Satellite switching method and device and electronic equipment

Abstract

The invention provides a satellite switching method, a satellite switching device and electronic equipment, which can be applied to the technical field of satellite communication. Based on the method, when the user equipment needs to be switched from a source satellite to a target satellite, a first angle difference between the user equipment and the source satellite based on a first orbital plane and a second angle difference between the user equipment and the target satellite based on a second orbital plane can be firstly obtained; wherein the first orbital plane is an orbital plane where a source satellite is located, and the second orbital plane is an orbital plane where a target satellite is located; determining target switching time according to the first angle difference and the second angle difference; correspondingly, the user equipment switches from the source satellite to the target satellite based on the target switching time. By calculating and utilizing the angle difference based on the orbital plane, the related data processing process can be effectively simplified, and the corresponding switching time can be quickly and accurately determined, so that the satellite switching of the user equipment can be accurately and timely realized.

Description

Technical Field

[0001] This specification belongs to the field of satellite communication technology, and in particular to satellite switching methods, devices and electronic equipment. Background Art

[0002] In a satellite-based wireless communication scenario, a user equipment sometimes needs to be switched from one satellite to another to ensure that the user equipment can communicate normally.

[0003] However, based on existing methods, during the satellite switching process, it is mostly necessary to calculate and compare the distance between the user device and the satellite in real time. The entire data processing process is relatively cumbersome and complicated, and the amount of data processing involved is relatively large, which often makes it difficult to achieve satellite switching efficiently.

[0004] To address the above issues, no effective solutions have been proposed so far. Summary of the Invention

[0005] This specification provides a satellite switching method, device, and electronic device, which can effectively simplify the relevant data processing process, quickly and accurately determine the corresponding switching time, and thus accurately and timely implement satellite switching of user equipment.

[0006] This specification provides a satellite switching method, including:

[0007] Obtaining a first angle difference between the user equipment and the source star based on a first orbital plane, and a second angle difference between the user equipment and the target star based on a second orbital plane; wherein the first orbital plane is the orbital plane where the source star is located, and the second orbital plane is the orbital plane where the target star is located;

[0008] A target switching time is determined according to the first angle difference and the second angle difference; wherein the user equipment switches from the source satellite to the target satellite based on the target switching time.

[0009] In one embodiment, the first angle difference includes at least one of the following: an angle difference of latitude argument, an angle difference of true near angle, an angle difference of eccentric near angle, an angle difference of mean near angle, and an angle difference of perigee argument.

[0010] In one embodiment, obtaining a first angle difference between the user equipment and the source satellite based on the first orbital plane includes:

[0011] Obtaining the location information of the user equipment, the orbital parameters of the source satellite, and the ephemeris information of the source satellite;

[0012] Determining a first angle of the source satellite based on a first orbital plane according to the ephemeris information of the source satellite; determining the first angle of the user device based on the first orbital plane according to the position information of the user device and the orbital parameters of the source satellite;

[0013] A first angle difference between the user equipment and the source star based on the first orbital plane is determined according to the first angle of the user equipment and the first angle of the source star.

[0014] In one embodiment, determining the first angle of the user equipment based on the first orbital plane according to the location information of the user equipment and the orbital parameters of the source satellite includes:

[0015] Determining the initial location coordinates of the user equipment according to the location information of the user equipment;

[0016] Determining, according to the initial position coordinates of the user equipment and the orbital parameters of the source satellite, a first position coordinate of the user equipment based on a first orbital plane;

[0017] A first angle of the user equipment based on the first orbital plane is calculated according to the first position coordinates of the user equipment based on the first orbital plane.

[0018] In one embodiment, determining the target switching time according to the first angle difference and the second angle difference includes:

[0019] Determine the relationship type between the source star and the target star, as well as the out-of-orbit relationship coefficient between the source star and the target star;

[0020] According to the relationship type between the source star and the target star, the target switching time is determined using the different-orbit relationship coefficient, the first angle difference, and the second angle difference.

[0021] In one embodiment, determining the out-of-orbit relationship coefficient between the source star and the target star includes:

[0022] Acquire a first position coordinate of the user equipment based on the first orbital plane, and a second position coordinate of the user equipment based on the second orbital plane;

[0023] The out-of-orbit relationship coefficient between the source star and the target star is calculated according to the first position coordinate of the user equipment based on the first orbital plane and the second position coordinate of the user equipment based on the second orbital plane.

[0024] In one embodiment, the relationship type between the source star and the target star includes: a same-type different-orbit relationship, or a different-type different-orbit relationship.

[0025] In one embodiment, when the relationship type between the source star and the target star is a same-type, off-orbit relationship, determining the target switching time based on the relationship type between the source star and the target star using the off-orbit relationship coefficient, the first angle difference, and the second angle difference includes:

[0026] Obtaining a first angular velocity of the source star;

[0027] According to a first calculation rule, the target switching time is calculated using the first angular velocity of the source star, the different-orbit relationship coefficient, the first angle difference, and the second angle difference.

[0028] In one embodiment, calculating the target switching time according to a first calculation rule using the first angular velocity of the source star, the inter-orbit relationship coefficient, the first angle difference, and the second angle difference includes:

[0029]

[0030] Among them, Δ t is the target switching time, u A is the angular velocity of the source star, is the first angle difference, is the second angle difference, and s is the off-orbit relationship coefficient.

[0031] In one embodiment, when the relationship type between the source star and the target star is a heterogeneous hetero-orbital relationship, determining the target switching time based on the relationship type between the source star and the target star using the hetero-orbital relationship coefficient, the first angle difference, and the second angle difference includes:

[0032] Obtaining a first angular velocity of the source star, a second angular velocity of the target star, and a correction error;

[0033] According to a second calculation rule, the target switching time is calculated using the first angular velocity of the source star, the second angular velocity of the target star, the different-orbit relationship coefficient, and the correction error.

[0034] In one embodiment, calculating the target switching time according to the second calculation rule using the first angular velocity of the source star, the second angular velocity of the target star, the inter-orbit relationship coefficient, and the correction error includes:

[0035] According to the second calculation rule, the target switching time is calculated according to the following formula:

[0036]

[0037] Among them, Δ t is the target switching time, u A is the angular velocity of the source star, u B is the angular velocity of the target star, is the first angle difference, is the second angle difference, s is the coefficient of the orbital relationship, Δ c To correct the error.

[0038] In one embodiment, obtaining the correction error includes:

[0039] Acquire a first position coordinate of the user equipment based on a first orbital plane;

[0040] A correction error is calculated according to the first position coordinates of the user equipment based on the first track plane.

[0041] In one embodiment, the target satellite includes a plurality of candidate satellites, and the target switching time includes a plurality of candidate switching times.

[0042] In one embodiment, the method further comprises:

[0043] According to the multiple candidate switching times, a target satellite that meets the requirements is determined from the multiple candidate satellites; and the candidate switching time corresponding to the target satellite is determined as the target switching time.

[0044] This specification also provides a satellite switching device, including:

[0045] an acquisition module, configured to acquire a first angle difference between the user equipment and the source satellite based on a first orbital plane, and a second angle difference between the user equipment and the target satellite based on a second orbital plane; wherein the first orbital plane is the orbital plane where the source satellite is located, and the second orbital plane is the orbital plane where the target satellite is located;

[0046] A determination module is configured to determine a target switching time based on the first angle difference and the second angle difference; wherein the user equipment switches from the source satellite to the target satellite based on the target switching time.

[0047] This specification also provides an electronic device, including a processor and a memory for storing processor-executable instructions, wherein the processor implements the steps of the satellite switching method when executing the instructions.

