Antenna adjustment method and device of RF control system, storage medium and equipment

Abstract

The invention provides an antenna adjustment method and device of an RF control system, a storage medium and equipment, and the adjustment method comprises the steps: obtaining a first geographic coordinate position according to a current coordinate position deviation between a first geographic coordinate position corresponding to the RF control system and a current geographic coordinate position of target equipment; determining a current azimuth angle of the target equipment relative to the RF control system under the first coordinate system; determining whether the target equipment deviates from flight or not according to the angle relation between the course angle of the target equipment and the current azimuth angle; if the target equipment needs to be adjusted, calculating a predicted geographic coordinate position of the target equipment after a specific time interval according to the moving speed and the course angle of the target equipment; and according to the first geographic coordinate position and the predicted geographic coordinate position, determining a predicted azimuth angle of the target equipment relative to the RF control system after a specific time interval, and adjusting an antenna pointing angle of the RF control system. According to the invention, the tracking adaptability and real-time performance of the RF control system to the target equipment can be improved.

Description

Technical Field

[0001] The present invention relates to the field of wireless technology, and in particular to an antenna adjustment method, device, storage medium and equipment for an RF control system. Background Art

[0002] In the field of wireless or radio frequency (RF) control technology, RF control systems are crucial for controlling target devices such as model aircraft, drones, and unmanned vehicles. The accuracy of their functions is crucial to the safety and controllability of the target devices. To increase the transmission range of RF control system antennas, it is often necessary to increase the antenna gain, aligning the antenna's high-gain direction toward the target device so that the target device is covered by the antenna's signal.

[0003] Currently, when adjusting the antenna direction of an RF control system, a polling scanning strategy is typically used to traverse and determine the gain in all directions. Then, based on the gains in multiple directions, the target direction of the antenna is determined and adjusted. However, this polling scanning process is time-consuming. If the antenna direction of the RF control system is adjusted in this way, the delay will increase linearly with the number of beams, resulting in a high antenna adjustment delay, a slow antenna adjustment response speed, and poor adaptability and real-time performance for target device tracking. Summary of the Invention

[0004] The main purpose of the present invention is to provide an antenna adjustment method, device, storage medium and equipment for an RF control system, aiming to solve the technical problems in the prior art of high antenna adjustment delay, slow antenna adjustment response speed, and poor adaptability and real-time performance in tracking target devices.

[0005] To achieve the above object, the present invention provides an antenna adjustment method for an RF control system, the method comprising: Receive a position return signal sent by the target device, wherein the position return signal includes a heading angle and a current geographic coordinate position corresponding to the target device; determining, based on the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system, a current coordinate position deviation of the target device relative to the RF control system in the first coordinate system; determining, based on the current coordinate position deviation, a current azimuth angle of the target device relative to the RF control system; and determining, based on an angular relationship between the heading angle and the current azimuth angle, whether an antenna of the RF control system needs to be adjusted; If adjustment is required, the predicted geographic coordinate position of the target device after a specific time interval is calculated based on the moving speed and heading angle of the target device; the predicted azimuth of the target device relative to the RF control system after the specific time interval is determined based on the first geographic coordinate position and the predicted geographic coordinate position; and the antenna pointing angle of the RF control system is adjusted based on the predicted azimuth.

[0006] Further, determining the current coordinate position deviation of the target device relative to the RF control system in the first coordinate system based on the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system; and determining the current azimuth between the RF control system and the target device based on the current coordinate position deviation includes: Converting the first geographic coordinate position and the current geographic coordinate position into coordinate positions in a first coordinate system respectively, and calculating a current coordinate position deviation of the target device relative to the RF control system based on the converted coordinate positions; Convert the first coordinate system corresponding to the current coordinate position deviation into the second coordinate system to obtain the current coordinate position deviation projection in the second coordinate system; Determine the current azimuth angle of the target device relative to the RF control system based on the current coordinate position deviation projection and the preset projection azimuth relationship; The step of determining a predicted azimuth angle of the target device relative to the RF control system after a specific time interval based on the first geographic coordinate position and the predicted geographic coordinate position corresponding to the RF control system includes: Calculating a predicted coordinate position deviation of the target device relative to the RF control system based on the first geographic coordinate position and the predicted geographic coordinate position; Converting the first coordinate system corresponding to the predicted coordinate position deviation into the second coordinate system to obtain a projection of the predicted coordinate position deviation in the second coordinate system; Determine the predicted azimuth and predicted elevation of the target device relative to the RF control system based on the predicted coordinate position deviation projection and the preset projection azimuth relationship; The adjusting the antenna pointing angle of the RF control system based on the predicted azimuth angle includes: Based on the predicted azimuth angle and the predicted elevation angle, an antenna pointing angle of the RF control system is adjusted.

[0007] Furthermore, after determining whether it is necessary to adjust the antenna of the RF control system based on the angular relationship between the heading angle and the current azimuth angle, the method further includes: If no adjustment is required, maintain the antenna pointing angle of the RF control system; The adjusting the antenna pointing angle of the RF control system based on the predicted azimuth angle includes: Based on the predicted azimuth angle, an antenna driving instruction is generated and triggered, so that the antenna driving mechanism drives the antenna to rotate to a direction corresponding to the predicted azimuth angle.

