking method for flight equipment according to claim 1, characterized in that, In S4, the phase shift of each array element in the phase shift matrix of the antenna array obtained based on the optimal beam angle adaptive adjustment is... for: in, The wavelength corresponding to the center frequency used for communication. n , m These represent the first and second phase shift matrices, respectively. n line, number m List, , , N , M These represent the number of rows and columns of the array elements of the antenna array, respectively. , These refer to the horizontal spacing and vertical spacing of the array units, respectively.

3. The adaptive beam tracking method for flight equipment according to claim 1 or 2, characterized in that, After obtaining the phase shift matrix of the antenna array, the method further includes: The phase shift matrix of the antenna array is optimized with the following optimization objectives: 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. The optimized phase shift matrix is ​​then obtained.

4. The adaptive beam tracking method for flight equipment according to claim 1 or 2, characterized in that, The altitude is calculated 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.

5. An antenna array main controller, characterized in that, The antenna array master controller is used to execute the adaptive beam tracking method for flight equipment as described in any one of claims 1-4.

6. An adaptive beam tracking system for flight equipment based on multi-source information fusion, characterized in that, include: Computer-readable storage media and processors; The computer-readable storage medium is used to store executable instructions; The processor is used to read executable instructions stored in the computer-readable storage medium and execute the adaptive beam tracking method for flight equipment according to any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the adaptive beam tracking method for flight equipment as described in any one of claims 1-4.

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