[0048] This specification also provides a computer-readable storage medium having computer instructions stored thereon, which implement the steps of the satellite switching method when executed by a processor.

[0049] This specification also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the satellite switching method are implemented.

[0050] Based on the satellite switching method, device, and electronic device provided in this specification, when a user device needs to switch from a source satellite to a target satellite, the user device can first obtain a first angle difference between the source satellite and the user device based on a first orbital plane, and a second angle difference between the user device and the target satellite based on a second orbital plane; wherein the first orbital plane is the orbital plane where the source satellite is located, and the second orbital plane is the orbital plane where the target satellite is located; based on the first angle difference and the second angle difference, a target switching time is determined; accordingly, the user device can switch from the source satellite to the target satellite based on the target switching time. By calculating and utilizing the angle difference based on the orbital plane instead of directly calculating and using the instantaneous distance between the user device and the satellite, the relevant data processing process can be effectively simplified, and the corresponding switching time can be quickly and accurately determined at a relatively low processing cost, thereby enabling accurate and timely satellite switching of the user device. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of this specification, the following will briefly introduce the drawings required for use in the embodiments. The drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0052] Figure 1 is a flowchart of a satellite switching method provided by an embodiment of this specification;

[0053] Figure 2 This is a schematic diagram of an embodiment of a satellite switching method provided by an embodiment of this specification, in a scenario example;

[0054] Figure 3 This is a schematic diagram of an embodiment of a satellite switching method provided by an embodiment of this specification, in a scenario example;

[0055] Figure 4 This is a schematic diagram of an embodiment of a satellite switching method provided by an embodiment of this specification, in a scenario example;

[0056] Figure 5 This is a schematic diagram of an embodiment of a satellite switching method provided by an embodiment of this specification, in a scenario example;

[0057] Figure 6 This is a schematic diagram of an embodiment of a satellite switching method provided by an embodiment of this specification, in a scenario example;

[0058] Figure 7 This is a schematic diagram of the structure of an electronic device provided by an embodiment of this specification;

[0059] Figure 8This is a schematic diagram of the structure of a satellite switching device provided by an embodiment of this specification;

[0060] Figure 9 This is a schematic diagram of an embodiment of a satellite switching method provided by an embodiment of this specification, in a scenario example. DETAILED DESCRIPTION

[0061] To help those skilled in the art better understand the technical solutions in this specification, the following will provide a clear and complete description of the technical solutions in the embodiments of this specification, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. All other embodiments derived by those skilled in the art based on the embodiments in this specification without creative effort shall fall within the scope of protection of this specification.

[0062] It should be noted that the user-related information and data involved in the embodiments of this specification are all information and data authorized by the user or fully authorized by relevant parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users or relevant parties to choose to authorize or refuse.

[0063] It should also be noted that in the embodiments of this specification, certain software, components, models and other existing solutions in the industry may be mentioned. They should be regarded as exemplary and their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0064] See Figure 1 As shown, the embodiment of this specification provides a satellite switching method. Wherein, when the method is specifically implemented, it may include the following contents:

[0065] S101: Obtain a first angle difference between a user equipment and a source satellite based on a first orbital plane, and a second angle difference between the user equipment and a target satellite based on a second orbital plane; wherein the first orbital plane is the orbital plane where the source satellite is located, and the second orbital plane is the orbital plane where the target satellite is located;

[0066] S102: Determine a target switching time according to the first angle difference and the second angle difference; wherein the user equipment switches from the source satellite to the target satellite based on the target switching time.

[0067] Among them, see Figure 2As shown, the user equipment (hereinafter referred to as UE) can be specifically understood as a terminal device deployed on the user side and capable of accessing a satellite communication network. Specifically, for example, the user equipment can be a mobile phone, a tablet computer, a satellite phone, etc. It should be noted that the user equipment listed above is only an illustrative example. During implementation, depending on the specific application scenario and processing requirements, the user equipment can also be other types of electronic devices. This specification does not limit this.

[0068] The source satellite may be specifically understood as the satellite currently accessed by the user equipment (referred to as satellite A). The target satellite may be specifically understood as the satellite to which the user equipment will switch access in the future (referred to as satellite B).

[0069] Specifically, the source and target satellites can be resident satellites. A resident satellite can be understood as a satellite that remains in a specific orbital location or region for a long period of time to perform a specific mission. This satellite can typically operate stably at the target location for a long period of time to continuously provide services or monitor a specific area. Of course, it should be noted that the methods provided in this specification are also applicable to other types of satellites.

[0070] The above satellite switching method can be specifically applied to the user equipment side. The user equipment can calculate the target switching time from the source satellite to the target satellite based on the above satellite switching method, and automatically switch to access the target satellite at the target switching time.

[0071] The satellite handover method described above can also be applied to a satellite or a server of a satellite communication service platform. Accordingly, the satellite or server can calculate a target handover time for the user equipment based on the satellite handover method described above and send the target handover time to the user equipment, so that the user equipment can switch access from the source satellite to the target satellite in a timely manner.

[0072] The above-mentioned first orbital plane can be specifically understood as the orbital plane where the source star is located, and the above-mentioned second orbital plane can be specifically understood as the orbital plane where the target star is located.

[0073] The first angle difference may be specifically understood as the argument difference of the angle between the user device and the source satellite in the first orbital plane coordinate system based on the first orbital plane. The first angle difference between the user device and the source satellite based on the first orbital plane may specifically be the first angle difference between the user device and the source satellite currently based on the first orbital plane.

[0074] Similarly, the second angle difference can be specifically understood as the argument difference of the angle between the user device and the target satellite in the second orbital plane coordinate system based on the second orbital plane. The second angle difference between the user device and the target satellite based on the second orbital plane can specifically be the second angle difference between the user device and the target satellite currently based on the second orbital plane.

[0075] The target switching time may be specifically understood as a time point suitable for the user equipment to switch access from the original source satellite to the target satellite.

[0076] In specific implementation, the first angle difference and the second angle difference between the user device and the source satellite and the target satellite can be calculated and used instead of directly calculating and monitoring the real-time distances between the user device and the source satellite, and between the user device and the target satellite, to find the time point when the distance between the user device and the source satellite and the distance between the user device and the target satellite meet the specified numerical relationship, which is used as the target switching time for the user device to switch access from the source satellite to the target satellite.

[0077] The above-specified numerical relationship may be an equal relationship or a preset proportional relationship.

[0078] This eliminates the need for complex, tedious calculations to monitor the distances between the user device and the source satellite, and between the user device and the target satellite, during the entire data processing process. Instead, a relatively small amount of data, based on angle calculations, can be used to efficiently and conveniently determine the target handover time. This effectively simplifies the relevant data processing, enabling rapid and accurate prediction of handover times at relatively low data processing costs. This allows accurate and timely satellite handover of the user device based on this handover time.

[0079] In some embodiments, the first angle difference may specifically include at least one of the following: an angle difference of latitude argument, an angle difference of true near angle, an angle difference of eccentric near angle, an angle difference of mean near angle, an angle difference of perigee argument, etc.

[0080] Among them, the above-mentioned true anomaly can specifically refer to the angle swept by the vector from the perigee, with the focus of the ellipse as the vertex, to the position of the satellite on the elliptical orbit. The above-mentioned elliptic anomaly can specifically refer to the angle formed by the line connecting the perigee direction and the line perpendicular to the semi-major axis through the position of the satellite at the time of observation in the elliptical orbit, and extending the line perpendicular to the semi-major axis to intersect with the circular orbit with the center of the ellipse as the center and the semi-major axis of the ellipse as the radius. The above-mentioned mean anomaly can specifically refer to the angle formed by the line connecting the satellite and the earth and the perigee at the time of observation when the satellite moves on a circular orbit at an average angular velocity, the circular orbit is concentric with the elliptical orbit, and the orbital radius is equal to the length of the semi-major axis of the elliptical orbit. The above-mentioned argument of perigee can specifically refer to the angle from the ascending node to the closest distance of the orbiting celestial body to the focus observed at the focus of the elliptical orbit. The above-mentioned argument of latitude may specifically refer to the sum of the argument of perigee and the true perigee.