[0008] Furthermore, before receiving the location return signal sent by the target device, the method further includes: Detect the tracking mode of the target device; the default tracking mode of the target device is signal strength tracking mode; If a position tracking mode switching instruction is detected, the tracking mode of the target device is switched to the position tracking mode; if no return signal from the target device is detected, the tracking mode of the target device is switched to the memory tracking mode; if the tracking mode of the target device is detected to be the position tracking mode, a position return instruction is sent to the target device; The receiving of a position return signal from a target device includes: If it is detected that the tracking mode of the target device is the position tracking mode, a position return instruction is sent to the target device, and a position return signal sent by the target device according to the position return instruction is received.

[0009] Furthermore, the method further comprises: If it is detected that the tracking mode of the target device is the memory tracking mode, the historical geographic coordinate location trajectory of the target device is obtained; Based on the historical coordinate position trajectory, a motion model of the target device is constructed; based on the motion model and the latest geographic coordinate position in the historical geographic coordinate position, the geographic coordinate position of the target device after the return signal disappears is predicted; According to the first geographic coordinate position and the geographic coordinate position of the target device after the signal disappears, the azimuth of the target device relative to the RF control system after the return signal disappears is predicted, and the antenna pointing angle of the RF control system is adjusted.

[0010] Furthermore, the method further comprises: If it is detected that the tracking mode of the target device is the signal strength tracking mode, the set target signal strength is obtained and a real-time signal strength feedback instruction is sent to the target device; Receive the real-time signal strength returned by the target device, calculate the required rotation angle of the antenna of the RF control system based on the error signal strength between the target signal strength and the real-time signal strength, the historical pointing angle and the preset angle control algorithm; and adjust the antenna pointing angle of the RF control system based on the rotation angle.

[0011] Furthermore, the preset angle control algorithm includes: a first preset angle control sub-formula and a second preset angle control sub-formula, wherein the calculation of the required rotation angle of the antenna of the RF control system according to the error signal strength between the target signal strength and the real-time signal strength, the historical pointing angle and the preset angle control algorithm includes: determining a current angle deviation of the target device relative to the RF control system based on the error signal strength and a first preset angle control sub-formula; Determining an antenna angle change rate and an antenna angle acceleration of the RF control system based on the historical pointing angle and a second preset angle control sub-formula, and determining a feedforward compensation angle based on the historical pointing angle, the antenna angle change rate, and the antenna angle acceleration; The required rotation angle of the antenna of the RF control system is determined based on the feedforward compensation angle and the current angle deviation.

[0012] To achieve the above objectives, the present invention provides an antenna adjustment method and apparatus for an RF control system, which is applied to the RF control system and includes: A receiving unit, configured to receive a position return signal sent by a target device, wherein the position return signal includes a heading angle and a current geographic coordinate position corresponding to the target device; a determining unit configured to determine, based on the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system, a current coordinate position deviation of the target device relative to the RF control system in the first coordinate system; determine, based on the current coordinate position deviation, a current azimuth angle of the target device relative to the RF control system; and determine, based on an angular relationship between the heading angle and the current azimuth angle, whether an antenna of the RF control system needs to be adjusted; an adjustment unit, configured to calculate, if adjustment is required, a predicted geographic coordinate position of the target device after a specific time interval based on the moving speed and heading angle of the target device; determine a predicted azimuth of the target device relative to the RF control system after the specific time interval based on the first geographic coordinate position and the predicted geographic coordinate position; and adjust an antenna pointing angle of the RF control system based on the predicted azimuth.

[0013] To achieve the above objectives, the present invention also provides a storage medium, on which an antenna adjustment program of an RF control system is stored. When the antenna adjustment program of the RF control system is executed by a processor, the steps of the antenna adjustment method of the RF control system as described above are implemented.

[0014] To achieve the above objectives, the present invention also provides an antenna adjustment device for an RF control system, which stores an antenna adjustment program for an RF control system. When the processor executes the antenna adjustment program for the RF control system, it implements the steps of the antenna adjustment method for the RF control system as described above.

[0015] Compared with the prior art, the present invention provides an antenna adjustment method, device, storage medium and equipment for an RF control system. The present invention receives a position return signal sent by a target device, wherein the position return signal includes a heading angle and a current geographic coordinate position corresponding to the target device; determines the current coordinate position deviation of the target device relative to the RF control system in a first coordinate system based on a first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system; determines the current azimuth angle of the target device relative to the RF control system based on the current coordinate position deviation, and determines whether the antenna of the RF control system needs to be adjusted based on the angular relationship between the heading angle and the current azimuth angle; when it is determined that adjustment is required, the predicted geographic coordinate position of the target device after a specific time interval can be calculated based on the moving speed and heading angle of the target device, and the predicted azimuth angle of the target device relative to the RF control system after the specific time interval can be determined based on the first geographic coordinate position and the predicted geographic coordinate position; and adjusts the antenna pointing angle of the RF control system based on the predicted azimuth angle. That is, when adjusting the antenna direction of the RF control system, the present invention can determine whether the antenna of the RF control system needs to be adjusted based on the angular relationship between the heading angle and the current azimuth angle. When it is determined that adjustment is required, the future geographic coordinate position of the target device can be predicted based on the current geographic coordinate position, movement speed and heading angle of the target device to adjust the antenna direction. During the entire process, there is no need to poll all angles and directions, that is, the antenna can be adjusted to a direction with higher or highest gain, thereby greatly reducing the delay of the antenna adjustment, thereby improving the response speed of the antenna adjustment, and improving the tracking adaptability and real-time performance of the RF control system for the target device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the solutions in the present invention, a brief introduction is given below to the drawings required for use in describing the embodiments of the present invention. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 is an exemplary system architecture diagram in which the present invention may be applied; Figure 2 is a flow chart of an antenna adjustment method of an RF control system provided by an embodiment of the present invention; Figure 3 is a flow chart of another antenna adjustment method of an RF control system provided by an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an antenna adjustment method and device for an RF control system provided by an embodiment of the present invention; Figure 5This is a basic structural block diagram of an antenna adjustment device of an RF control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The antenna adjustment method for an RF control system provided in an embodiment of the present invention is applicable to an antenna adjustment method device for an RF control system. Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which the present invention pertains. The terms used in the specification and application description herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The terms "including" and "having," as well as any variations thereof, in the specification and claims of the present invention and the accompanying drawings, are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish between different objects, not to describe a specific order.

[0019] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0020] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0021] Existing technologies typically use a polling scanning strategy to traverse and determine the gain in all directions. Based on the gains in multiple directions, the antenna's target direction is determined and adjusted. However, this polling scanning process is time-consuming. Adjusting the antenna direction of the RF control system in this manner results in a single operating mode and latency that increases linearly with the number of beams. This results in a high antenna adjustment delay, a slow antenna adjustment response, and poor adaptability and real-time performance for target device tracking.

[0022] like Figure 1As shown, in order to achieve the above-mentioned purpose, the present invention can be applied to an exemplary system architecture diagram thereof; including an RF control system and a target device, wherein the RF control system and the target device are both provided with antennas, the RF control system sends a radio frequency signal to the target device via the antenna, and the target device receives the radio frequency signal sent by the RF control system via its own antenna, wherein, in order to adjust the antenna of the RF control system, the RF control system is provided with an antenna driving mechanism, and the RF control system is also provided with an antenna control mechanism, which drives the antenna driving mechanism to adjust the antenna pointing angle by the antenna control mechanism, so that the antenna of the RF control system can always be kept facing the target device in the direction of high gain or the direction of maximum gain.

[0023] like Figure 2 As shown, an embodiment of the present invention provides an antenna adjustment method for an RF control system, the method comprising: Step 201: Receive a position return signal sent by a target device, where the position return signal includes a heading angle and a current geographic coordinate position corresponding to the target device.

[0024] In this embodiment of the present invention, the geographic coordinates of the target device can be collected via GPS (Global Positioning System), including longitude, latitude, and altitude. The target device can transmit the geographic coordinate information and timestamp back to the RF control system via radio frequency signals. Specifically, the target device can be a drone, unmanned vehicle, or model aircraft. Specifically, the RF control system can support multiple tracking modes. The RF control system or its antenna control mechanism can detect the tracking mode of the target device and, based on the tracking mode, send a return signal acquisition request to the target device. It can also receive the return signal from the target device and establish an angular relationship between the return signal and the RF control system's antenna. Based on the angular relationship and the detected tracking mode, it can determine a deviation angle calculation algorithm, calculate the antenna's deviation angle, and adjust the antenna's pointing angle based on the deviation angle. If the detected tracking mode is position tracking mode, the return signal received from the target device is a position return signal. An angular relationship is established between the position return signal and the RF control system's antenna. Based on the predicted future position of the target device, the target device's future azimuth relative to the antenna is calculated, and the RF control system's antenna is adjusted. For details, see steps 202-203.

[0025] Step 202: Determine the current coordinate position deviation of the target device relative to the RF control system in the first coordinate system based on the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system; determine the current azimuth angle of the target device relative to the RF control system based on the current coordinate position deviation; and determine whether the antenna of the RF control system needs to be adjusted based on the angular relationship between the heading angle and the current azimuth angle.