[0081] Of course, it should be noted that the first angle difference listed above is only an illustrative example. In specific implementation, the first angle difference may also include other types of angle differences depending on the specific situation and processing requirements. This specification does not limit this.

[0082] Correspondingly, the second angle difference is the same type of angle difference as the first angle difference.

[0083] For example, the first angle difference is the angle difference between the user device's current latitude argument based on the first orbital plane and the source satellite; correspondingly, the second angle difference is the angle difference between the user device's current latitude argument based on the second orbital plane and the target satellite.

[0084] This specification mainly uses the angle difference of latitude argument as an example for specific description. For other types of angle differences, reference can be made to the relevant embodiments of the angle difference of latitude argument. This specification does not elaborate on them in detail.

[0085] In some embodiments, before obtaining the first angle difference between the user equipment and the source star based on the first orbital plane, and the second angle difference between the user equipment and the target star based on the second orbital plane, the method may also include the following contents when implemented: judging whether the user equipment currently accessing the source star meets the switching conditions through a switching decision; when the user equipment meets the switching conditions, determining the target star to which the user equipment is to be switched through a star selection decision.

[0086] When making a specific switching decision, the ephemeris information of the source satellite currently accessed by the user equipment can be obtained to determine whether it is necessary to switch away from the source satellite and whether the switching conditions are met.

[0087] When making a specific star selection decision, you can first determine the alternative stars associated with the source star; obtain the location information of the user device (for example, the current location information of the user device), as well as the orbital parameters and ephemeris information of the alternative stars; and determine a target star suitable for the user device to switch access from the alternative stars based on the location information of the user device, as well as the orbital parameters and ephemeris information of the alternative stars.

[0088] In some embodiments, see Figure 3 As shown, the above-mentioned acquisition of the first angle difference between the user equipment and the source satellite based on the first orbital plane may include the following contents during specific implementation:

[0089] S1: Obtaining the location information of the user equipment, the orbit parameters of the source satellite, and the ephemeris information of the source satellite;

[0090] S2: determining a first angle of the source satellite based on a first orbital plane according to the ephemeris information of the source satellite; and determining the first angle of the user equipment based on the first orbital plane according to the position information of the user equipment and the orbital parameters of the source satellite.

[0091] S3: Determine a first angle difference between the user equipment and the source satellite based on the first orbital plane according to the first angle of the user equipment and the first angle of the source satellite.

[0092] The location information of the user equipment may specifically be the current location information of the user equipment, which may specifically include: latitude parameters, longitude parameters, geodetic height, etc.

[0093] In specific implementation, when the first angle difference includes the angle difference of the latitude argument, the first angle can be the latitude argument. Correspondingly, the second angle difference includes the angle difference of the latitude argument, and the second angle is the latitude argument.

[0094] In specific implementation, the location point of the user equipment can be projected into the first orbital plane coordinate system based on the first orbital plane according to the location information of the user equipment; then, the first angle of the user equipment and the first angle of the source satellite can be calculated respectively in the first orbital plane coordinate system.

[0095] Among them, the above-mentioned first orbital plane coordinate system can be a Cartesian coordinate system with the line between the center of the earth and the source star in the first orbital plane as the horizontal axis (for example, the X axis) and the normal perpendicular to the first orbital plane as the vertical axis (for example, the Z axis).

[0096] In specific implementation, the difference between the first angle of the user device and the current first angle of the source star can be subtracted to determine the first angle difference between the user device and the source star based on the first orbital plane, which can be recorded as

[0097] In a similar manner, the second angle difference between the user equipment and the target star based on the second orbital plane can be obtained and determined based on the position information of the user equipment, the orbital parameters of the target star, and the ephemeris information of the target star, which can be recorded as

[0098] In some embodiments, the above-mentioned determination of the first angle of the user equipment based on the first orbital plane based on the location information of the user equipment and the orbital parameters of the source satellite may include the following steps during implementation:

[0099] S1: Determine the initial location coordinates of the user equipment according to the location information of the user equipment;

[0100] S2: Determine, based on the initial position coordinates of the user equipment and the orbital parameters of the source satellite, a first position coordinate of the user equipment based on a first orbital plane;

[0101] S3: Calculate a first angle of the user equipment based on the first orbital plane according to the first position coordinates of the user equipment based on the first orbital plane.

[0102] The initial position coordinates may be position coordinates based on a latitude and longitude coordinate system.

[0103] For specific implementation, please refer to Figure 4 As shown, according to the first position coordinates of the user equipment and the orbital parameters of the source satellite, the position point of the user equipment is projected into the first orbital plane coordinate system through coordinate conversion, and the position coordinates based on the first orbital plane coordinates are determined as the first position coordinates of the user equipment, which can be expressed as: (x A，ue ,y A,ue ,z A，ue ).

[0104] In a similar manner as described above, the second angle of the user equipment based on the second orbital plane can be determined according to the current position information of the user equipment and the orbital parameters of the source satellite.

[0105] For details, see Figure 4 As shown in the figure, A represents the source satellite, B represents the target satellite, P represents the user equipment, and O represents the center of the earth. The projection point of the user equipment position in the first orbital plane (or the first projection point) can be recorded as M A The projection point of the user equipment's location in the second orbital plane (or second projection point) can be recorded as M B .

[0106] Correspondingly, the projection point M A The position coordinates in the first orbital plane coordinate system can be recorded as the first position coordinates of the user equipment based on the first orbital plane. B The position coordinates in the first orbital plane coordinate system may be recorded as first position coordinates of the user equipment based on the first orbital plane.

[0107] The above-mentioned method of determining the first position coordinates of the user device based on the first orbital plane according to the initial position coordinates of the user device and the orbital parameters of the source satellite may include: determining the intermediate position coordinates of the user device through celestial body conversion according to the initial position coordinates of the user device; and converting the intermediate position coordinates of the user device into the first orbital plane coordinate system according to the orbital parameters of the source satellite to obtain the first position coordinates of the user device.

[0108] The intermediate position coordinates may specifically include position coordinates based on the ECI coordinate system.

[0109] The above-mentioned ECI (Earth-Centered Inertial) coordinate system can be specifically understood as a coordinate system with the center of the earth as the origin, the base plane as the equatorial plane, and the coordinate axis direction fixed.

[0110] In specific implementation, the initial position coordinates of the user device can be converted to the ECEF coordinate system through celestial conversion to obtain auxiliary position coordinates based on the ECEF coordinate system; then the auxiliary position coordinates are converted to the ECI coordinate system to obtain the intermediate position coordinates of the user device.

[0111] Among them, the above-mentioned ECEF (Earth-Centered, Earth-Fixed) coordinate system can be specifically understood as an Earth-fixed coordinate system (also called Earth coordinate system) with the center of the earth as its origin.

[0112] During specific implementation, relevant information such as Greenwich mean time angle, source star inclination, perigee argument, ascending node right ascension, etc. can be obtained based on the orbital parameters of the source satellite; then the above relevant information is used to convert the intermediate position coordinates of the user device into the first orbital plane coordinate system to obtain the required first position coordinates of the user device.

[0113] In a similar manner as above, the second position coordinates of the user equipment based on the second orbital plane can be obtained, for example, it can be recorded as (x B,ue ,y b，ue ,z B，ue ).