[0026] The first coordinate system can be ECEF (Earth-Centered, Earth-Fixed), and the first geographic coordinate position corresponding to the RF control system can be , the current geographic coordinate location of the target device can be , which can be converted into the coordinate position in the first coordinate system through the following formula:

[0027] in, is the Earth's semi-major axis (WGS84 standard: 6378137.0 meters), is the square of the first eccentricity (WGS84 standard: 0.00669437999014), and the coordinate position of the RF control system in the first coordinate system can be ,The current geographical coordinate location of the target device can be ,The current coordinate position deviation of the target device relative to the RF control system in the ,first coordinate system can be calculated by the following formula:

[0028] In an embodiment of the present invention, the specific process for determining the current azimuth of the target device relative to the RF control system based on the current coordinate position deviation may include: converting the first coordinate system corresponding to the current coordinate position deviation into a second coordinate system to obtain a projection of the current coordinate position deviation in the second coordinate system; and determining the current azimuth of the target device relative to the RF control system based on the relationship between the current coordinate position deviation projection and a preset projection azimuth. Specifically, the second coordinate system may be an ENU (East-North-Up, local horizontal coordinate system), and the method for obtaining the current coordinate position deviation projection may refer to the following formula:

[0029] The preset projection orientation relationship can be:

[0030] in, is the current coordinate position deviation projection, is the first geographical coordinate position corresponding to the RF control system, is the current coordinate position deviation, is the azimuth, Pitch angle.

[0031] In an embodiment of the present invention, based on the angular relationship between the heading angle and the current azimuth angle, the specific process of determining whether the antenna of the RF control system needs to be adjusted can be: judging whether the heading angle is approximately equal to the sum of the current azimuth angle and 180 degrees; if so, or if it is approximately equal to, it is determined that the target device has not deviated from the flight course, and the target device is flying in the direction of the RF control system, and it is determined that the antenna of the RF control system does not need to be adjusted; if so, or if it is not equal to, it is determined that the target device has deviated from the flight course, and it is determined that the antenna of the RF control system needs to be adjusted. At this time, it is necessary to calculate the future position of the target device and adjust the antenna pointing angle of the RF control system according to the future position.

[0032] Step 203: If adjustment is required, the predicted geographic coordinate position of the target device after a specific time interval is calculated based on the moving speed and heading angle of the target device; the predicted azimuth angle of the target device relative to the RF control system after the specific time interval is determined based on the first geographic coordinate position and the predicted geographic coordinate position; and the antenna pointing angle of the RF control system is adjusted based on the predicted azimuth angle.

[0033] In an embodiment of the present invention, the specific process of calculating the predicted geographic coordinate position of the target device after a specific time interval based on the moving speed and heading angle of the target device can be as follows: the predicted geographic coordinate position of the target device after a specific time interval is calculated based on the current geographic coordinate position, moving speed, and heading angle of the target device. For details, refer to the following formula:

[0034] in, The target device is The geographical coordinates of the moment, The target device is The geographical coordinates of the moment, is the moving speed of the target device, is the heading angle of the target device.

[0035] It should be noted that the specific steps of determining the predicted azimuth of the target device relative to the RF control system after a specific time interval based on the first geographic coordinate position and the predicted geographic coordinate position may specifically include: calculating the predicted coordinate position deviation of the target device relative to the RF control system based on the first geographic coordinate position and the predicted geographic coordinate position; converting the first coordinate system corresponding to the predicted coordinate position deviation into a second coordinate system to obtain the predicted coordinate position deviation projection in the second coordinate system; and determining the predicted azimuth and predicted elevation of the target device relative to the RF control system based on the predicted coordinate position deviation projection and the preset projection azimuth relationship. That is, referring to the formulas involved in step 202, the predicted geographic coordinate position obtained can be substituted into the various formulas in step 202 to calculate the predicted azimuth and predicted elevation. The embodiments of the present invention are not explained in detail through formulas here.

[0036] An embodiment of the present invention provides an antenna adjustment method for an RF control system, which receives a position return signal sent by a target device, wherein the position return signal includes a heading angle and a current geographic coordinate position corresponding to the target device; determines the current coordinate position deviation of the target device relative to the RF control system in a first coordinate system according to the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system; determines the current azimuth angle of the target device relative to the RF control system based on the current coordinate position deviation, and determines whether the antenna of the RF control system needs to be adjusted according to the angular relationship between the heading angle and the current azimuth angle; when it is determined that adjustment is required, the predicted geographic coordinate position of the target device after a specific time interval can be calculated according to the moving speed and heading angle of the target device, and the first geographic coordinate position and the predicted geographic coordinate position can be used to determine the position of the target device. The invention provides a method for adjusting the antenna direction of the RF control system by determining the predicted azimuth of the target device relative to the RF control system after a specific time interval; adjusting the antenna pointing angle of the RF control system based on the predicted azimuth, that is, when adjusting the antenna direction of the RF control system, the invention can determine whether the antenna of the RF control system needs to be adjusted according to the angular relationship between the heading angle and the current azimuth angle; when it is determined that adjustment is required, the future geographic coordinate position of the target device can be predicted according to the current geographic coordinate position, movement speed and heading angle of the target device to adjust the antenna direction; during the entire process, there is no need to poll all angles and directions, that is, the antenna can be adjusted to a direction with higher or highest gain, thereby greatly reducing the delay of the antenna adjustment, thereby improving the response speed of the antenna adjustment, and improving the adaptability and real-time tracking of the RF control system to the target device.

[0037] like Figure 3 To achieve the above-mentioned purpose, an embodiment of the present invention provides another antenna adjustment method for an RF control system, the method comprising: Step 301: Detect the tracking mode of the target device. If it is detected that the tracking mode of the target device is the position tracking mode, send a position return instruction to the target device.