[0114] In some embodiments, see Figure 5As shown, the target switching time is determined based on the first angle difference and the second angle difference. When implemented, the following may be included:

[0115] S1: Determine the relationship type between the source star and the target star, as well as the heterodox relationship coefficient between the source star and the target star;

[0116] S2: According to the relationship type between the source star and the target star, the target switching time is determined using the different-orbit relationship coefficient, the first angle difference, and the second angle difference.

[0117] The types of relationships between the source star and the target star may specifically include: a same-type hetero-orbital relationship, or a hetero-type hetero-orbital relationship.

[0118] The above-mentioned same-type heterogeneous orbit relationship may specifically refer to the source star and the target star having the same orbital radius and the same angular velocity. The above-mentioned heterogeneous heterogeneous orbit relationship may specifically refer to the source star and the target star having different orbital radii and different angular velocities.

[0119] The above-mentioned off-orbit relationship coefficient (which can be denoted as s) can be specifically used to characterize the degree of influence of the latitude radius of the source satellite and the target satellite and the projection module length of the user equipment on the distance of the user equipment from the above-mentioned satellites during switching.

[0120] Based on the above embodiment, the required target switching time can be determined more efficiently by distinguishing different relationship types between the source star and the target star.

[0121] In some embodiments, the above-mentioned determination of the cross-orbit relationship coefficient between the source star and the target star may include the following steps when specifically implemented:

[0122] S1: Acquire a first position coordinate of the user equipment based on a first track plane, and a second position coordinate of the user equipment based on a second track plane;

[0123] S2: Calculate the out-of-orbit relationship coefficient between the source star and the target star according to the first position coordinate of the user equipment based on the first orbital plane and the second position coordinate of the user equipment based on the second orbital plane.

[0124] Specifically, the off-track relationship coefficient can be calculated according to the following formula:

[0125]

[0126] Among them, s is the heterodox relationship coefficient, R A is the orbital radius of the first orbital surface, R B is the orbital radius of the second orbital surface, x A，ue 、y A，ue is the horizontal coordinate and vertical coordinate of the first position coordinate of the user equipment, xB，ue 、y B，ue are the horizontal coordinate and the vertical coordinate of the second position coordinate of the user equipment.

[0127] In some embodiments, when the relationship type between the source star and the target star is a similar inter-orbital relationship, the target switching time is determined based on the relationship type between the source star and the target star using the inter-orbital relationship coefficient, the first angle difference, and the second angle difference. Specifically, the following may be included in the implementation:

[0128] S1: Obtaining the first angular velocity of the source star;

[0129] S2: Calculate the target switching time according to a first calculation rule using the first angular velocity of the source star, the different-orbit relationship coefficient, the first angle difference, and the second angle difference.

[0130] The first calculation rule may specifically include a calculation formula for the switching time of the same type of off-track relationship. The determination of the first calculation rule will be described in detail later.

[0131] In a specific implementation, the target switching time is calculated according to the first calculation rule using the first angular velocity of the source star, the different-orbit relationship coefficient, the first angle difference, and the second angle difference, which may include:

[0132] According to the first calculation rule, the target switching time is calculated according to the following formula:

[0133]

[0134] Among them, Δ t is the target switching time, u A is the angular velocity of the source star, is the first angle difference, is the second angle difference, and s is the off-orbit relationship coefficient.

[0135] Based on the above embodiment, for the same type of off-track relationship, the first calculation rule can be used to efficiently and accurately determine the corresponding target switching time.

[0136] In some embodiments, when the relationship type between the source star and the target star is a heterogeneous hetero-orbital relationship, the target switching time is determined based on the relationship type between the source star and the target star using the hetero-orbital relationship coefficient, the first angle difference, and the second angle difference. Specifically, the following may be included in the implementation:

[0137] S1: Obtain a first angular velocity of the source star, a second angular velocity of the target star, and correct an error;

[0138] S2: Calculate the target switching time according to a second calculation rule using the first angular velocity of the source star, the second angular velocity of the target star, the inter-orbit relationship coefficient, and the correction error.

[0139] The second calculation rule may specifically include a calculation formula for the switching time of heterogeneous and heterogeneous track relationships. The determination of the second calculation rule will be described in detail later.

[0140] In a specific implementation, the target switching time is calculated according to the second calculation rule using the first angular velocity of the source star, the second angular velocity of the target star, the inter-orbit relationship coefficient, and the correction error, which may include:

[0141] According to the second calculation rule, the target switching time is calculated according to the following formula:

[0142]

[0143] Among them, Δ t is the target switching time, u A is the angular velocity of the source star, u B is the angular velocity of the target star, is the first angle difference, is the second angle difference, s is the coefficient of the orbital relationship, Δ c To correct the error.

[0144] Based on the above embodiment, for heterogeneous and heterogeneous track relationships, the second calculation rule can be used to efficiently and accurately determine the corresponding target switching time.

[0145] In some embodiments, the above-mentioned obtaining of the correction error may include the following steps when implemented:

[0146] S1: Obtaining a first position coordinate of the user equipment based on a first track plane;

[0147] S2: Calculate a correction error according to the first position coordinates of the user equipment based on the first orbital plane.

[0148] In specific implementation, the correction error can be calculated according to the following formula:

[0149]

[0150] Among them, Δ c is the correction error, R A is the orbital radius of the first orbital surface, R B is the orbital radius of the second orbital surface, x A,ue 、y A,ue are the horizontal coordinate and the vertical coordinate in the first position coordinate of the user equipment.

[0151] In some embodiments, after determining the target switching time, the method may also include the following content when implemented: the user equipment starts timing from the current time, and when it monitors that the accumulated time reaches the target switching time, it disengages from the source satellite and switches to the target satellite to perform specific satellite switching operations.

[0152] In some embodiments, the target satellite may further include multiple candidate satellites, for example, candidate satellite 1, candidate satellite 2, candidate satellite 3, etc.;

[0153] Accordingly, the target switching time includes multiple candidate switching times, for example, candidate switching time 1, candidate switching time 2, candidate switching time 3, etc.

[0154] In specific implementation, the method may further include the following contents:

[0155] According to the multiple candidate switching times, a target satellite that meets the requirements is determined from the multiple candidate satellites; and the candidate switching time corresponding to the target satellite is determined as the target switching time.

[0156] Specifically, for example, according to the candidate switching time, the candidate satellite whose candidate time is closest to the current one can be screened out as the target satellite that meets the requirements; and the candidate switching time corresponding to the target satellite is determined as the target switching time.

[0157] For another example, one or more candidate satellites whose time from the current time is less than a preset time threshold can be selected from multiple candidate satellites based on the candidate time, as preferred satellites. A preferred satellite can then be randomly selected from the preferred satellites as a target satellite that meets the requirements. The preset time threshold can be set based on the user equipment's device performance and communication requirements.

[0158] In addition, the current connection status of multiple candidate satellites can be obtained; and according to the current connection status, a candidate satellite that is currently in an idle state can be screened out from the multiple candidate satellites as a target satellite that meets the requirements.

[0159] In some embodiments, before specific implementation, the location point of the user device can be projected onto the first orbital plane and the second orbital plane respectively based on the location information of the user device to obtain corresponding first projection points and second projection points; then, based on the first projection point, the second projection point, and the positional relationship between the center of the earth, the source star, and the target star based on the first orbital plane coordinate system and the second orbital plane coordinates, a target relationship formula is constructed so that the distance between the user device and the source star and the distance between the user device and the target star satisfy the specified numerical relationship; then, deduction and optimization are performed based on the target relationship formula to obtain a target calculation relationship formula that can calculate the matching switching time based on the first angle difference and the second angle difference as the corresponding target calculation rule.

[0160] Furthermore, different relationship types between the source star and the target star can be distinguished, and the above calculation relationship formula can be optimized for different relationship types according to the data characteristics under different relationship types, so as to obtain improved calculation relationship formulas for different relationship types as the first calculation rule and the second calculation rule.

[0161] In some embodiments, see Figure 4 and Figure 6 As shown, the first calculation rule and the second calculation rule can be determined in the following manner.

[0162] For details, please read Figure 4 , where P represents the user equipment, A represents the source satellite, B represents the target satellite, O represents the center of the earth, and M A represents the first projection point of P on the first orbital plane, M B Represents the second projection point of P on the second orbital plane.

[0163] Consider the distance between the user equipment and the source satellite (for example, ), the distance between the user equipment and the target satellite (e.g., ) satisfies the specified numerical relationship (for example, an equality relationship), the switching execution condition is met and the source star can be switched to the target star.

[0164] Therefore, we can first construct the following target relationship:

[0165] According to the trigonometric function relationship, the above target relationship can be simplified to the following first relationship:

[0166]

[0167] Where, Δ represents the first intermediate data, R A is the orbital radius of the first orbital surface, R B is the orbital radius of the second orbital surface.

[0168] See Figure 5 As shown in the figure, for any satellite S (which can be source satellite A or target satellite B), the projection point of the user equipment on the orbital plane of the satellite is M. The cosine values ​​of the angles ∠SOP, ∠SOM, and ∠MOP with the center of the earth O as the common vertex satisfy the following relationship:

[0169]

[0170] Substituting the above relationship into the first equation, we get the corresponding second equation:

[0171]

[0172] Considering that, in the second relation, M A is the projection point of P in the first orbital plane, so, The value is equal to the vertical axis coordinate of the first position coordinate of the user equipment based on the first orbital plane coordinate system, that is, equal to z A,ue .akin, The value is equal to the vertical axis coordinate of the second position coordinate of the user equipment based on the second orbital plane coordinate system, that is, equal to z B，ue .at the same time, It can be regarded as the orbital radius of the first orbital plane (or the orbital radius of the source star), which is equal to R A ; It can be regarded as the orbital radius of the second orbital plane (or the orbital radius of the target star), which is equal to R B .

[0173] Based on the above considerations, the above second relationship can be further derived to obtain the following third relationship:

[0174]

[0175] For further information, see Figure 5 As shown, assuming that the Δ t Time is the optimal switching execution time (ie, target switching time). Accordingly, Δ t The time of the user equipment is based on the angle difference between the orbital plane and the satellite S (that is, the angle between the projection point of the user equipment in the orbital plane and the satellite):

[0176] ∠SOM=Φ(t0)-Φ ue+u ·Δ t .

[0177] Among them, ∠SOM is the Δ after the current time t The time user equipment is based on the angle difference between the satellite orbital plane and the satellite, Φ(t0) is the current angle of satellite S based on the satellite orbital plane (for example, latitude angle), u is the angular velocity of satellite S, Φ ue For user equipment Δ t The time is based on the angle of the satellite orbital plane.

[0178] Specifically, considering that Δ t is a short time after the current time. The angle change of the user equipment on the ground in this short time is a very small value relative to the angle change of the satellite, which can be ignored. Therefore, in order to simplify the calculation, the Φ ue The current (t0) angle of the user equipment based on the satellite orbital plane may be used.

[0179] Based on the above relationship, we can express Δ in the third relationship respectively. t The time user equipment is based on the angular difference between the first orbital plane and the source satellite, and Δ t The time of the user device is based on the angular difference between the second orbital plane and the target satellite:

[0180] ∠AOM A =Φ A (t0)-Φ A，ue +u A ·Δ t

[0181] ∠BOM B =Φ B (t0)-Φ B，ue +u B ·Δ t

[0182] Among them, Φ A (t0) is the first angle of the source star based on the first orbital plane, Φ A，ue is the first angle of the user equipment based on the first orbital plane, u A is the angular velocity of the source star; Φ B (t0) is the second angle of the target star based on the second orbital plane, Φ B，ue is the second angle of the user equipment based on the second orbital plane, u B is the angular velocity of the target star.

[0183] Furthermore, the following expressions for the first angle difference between the user equipment and the source satellite based on the first orbital plane and the second angle difference between the user equipment and the target satellite based on the second orbital plane can be obtained:

[0184]

[0185] in, is the first angle difference between the user equipment and the source satellite based on the first orbital plane. The second angular difference between the user equipment and the target satellite is based on the second orbital plane.

[0186] Next, the above angle difference data can be substituted into the third relational equation and sorted to obtain the corresponding fourth relational equation:

[0187]

[0188] Furthermore, the fourth relational expression mentioned above can be used as a target relational expression to obtain a target calculation rule based on the angle level that does not need to directly rely on the distance.

[0189] Based on the above target calculation rules, it is only necessary to calculate and substitute the first angle difference between the user device and the source satellite based on the first orbital plane, and the second angle difference between the user device and the target satellite based on the second orbital plane; then based on the above target calculation rules, with a small amount of data processing, solve Δ t , the corresponding target switching time can be determined efficiently and accurately.

[0190] In specific implementation, the influence of the latitude radius of the source and target satellites and the projection module length of the user equipment on the distance of the user equipment from the above satellites during switching can also be considered to construct the corresponding different-orbit relationship coefficient:

[0191]

[0192] Among them, s is the heterodox relationship coefficient, R A is the orbital radius of the first orbital surface, R B is the orbital radius of the second orbital surface, x A，ue 、y A，ue is the horizontal coordinate and vertical coordinate of the first position coordinate of the user equipment, x B，ue 、y B，ue are the horizontal coordinate and the vertical coordinate of the second position coordinate of the user equipment.

[0193] Furthermore, the above-mentioned inter-orbital relationship coefficient is used to distinguish different relationship types between the source star and the target star, such as heterogeneous inter-orbital relationships and homogeneous inter-orbital relationships. According to the data characteristics of different relationship types, the above-mentioned target relationship formula is optimized and solved in a targeted manner to obtain the first switching rule and the second switching rule for solving the target switching time for homogeneous inter-orbital relationships and heterogeneous inter-orbital relationships, respectively.

[0194] 1) For the same type of heterogeneous orbits, consider that the orbital radius of source star A and target star B are the same, and the angular velocity is the same, that is, R A =R B , and u A =u B Substituting the above relationship into the target relationship and solving for the switching time, we can obtain the following relationship between the first angle difference and the second angle difference:

[0195]

[0196] Among them, Δ t is the target switching time, u A is the angular velocity of the source star, is the first angle difference, is the second angle difference, and s is the off-orbit relationship coefficient.

[0197] Accordingly, the above relationship can be determined as the first calculation rule corresponding to the same type of off-track type.

[0198] 2) For heterogeneous orbits, consider that the source star A and the target star B have different orbital radii and angular velocities. The switching time is solved directly based on the target relationship, and corresponding optimization and improvement are performed during the solution process. The following relationship between the first angle difference and the second angle difference can be obtained:

[0199]

[0200] Among them, Δ t is the target switching time, u A is the angular velocity of the source star, u B is the angular velocity of the target star, is the first angle difference, is the second angle difference, s is the coefficient of the orbital relationship, Δ c To correct the error.

[0201] Accordingly, the above relationship can be determined as the second calculation rule corresponding to the heterogeneous and hetero-track types.