[0038] In an embodiment of the present invention, the specific implementation process of detecting the tracking mode of the target device is to detect whether it is the default mode, detect whether a position tracking mode switching instruction is received, and detect whether a return signal from the target device is not received; wherein the tracking mode of the target device defaults to the signal strength tracking mode; if a position tracking mode switching instruction is detected, the tracking mode of the target device is switched to the position tracking mode; if the return signal from the target device is not detected, the tracking mode of the target device is switched to the memory tracking mode; if it is detected that the tracking mode of the target device is the position tracking mode, a position return instruction is sent to the target device.

[0039] In an embodiment of the present invention, an RF control system or an antenna control mechanism of the RF control system detects a tracking mode of a target device and, based on the tracking mode, sends a return signal acquisition request to the target device; receives a return signal from the target device and establishes an angular relationship between the data in the return signal and the antenna of the RF control system; determines a deviation angle calculation algorithm based on the angular relationship and the detected tracking mode, calculates the deviation angle of the antenna, and adjusts the antenna's pointing angle based on the deviation angle. If the target device's tracking mode is detected to be location tracking mode, a location return instruction is sent to the target device, a location return signal is received from the target device, and an angular relationship is established between the geographic coordinate information in the location return signal and the antenna of the RF control system; determines a deviation angle calculation algorithm based on the angular relationship and the detected location tracking mode, calculates the deviation angle of the antenna, and adjusts the antenna's pointing angle based on the deviation angle. If the target device's tracking mode is detected to be memory tracking mode, historical geographic coordinates are acquired, an angular relationship is established between the historical geographic coordinates and the antenna of the RF control system; determines a deviation angle calculation algorithm based on the angular relationship and the memory tracking mode, calculates the deviation angle of the antenna, and adjusts the antenna's pointing angle based on the deviation angle. If it is detected that the tracking mode of the target device is the signal strength tracking mode, a signal strength return instruction is sent to the target device, a signal strength return signal sent by the target device is received, and an angle relationship between the signal strength in the signal strength return signal and the antenna of the RF control system is established.

[0040] Step 302: Receive a location return signal sent by the target device according to the location return instruction.

[0041] The position return signal includes the heading angle and current geographic coordinate position of the target device; Step 303: Determine the current coordinate position deviation of the target device relative to the RF control system in the first coordinate system based on the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system; determine the current azimuth angle of the target device relative to the RF control system based on the current coordinate position deviation; and determine whether the antenna of the RF control system needs to be adjusted based on the angular relationship between the heading angle and the current azimuth angle.

[0042] It should be noted that, based on the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system, the current coordinate position deviation of the target device relative to the RF control system in the first coordinate system is determined; based on the current coordinate position deviation, the step of determining the current azimuth between the RF control system and the target device specifically includes: converting the first geographic coordinate position and the current geographic coordinate position into coordinate positions in the first coordinate system respectively, and calculating the current coordinate position deviation of the target device relative to the RF control system based on the converted coordinate positions of the two; converting the first coordinate system corresponding to the current coordinate position deviation into a second coordinate system to obtain the current coordinate position deviation projection in the second coordinate system; and determining the current azimuth of the target device relative to the RF control system based on the current coordinate position deviation projection and the preset projection azimuth relationship.

[0043] In an optional embodiment of the present invention, after determining whether the antenna of the RF control system needs to be adjusted based on the angular relationship between the heading angle and the current azimuth angle, the method further includes: if no adjustment is required, maintaining the antenna pointing angle of the RF control system.

[0044] Step 304: If adjustment is required, the predicted geographic coordinate position of the target device after a specific time interval is calculated based on the moving speed and heading angle of the target device; the predicted azimuth angle of the target device relative to the RF control system after the specific time interval is determined based on the first geographic coordinate position and the predicted geographic coordinate position; and the antenna pointing angle of the RF control system is adjusted based on the predicted azimuth angle.

[0045] It should be noted that the step of determining the predicted azimuth angle of the target device relative to the RF control system after a specific time interval based on the first geographic coordinate position and the predicted geographic coordinate position corresponding to the RF control system specifically includes: calculating the predicted coordinate position deviation of the target device relative to the RF control system based on the first geographic coordinate position and the predicted geographic coordinate position; converting the first coordinate system corresponding to the predicted coordinate position deviation into a second coordinate system to obtain the predicted coordinate position deviation projection in the second coordinate system; determining the predicted azimuth angle and predicted pitch angle of the target device relative to the RF control system based on the predicted coordinate position deviation projection and the preset projection azimuth relationship; the step of adjusting the antenna pointing angle of the RF control system based on the predicted azimuth angle specifically includes: adjusting the antenna pointing angle of the RF control system based on the predicted azimuth angle and the predicted pitch angle.

[0046] In an embodiment of the present invention, the step of adjusting the antenna pointing angle of the RF control system based on the predicted azimuth angle specifically includes: generating and triggering an antenna drive instruction based on the predicted azimuth angle, so that the antenna drive mechanism drives the antenna to rotate to the direction corresponding to the predicted azimuth angle.