[0202] The above correction error can be calculated according to the following formula:

[0203]

[0204] Among them, Δ c is the correction error, R A is the orbital radius of the first orbital surface, R B is the orbital radius of the second orbital surface, x A,ue 、y A，ue are the horizontal coordinate and the vertical coordinate in the first position coordinate of the user equipment.

[0205] As can be seen from the above, based on the satellite switching method provided in the embodiments of this specification, when a user device needs to switch from a source satellite to a target satellite, the user device can first obtain a first angle difference between the source satellite and the user device based on a first orbital plane, and a second angle difference between the user device and the target satellite based on a second orbital plane; wherein the first orbital plane is the orbital plane where the source satellite is located, and the second orbital plane is the orbital plane where the target satellite is located; based on the first angle difference and the second angle difference, a target switching time is determined; wherein the user device switches from the source satellite to the target satellite based on the target switching time. By calculating and utilizing the angle difference based on the orbital plane, the relevant data processing process can be effectively simplified, and the corresponding switching time can be quickly and accurately determined at a relatively low processing cost, thereby enabling accurate and timely satellite switching of the user device.

[0206] The embodiment of this specification provides an electronic device, referring to Figure 7The electronic device includes a network communication port 701, a processor 702, and a memory 703, and the above structures are connected through internal cables so that each structure can perform specific data interaction.

[0207] Among them, the network communication port 701 can be specifically used to obtain a first angle difference between the user device and the source star based on a first orbital plane, and a second angle difference between the user device and the target star based on a second orbital plane; wherein, the first orbital plane is the orbital plane where the source star is located, and the second orbital plane is the orbital plane where the target star is located.

[0208] The processor 702 may be specifically configured to determine a target switching time according to the first angle difference and the second angle difference; wherein the user equipment switches from the source satellite to the target satellite based on the target switching time.

[0209] The memory 703 may be specifically used to store corresponding instruction programs, as well as intermediate data such as the first angle difference and the second angle difference.

[0210] Based on the above method, the relevant structural performance of the electronic equipment can be effectively utilized, the data processing speed of the electronic equipment can be improved, and the data processing of satellite switching can be efficiently realized.

[0211] In this embodiment, the network communication port 701 can be a virtual port that is bound to different communication protocols, thereby being capable of sending or receiving different data. For example, the network communication port can be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for email data communication. Furthermore, the network communication port can also be a physical communication interface or communication chip. For example, it can be a wireless mobile network communication chip, such as GSM or CDMA; it can also be a Wi-Fi chip; or it can be a Bluetooth chip.

[0212] In this embodiment, the processor 702 may be implemented in any suitable manner. For example, the processor may take the form of a microprocessor or a processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, an embedded microcontroller, etc. This specification is not intended to limit this.

[0213] In this embodiment, the memory 703 may include multiple levels. In a digital system, anything that can store binary data can be a memory. In an integrated circuit, a circuit with a storage function that does not have a physical form is also called a memory, such as RAM, FIFO, etc. In a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0214] An embodiment of this specification also provides a computer-readable storage medium based on the above-mentioned satellite switching method, wherein the computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the following steps are implemented: obtaining a first angle difference between the user device and the source star based on a first orbital plane, and a second angle difference between the user device and the target star based on a second orbital plane; wherein the first orbital plane is the orbital plane where the source star is located, and the second orbital plane is the orbital plane where the target star is located; determining a target switching time based on the first angle difference and the second angle difference; wherein the user device switches from the source star to the target star based on the target switching time.

[0215] In this embodiment, the storage medium includes, but is not limited to, random access memory (RAM), read-only memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured in accordance with the standards specified by the communication protocol for network connection communication.

[0216] In this embodiment, the functions and effects specifically implemented by the program instructions stored in the computer-readable storage medium can be explained in comparison with other implementations and will not be repeated here.

[0217] An embodiment of the present specification also provides a computer program product, comprising at least a computer program, which implements the following method steps when executed by a processor: obtaining a first angle difference between a user device and a source star based on a first orbital plane, and a second angle difference between the user device and a target star based on a second orbital plane; wherein the first orbital plane is the orbital plane where the source star is located, and the second orbital plane is the orbital plane where the target star is located; determining a target switching time based on the first angle difference and the second angle difference; wherein the user device switches from the source star to the target star based on the target switching time.

[0218] See Figure 8 As shown, the embodiment of this specification also provides a satellite switching device, which may specifically include the following structural modules:

[0219] The acquisition module 801 may be specifically configured to acquire a first angle difference between a user equipment and a source satellite based on a first orbital plane, and a second angle difference between the user equipment and a target satellite based on a second orbital plane; wherein the first orbital plane is the orbital plane where the source satellite is located, and the second orbital plane is the orbital plane where the target satellite is located;

[0220] The determination module 802 may be specifically configured to determine a target switching time according to the first angle difference and the second angle difference; wherein the user equipment switches from the source satellite to the target satellite based on the target switching time.

[0221] In some embodiments, the first angle difference may specifically include at least one of the following: an angle difference of latitude argument, an angle difference of true near angle, an angle difference of eccentric near angle, an angle difference of mean near angle, an angle difference of perigee argument, etc.

[0222] In some embodiments, when the above-mentioned acquisition module 801 is implemented, the first angle difference between the user device based on the first orbital plane and the source star can be obtained in the following manner: obtain the position information of the user device, the orbital parameters of the source star, and the ephemeris information of the source star; determine the first angle of the source star based on the first orbital plane based on the position information of the user device and the orbital parameters of the source star; determine the first angle difference between the user device based on the first orbital plane and the source star based on the first angle of the user device and the first angle of the source star.

[0223] In some embodiments, when the above-mentioned acquisition module 801 is implemented, the first angle of the user device based on the first orbital plane can be determined according to the position information of the user device and the orbital parameters of the source satellite in the following manner: the initial position coordinates of the user device are determined according to the position information of the user device; the first position coordinates of the user device based on the first orbital plane are determined according to the initial position coordinates of the user device and the orbital parameters of the source satellite; the first angle of the user device based on the first orbital plane is calculated according to the first position coordinates of the user device based on the first orbital plane.

[0224] In some embodiments, when the above-mentioned determination module 802 is implemented, the target switching time can be determined according to the first angle difference and the second angle difference in the following manner: determine the relationship type between the source star and the target star, and the off-orbit relationship coefficient between the source star and the target star; according to the relationship type between the source star and the target star, use the off-orbit relationship coefficient, the first angle difference and the second angle difference to determine the target switching time.

[0225] In some embodiments, when the above-mentioned determination module 802 is specifically implemented, the off-orbit relationship coefficient between the source star and the target star can be determined in the following manner: obtaining the first position coordinates of the user device based on the first orbital plane and the second position coordinates of the user device based on the second orbital plane; and calculating the off-orbit relationship coefficient between the source star and the target star according to the first position coordinates of the user device based on the first orbital plane and the second position coordinates of the user device based on the second orbital plane.

[0226] In some embodiments, the relationship type between the source star and the target star may specifically include: a same-type different-orbit relationship, or a different-type different-orbit relationship, etc.

[0227] In some embodiments, when the relationship type between the source star and the target star is a same-type heterodox relationship, when the above-mentioned determination module 802 is specifically implemented, the target switching time can be determined according to the relationship type between the source star and the target star using the heterodox relationship coefficient, the first angle difference, and the second angle difference in the following manner: obtaining the first angular velocity of the source star; and calculating the target switching time according to a first calculation rule using the first angular velocity of the source star, the heterodox relationship coefficient, the first angle difference, and the second angle difference.

[0228] In some embodiments, when the determination module 802 is implemented, the target switching time may be calculated according to the first calculation rule using the first angular velocity of the source satellite, the inter-orbit relationship coefficient, the first angle difference, and the second angle difference in the following manner:

[0229]

[0230] Among them, Δ t is the target switching time, u A is the angular velocity of the source star, is the first angle difference, is the second angle difference, and s is the off-orbit relationship coefficient.

[0231] In some embodiments, when the relationship type between the source star and the target star is a heterogeneous hetero-orbital relationship, when the above-mentioned determination module 802 is specifically implemented, the target switching time can be determined according to the relationship type between the source star and the target star using the hetero-orbital relationship coefficient, the first angle difference and the second angle difference in the following manner: obtain the first angular velocity of the source star, the second angular velocity of the target star, and the correction error; and calculate the target switching time according to the second calculation rule using the first angular velocity of the source star, the second angular velocity of the target star, the hetero-orbital relationship coefficient and the correction error.

[0232] In some embodiments, when the determination module 802 is implemented, the target switching time may be calculated according to the second calculation rule using the first angular velocity of the source satellite, the second angular velocity of the target satellite, the inter-orbit relationship coefficient, and the correction error in the following manner:

[0233]

[0234] Among them, Δ t is the target switching time, u A is the angular velocity of the source star, u B is the angular velocity of the target star, is the first angle difference, is the second angle difference, s is the coefficient of the orbital relationship, Δ c To correct the error.

[0235] In some embodiments, when the above-mentioned determination module 802 is specifically implemented, the correction error can be obtained in the following manner: obtaining the first position coordinates of the user equipment based on the first orbital plane; and calculating the correction error according to the first position coordinates of the user equipment based on the first orbital plane.

[0236] In some embodiments, the target satellite may specifically include multiple candidate satellites; correspondingly, the target switching time may specifically include multiple candidate switching times.

[0237] In some embodiments, when the device is specifically implemented, it can also be used to: determine a target satellite that meets the requirements from the multiple candidate satellites based on the multiple candidate switching times; and determine the candidate switching time corresponding to the target satellite as the target switching time.

[0238] It should be noted that the units, devices or modules described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described in terms of functions and are divided into various modules and described separately. Of course, when implementing this specification, the functions of each module can be implemented in the same or multiple software and / or hardware, or the module that implements the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0239] As can be seen from the above, based on the satellite switching device provided in the embodiment of this specification, when the user equipment needs to switch from the source satellite to the target satellite, the first angle difference between the user equipment and the source satellite based on the first orbital plane, and the second angle difference between the user equipment and the target satellite based on the second orbital plane can be obtained first; wherein the first orbital plane is the orbital plane where the source satellite is located, and the second orbital plane is the orbital plane where the target satellite is located; based on the first angle difference and the second angle difference, the target switching time is determined; wherein the user equipment switches from the source satellite to the target satellite based on the target switching time. By calculating and utilizing the angle difference based on the orbital plane, the relevant data processing process can be effectively simplified, and the corresponding switching time can be quickly and accurately determined with a relatively small processing cost, thereby accurately and timely realizing the satellite switching of the user equipment.

[0240] In a specific scenario example, the satellite switching method provided in this specification can be used to implement switching between different orbits. Figure 9 As shown, including the following.

[0241] In this scenario example, you can first obtain the latitude B, longitude L, and geodetic height H (current location information of the user equipment) of the UE (user equipment or terminal); then, through celestial body conversion, obtain the ECEF coordinates of the UE, and then convert them to ECI coordinates; then, through the ECI coordinates, use Greenwich mean time angle, low-orbit satellite inclination, perigee argument, ascending node right ascension and other parameter information to convert the ECI coordinates into orbital plane coordinates (for example, a first position coordinate based on a first orbital plane, a second position coordinate based on a second orbital plane).

[0242] In this scenario, when calculating the UE's orbital coordinates at any time, the reference coordinate system is a Cartesian coordinate system with the X-axis in the direction of the Earth's center-ascending node and the Z-axis in the normal direction of the orbital plane. The coordinates of the UE in this orbital coordinate system can be expressed as (x ue ,y ue ,z ue ).

[0243] See Figure 4 As shown, let point A be the source star, point B be the target star, point P be the UE, point O be the center of the earth, and M A is the projection of point P on the orbital plane of satellite A (for example, the first projection point in the first orbital plane), M B is the projection of point P on the orbital plane of satellite B (for example, the second projection point in the second orbital plane), let t0 be the current reference time, u A 、u B are the angular velocities of satellites A and B, Φ A (t0),Φ B (t0) are the latitude arguments of satellites A and B respectively.

[0244] Obtain and use the orbital parameters of the source star A, combined with the ECEF coordinates of the terminal, to calculate the coordinates of the terminal in the orbital coordinate system of A. At the same time, obtain and use the orbital parameters of the target star B, combined with the ECEF coordinates of the terminal, to calculate the coordinates of the terminal in the orbital coordinate system of B.

[0245] Specifically, the projection coordinates of UE on the orbital plane coordinate systems of source satellite A and target satellite B can be expressed as: (x A，ue ,y A，ue ,z A，ue )、(x B，ue ,y B,ue ,z B,ue ), then at the time Δ t Seconds is the optimal switching time (target switching time), at which time the distance between the source satellite A and the terminal P is equal to the distance between the target satellite B and the terminal. t Seconds ago, the source star A was closer to the terminal P, at Δ t Seconds later, the target satellite is closer to terminal P. However, instead of directly calculating the distance at each moment for comparison, the angle difference relationship over a certain period of time is calculated as a disguised prediction. In other words, the switching time can be determined by determining the orbital relationship between satellites A and B based on the angle.

[0246] In a specific implementation, in the respective satellite orbit coordinate systems, the difference between the satellite latitude argument and the terminal argument (for example, the first angle difference and the second angle difference) is:

[0247]

[0248] The switching prediction time is determined by the satellite latitude argument, orbit radius, satellite angular velocity, and the projection coordinates of the terminal on the satellite orbit plane coordinate system. That is, the relationship between A, B, and P must satisfy the following formula (target relationship):

[0249]

[0250] There are many ways to calculate the switching time relationship. The following is a feasible solution. The off-track relationship coefficient s can be calculated as follows:

[0251]

[0252] In addition, the relationship type between source star A and target star B can be distinguished to perform more efficient and targeted calculations.

[0253] Source satellite A and target satellite B are in a similar orbital relationship. If satellite B is in a similar orbital relationship with satellite A, the orbital radii of A and B can be considered equal, and the angular velocities are equal and expressed as u. The predicted switching time can be solved by the following formula (the first calculation rule):

[0254]

[0255] Source satellite A and target satellite B are in a different orbit relationship. If satellite B and satellite A are in different orbits, the predicted switching time solution can be calculated as follows (second calculation rule):

[0256]

[0257] Among them, the off-track relationship coefficient s and the correction error Δc are calculated according to the following formula:

[0258]

[0259] In the above scenario example, rather than directly calculating the distance relationship between source satellite A, target satellite B, and terminal P at each moment, we project each onto the orbital plane coordinate system to obtain the latitude argument relationship, thereby determining the optimal switching time. While latitude argument is directly predictable at any moment within a timeframe, distance is not. Distance requires more complex calculations of multiple parameters and coordinate system matrix transformations, requiring numerous calculations and requiring high engineering resource consumption. Therefore, this solution allows for precise prediction of inter-satellite switching times, simplifies calculations, and reduces engineering resource consumption, effectively reducing data processing costs and improving overall processing efficiency.

[0260] Although this specification provides the method operation steps as described in the embodiments or flow charts, more or fewer operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the device or client product in practice is executed, it can be executed in sequence or in parallel according to the method shown in the embodiments or the drawings (for example, a parallel processor or a multi-threaded processing environment, or even a distributed data processing environment). The term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, product or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, product or device. In the absence of more restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. Words such as first and second are used to represent names and do not represent any particular order.