[0047] It should be noted that the process of the antenna driving mechanism driving the antenna can be: converting the predicted azimuth angle into a motor pulse / voltage signal output. Specifically, the predicted azimuth angle can be mapped to the pulse width of a specific pulse width modulation signal, and based on the pulse width modulation signal on this specific pulse width, the antenna rotation mechanism is driven to rotate until the specified angle of the antenna is reached.

[0048] In an optional embodiment of the present invention, if it is detected that the tracking mode of the target device is a memory tracking mode, the steps are executed: obtaining the historical geographic coordinate position trajectory of the target device; constructing a motion model of the target device based on the historical coordinate position trajectory; predicting the geographic coordinate position of the target device after the return signal disappears based on the motion model and the latest geographic coordinate position in the historical geographic coordinate position; predicting the azimuth of the target device relative to the RF control system after the return signal disappears based on the first geographic coordinate position and the geographic coordinate position of the target device after the signal disappears, and adjusting the antenna pointing angle of the RF control system.

[0049] It should be noted that after obtaining the historical geographic coordinate position trajectory of the target device, the historical geographic coordinate position trajectory can be preprocessed and the abnormal points can be filtered to ensure that the data interval is reasonable, such as maintaining at least one point to ensure accuracy. Then, the historical geographic coordinate position is converted into the coordinate position of the ECEF coordinate system according to steps 202-203, and a polynomial or Kalman filter algorithm is selected to fit and construct the motion model of the target device: for example, the following polynomial can be selected for fitting and construction:

[0050] Substituting the coordinate position of the historical geographic coordinate position in the ECEF coordinate system and its corresponding time into the polynomial, the above coefficients can be obtained 、 and Then, when the target device disappears, the geographic coordinates of the target device in the ECEF coordinate system can be calculated after the signal disappears. .

[0051] In the embodiment of the present invention, based on the first geographical coordinate position and the geographical coordinate position of the target device after the signal disappears, the specific process of predicting the azimuth angle of the target device relative to the RF control system after the return signal disappears can be: based on the coordinate position of the first geographical coordinate position in the ECEF coordinate system , The coordinate position of the target device in the ECEF coordinate system after the signal disappears , preset azimuth angle formula and preset pitch angle formula to determine the azimuth angle of the target device relative to the RF control system after the return signal disappears and pitch angle After determining the above azimuth and pitch angle After that, you can adjust the antenna pointing angle of the RF control system. The preset azimuth angle formula and the preset elevation angle formula are as follows:

[0052]

[0053] In another optional embodiment of the present invention, if it is detected that the tracking mode of the target device is a signal strength tracking mode, the steps are executed: obtaining the set target signal strength and sending a real-time signal strength return instruction to the target device; receiving the real-time signal strength returned by the target device, and calculating the required rotation angle of the antenna of the RF control system based on the error signal strength between the target signal strength and the real-time signal strength, the historical pointing angle and the preset angle control algorithm; and adjusting the antenna pointing angle of the RF control system based on the rotation angle.

[0054] Among them, the set target signal strength can be determined by the user through input instructions, the target signal strength can be the theoretical maximum signal strength, and the angle corresponding to the maximum signal strength is the optimal azimuth angle. The preset angle control algorithm can be a closed-loop control based on the calculated signal error, so that the antenna can track the azimuth angle corresponding to the maximum signal strength in real time in a dynamic environment, and can update the position once every period of time. Specifically, the movement or motion trend of the target device can be predicted based on the historical pointing angle, and then the angle of the antenna can be calculated and adjusted according to this movement or motion trend, and then the current signal strength of the target device is updated, and the above operations are repeated until the error between the real-time signal strength and the target signal strength is close to the value, thereby realizing the antenna's movement tracking of the target device.

[0055] In a specific embodiment of the present invention, the preset angle control algorithm may include: a first preset angle control sub-formula and a second preset angle control sub-formula. The step of calculating the required rotation angle of the antenna of the RF control system based on the error signal strength between the target signal strength and the real-time signal strength, the historical pointing angle and the preset angle control algorithm may specifically include: determining the current angle deviation of the target device relative to the RF control system based on the error signal strength and the first preset angle control sub-formula; determining the antenna angle change rate and antenna angle acceleration of the RF control system based on the historical pointing angle and the second preset angle control sub-formula, and determining the feedforward compensation angle based on the historical pointing angle, the antenna angle change rate and the antenna angle acceleration; and determining the required rotation angle of the antenna of the RF control system based on the feedforward compensation angle and the current angle deviation.

[0056] The first preset angle control sub-formula may be:

[0057] is the current angle deviation, is the error signal strength, 、 、 Specifically, it can be determined according to the inertia of the driving motor, such as It can be 1.2 degrees / dB, It is 0.05 degrees / dB, It can be 0.3 degrees / dB. When the drive motor limit is reached, the calculation is suspended value.

[0058] The second preset angle control sub-formula can be:

[0059] is the feedforward compensation angle coefficient 、 、 It can be set by a technician, or determined based on a historical motion trajectory, and specifically determined by fitting the historical motion trajectory.