[0261] Those skilled in the art will also appreciate that, in addition to implementing the controller in pure computer-readable program code, it is entirely possible to implement the same functionality by logically programming the method steps in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, and the like. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered structures within the hardware component. Alternatively, the devices for implementing various functions can be considered both software modules implementing the method and structures within the hardware component.

[0262] This specification may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, and the like that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in local and remote computer-readable storage media, including storage devices.

[0263] Through the description of the above embodiments, it can be seen that those skilled in the art can clearly understand that this specification can be implemented by means of software plus the necessary general hardware platform. Based on this understanding, the technical solution of this specification can essentially be embodied in the form of a software product. This computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of this specification.

[0264] The various embodiments in this specification are described in a progressive manner. References to the common or similar parts of the various embodiments are sufficient. Each embodiment focuses on the differences from the other embodiments. This specification can be used in a variety of general-purpose or specialized computer system environments or configurations. For example, personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, and distributed computing environments that include any of the above systems or devices.

[0265] Although the present specification is described through embodiments, those skilled in the art will appreciate that there are many modifications and variations to the present specification without departing from the spirit of the present specification. It is intended that the appended claims include these modifications and variations without departing from the spirit of the present specification.

Claims

1. A satellite switching method, characterized in that: include: Obtaining a first angle difference between the user equipment and the source star based on a first orbital plane, and a second angle difference between the user equipment and the target star based on a second orbital plane; wherein the first orbital plane is the orbital plane where the source star is located, and the second orbital plane is the orbital plane where the target star is located; A target switching time is determined according to the first angle difference and the second angle difference; wherein the user equipment switches from the source satellite to the target satellite based on the target switching time.

2. The satellite switching method according to claim 1, wherein: The first angle difference includes at least one of the following: an angle difference of latitude argument, an angle difference of true near angle, an angle difference of eccentric near angle, an angle difference of mean near angle, and an angle difference of perigee argument.

3. The satellite switching method according to claim 1, wherein: The obtaining of a first angle difference between the user equipment and the source satellite based on the first orbital plane includes: Obtaining the location information of the user equipment, the orbital parameters of the source satellite, and the ephemeris information of the source satellite; Determining a first angle of the source satellite based on a first orbital plane according to the ephemeris information of the source satellite; determining the first angle of the user device based on the first orbital plane according to the position information of the user device and the orbital parameters of the source satellite; A first angle difference between the user equipment and the source star based on the first orbital plane is determined according to the first angle of the user equipment and the first angle of the source star.

4. The satellite switching method according to claim 3, wherein: The determining, based on the position information of the user equipment and the orbital parameters of the source satellite, a first angle of the user equipment based on a first orbital plane includes: Determining the initial location coordinates of the user equipment according to the location information of the user equipment; Determining, according to the initial position coordinates of the user equipment and the orbital parameters of the source satellite, a first position coordinate of the user equipment based on a first orbital plane; A first angle of the user equipment based on the first orbital plane is calculated according to the first position coordinates of the user equipment based on the first orbital plane.

5. The satellite switching method according to claim 1, wherein: The determining a target switching time according to the first angle difference and the second angle difference includes: Determine the relationship type between the source star and the target star, as well as the out-of-orbit relationship coefficient between the source star and the target star; According to the relationship type between the source star and the target star, the target switching time is determined using the different-orbit relationship coefficient, the first angle difference, and the second angle difference.

6. The satellite switching method according to claim 5, characterized in that: Determining the out-of-orbit relationship coefficient between the source star and the target star includes: Acquire a first position coordinate of the user equipment based on the first orbital plane, and a second position coordinate of the user equipment based on the second orbital plane; The out-of-orbit relationship coefficient between the source star and the target star is calculated according to the first position coordinate of the user equipment based on the first orbital plane and the second position coordinate of the user equipment based on the second orbital plane.

7. The satellite switching method according to claim 5, characterized in that: The relationship type between the source star and the target star includes: a same-type hetero-orbital relationship, or a hetero-type hetero-orbital relationship.

8. The satellite switching method according to claim 7, wherein: When the relationship type between the source star and the target star is a same-type heterodox relationship, determining the target switching time according to the relationship type between the source star and the target star using the heterodox relationship coefficient, the first angle difference, and the second angle difference includes: Obtaining a first angular velocity of the source star; According to a first calculation rule, the target switching time is calculated using the first angular velocity of the source star, the different-orbit relationship coefficient, the first angle difference, and the second angle difference.

9. The satellite switching method according to claim 8, characterized in that: The method of calculating the target switching time according to the first calculation rule using the first angular velocity of the source star, the different-orbit relationship coefficient, the first angle difference, and the second angle difference comprises: According to the first calculation rule, the target switching time is calculated according to the following formula: Among them, Δ t is the target switching time, u A is the angular velocity of the source star, is the first angle difference, is the second angle difference, and s is the off-orbit relationship coefficient.

10. The satellite switching method according to claim 7, wherein: When the relationship type between the source star and the target star is a heterogeneous hetero-orbital relationship, determining the target switching time according to the relationship type between the source star and the target star using the hetero-orbital relationship coefficient, the first angle difference, and the second angle difference includes: Obtaining a first angular velocity of the source star, a second angular velocity of the target star, and a correction error; According to a second calculation rule, the target switching time is calculated using the first angular velocity of the source star, the second angular velocity of the target star, the different-orbit relationship coefficient, and the correction error.

11. The satellite switching method according to claim 10, wherein: The target switching time is calculated according to the second calculation rule using the first angular velocity of the source star, the second angular velocity of the target star, the inter-orbit relationship coefficient, and the correction error, including: According to the second calculation rule, the target switching time is calculated according to the following formula: Among them, Δ t is the target switching time, u A is the angular velocity of the source star, u B is the angular velocity of the target star, is the first angle difference, is the second angle difference, s is the coefficient of the orbital relationship, Δ c To correct the error.

12. The satellite switching method according to claim 10, wherein: The obtaining of the correction error includes: Acquire a first position coordinate of the user equipment based on a first orbital plane; A correction error is calculated according to the first position coordinates of the user equipment based on the first track plane.

13. The satellite switching method according to claim 1, wherein: The target satellite includes a plurality of candidate satellites, and the target switching time includes a plurality of candidate switching times.

14. The satellite switching method according to claim 13, wherein: The method further comprises: According to the multiple candidate switching times, a target satellite that meets the requirements is determined from the multiple candidate satellites; and the candidate switching time corresponding to the target satellite is determined as the target switching time.

15. A satellite switching device, characterized in that: include: an acquisition module, configured to acquire a first angle difference between the user equipment and the source satellite based on a first orbital plane, and a second angle difference between the user equipment and the target satellite based on a second orbital plane; wherein the first orbital plane is the orbital plane where the source satellite is located, and the second orbital plane is the orbital plane where the target satellite is located; A determination module is configured to determine a target switching time based on the first angle difference and the second angle difference; wherein the user equipment switches from the source satellite to the target satellite based on the target switching time.

16. An electronic device, characterized in that: The method comprises a processor and a memory for storing processor-executable instructions, wherein the processor implements the steps of the method according to any one of claims 1 to 14 when executing the instructions.

17. A computer-readable storage medium, characterized in that Computer instructions are stored thereon, and when the instructions are executed by a processor, the steps of the method according to any one of claims 1 to 14 are implemented.

18. A computer program product, characterized in that The invention comprises a computer program, which implements the steps of the method according to any one of claims 1 to 14 when the computer program is executed by a processor.

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