[0060] In an embodiment of the present invention, the step of determining the required rotation angle of the antenna of the RF control system based on the feedforward compensation angle and the current angle deviation may be as follows: the sum of the feedforward compensation angle and the current angle deviation is determined as the required rotation angle of the antenna of the RF control system. , that is, the required rotation angle of the antenna of the RF control system can be determined by the following formula:

[0061] Another antenna adjustment method for an RF control system provided by an embodiment of the present invention receives a position return signal sent by a target device, the position return signal includes a heading angle and a current geographic coordinate position corresponding to the target device; determines the current coordinate position deviation of the target device relative to the RF control system in the first coordinate system according to the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system; determines the current azimuth angle of the target device relative to the RF control system based on the current coordinate position deviation, and determines whether the antenna of the RF control system needs to be adjusted according to the angular relationship between the heading angle and the current azimuth angle; when it is determined that adjustment is required, the predicted geographic coordinate position of the target device after a specific time interval can be calculated according to the moving speed and heading angle of the target device, and the first geographic coordinate position and the predicted geographic coordinate position can be determined. The method includes determining the predicted azimuth angle of the target device relative to the RF control system after a specific time interval; adjusting the antenna pointing angle of the RF control system based on the predicted azimuth angle, that is, when adjusting the antenna direction of the RF control system, the present invention can determine whether the RF control system antenna needs to be adjusted based on the angular relationship between the heading angle and the current azimuth angle. When it is determined that adjustment is required, the future geographic coordinate position of the target device can be predicted based on the current geographic coordinate position, movement speed and heading angle of the target device to adjust the antenna direction. During the entire process, there is no need to poll all angles and directions, that is, the antenna can be adjusted to a direction with higher or highest gain, thereby greatly reducing the delay of antenna adjustment, thereby improving the response speed of antenna adjustment, and improving the tracking adaptability and real-time performance of the RF control system for the target device. At the same time, the method of the present invention can also support multiple tracking mode mechanisms, that is, it can realize switching between position tracking mode, signal strength mode and memory mode, so that the mode of tracking the target device can be flexibly selected according to different needs, thereby further improving the tracking adaptability and real-time performance of the target device.

[0062] like Figure 4 To achieve the above-mentioned purpose, the present invention provides an antenna adjustment method and apparatus for an RF control system, which is applied to the RF control system and includes: The receiving unit 41 may be configured to receive a position return signal sent by a target device, the position return signal including a heading angle and a current geographic coordinate position corresponding to the target device; The determining unit 42 may be configured to determine a current coordinate position deviation of the target device relative to the RF control system in the first coordinate system based on the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system; determine a current azimuth angle of the target device relative to the RF control system based on the current coordinate position deviation; and determine whether an antenna of the RF control system needs to be adjusted based on an angular relationship between the heading angle and the current azimuth angle; The adjustment unit 43 can be used to calculate the predicted geographic coordinate position of the target device after a specific time interval based on the moving speed and heading angle of the target device, if adjustment is required; determine the predicted azimuth of the target device relative to the RF control system after the specific time interval based on the first geographic coordinate position and the predicted geographic coordinate position; and adjust the antenna pointing angle of the RF control system based on the predicted azimuth.

[0063] Furthermore, the determination unit 42 may be specifically configured to convert the first geographic coordinate position and the current geographic coordinate position into coordinate positions in a first coordinate system, respectively, and calculate a current coordinate position deviation of the target device relative to the RF control system based on the converted coordinate positions of the first geographic coordinate position and the current geographic coordinate position; convert the first coordinate system corresponding to the current coordinate position deviation into a second coordinate system to obtain a projection of the current coordinate position deviation in the second coordinate system; and determine a current azimuth angle of the target device relative to the RF control system based on a relationship between the current coordinate position deviation projection and a preset projection azimuth. Furthermore, the determination unit 42 may be further configured to calculate a predicted coordinate position deviation of the target device relative to the RF control system based on the first geographic coordinate position and the predicted geographic coordinate position; convert the first coordinate system corresponding to the predicted coordinate position deviation into a second coordinate system to obtain a projection of the predicted coordinate position deviation in the second coordinate system; and determine a predicted azimuth and a predicted elevation angle of the target device relative to the RF control system based on a relationship between the predicted coordinate position deviation projection and a preset projection orientation. Furthermore, the adjusting unit 43 may be specifically configured to adjust the antenna pointing angle of the RF control system based on the predicted azimuth angle and the predicted elevation angle.

[0064] Furthermore, the adjustment unit 43 can be specifically used to maintain the antenna pointing angle of the RF control system if no adjustment is required; or it can be specifically used to generate and trigger an antenna drive instruction based on the predicted azimuth angle, so that the antenna drive mechanism drives the antenna to rotate to the direction corresponding to the predicted azimuth angle.

[0065] Furthermore, the device further includes: a detection unit.

[0066] a detection unit, configured to detect a tracking mode of a target device; wherein the tracking mode of the target device defaults to a signal strength tracking mode; if a position tracking mode switching instruction is detected, the tracking mode of the target device is switched to a position tracking mode; if no return signal from the target device is detected, the tracking mode of the target device is switched to a memory tracking mode; and if the tracking mode of the target device is detected to be a position tracking mode, a position return instruction is sent to the target device; Furthermore, the receiving unit 41 may specifically send a position return instruction to the target device if it is detected that the tracking mode of the target device is the position tracking mode, and receive a position return signal sent by the target device according to the position return instruction.

[0067] Furthermore, the acquisition unit can also be used to obtain the historical geographic coordinate position trajectory of the target device if it is detected that the tracking mode of the target device is a memory tracking mode; construct a motion model of the target device based on the historical coordinate position trajectory; predict the geographic coordinate position of the target device after the return signal disappears based on the motion model and the latest geographic coordinate position in the historical geographic coordinate position; predict the azimuth of the target device relative to the RF control system after the return signal disappears based on the first geographic coordinate position and the geographic coordinate position of the target device after the signal disappears, and adjust the antenna pointing angle of the RF control system.

[0068] Furthermore, the device further includes: an acquisition unit and a calculation unit.

[0069] The acquisition unit may be configured to acquire a set target signal strength if it is detected that the tracking mode of the target device is a signal strength tracking mode, and send a real-time signal strength feedback instruction to the target device; The receiving unit can also be used to receive the real-time signal strength transmitted back by the target device.

[0070] The calculation unit can be used to calculate the required rotation angle of the antenna of the RF control system based on the error signal strength between the target signal strength and the real-time signal strength, the historical pointing angle and the preset angle control algorithm; and adjust the antenna pointing angle of the RF control system based on the rotation angle.

[0071] Furthermore, the preset angle control algorithm includes: a first preset angle control sub-formula and a second preset angle control sub-formula, and a calculation unit, which can be specifically used to determine the current angle deviation of the target device relative to the RF control system based on the error signal strength and the first preset angle control sub-formula; determine the antenna angle change rate and antenna angle acceleration of the RF control system based on the historical pointing angle and the second preset angle control sub-formula, and determine the feedforward compensation angle based on the historical pointing angle, the antenna angle change rate and the antenna angle acceleration; and determine the required rotation angle of the antenna of the RF control system based on the feedforward compensation angle and the current angle deviation.

[0072] An embodiment of the present invention provides an antenna adjustment device for an RF control system, which receives a position return signal sent by a target device, wherein the position return signal includes a heading angle and a current geographic coordinate position corresponding to the target device; determines the current coordinate position deviation of the target device relative to the RF control system in a first coordinate system according to the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system; determines the current azimuth angle of the target device relative to the RF control system based on the current coordinate position deviation, and determines whether the antenna of the RF control system needs to be adjusted according to the angular relationship between the heading angle and the current azimuth angle; when it is determined that adjustment is required, the predicted geographic coordinate position of the target device after a specific time interval can be calculated according to the moving speed and heading angle of the target device, and the predicted geographic coordinate position can be determined according to the first geographic coordinate position and the predicted geographic coordinate position. The invention provides a method for adjusting the antenna direction of the RF control system by determining the predicted azimuth angle of the target device relative to the RF control system after a specific time interval; adjusting the antenna pointing angle of the RF control system based on the predicted azimuth angle. Specifically, when adjusting the antenna direction of the RF control system, the invention can determine whether the RF control system antenna needs to be adjusted based on the angular relationship between the heading angle and the current azimuth angle. When adjustment is determined to be necessary, the future geographic coordinate position of the target device can be predicted based on the current geographic coordinate position, movement speed, and heading angle of the target device, and the antenna direction can be adjusted accordingly. During this process, there is no need to poll all angles and directions, and the antenna can be adjusted to a direction with higher or highest gain. This greatly reduces the delay in antenna adjustment, thereby improving the response speed of antenna adjustment and the adaptability and real-time tracking performance of the RF control system for the target device. Furthermore, the device can support multiple tracking mode mechanisms, namely, switching between position tracking mode, signal strength mode, and memory mode, thereby flexibly selecting a target device tracking mode according to different needs, further improving the adaptability and real-time tracking performance of the target device.

[0073] In order to solve the above technical problems, the present invention also provides a storage medium, which adopts the following technical solution: the storage medium stores an antenna adjustment program of the RF control system, and when the antenna adjustment program of the RF control system is executed by the processor, the steps of the antenna adjustment method of the RF control system are implemented.

[0074] To solve the above technical problems, the present invention also provides an antenna adjustment device for an RF control system. Figure 5 , Figure 5 This is a basic structural block diagram of the antenna adjustment device of the RF control system of this embodiment.

[0075] The antenna adjustment device 5 of the RF control system includes a memory 51, a processor 52, and a network interface 53, which are interconnected via a system bus. It should be noted that the figure only shows the antenna adjustment device 5 of the RF control system having components 51-53, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead. It should be understood by those skilled in the art that the antenna adjustment device of the RF control system herein is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to a microprocessor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0076] The antenna adjustment device of the RF control system can be a computing device such as a desktop computer, laptop, PDA, or cloud server. The antenna adjustment device of the RF control system can interact with the user through a keyboard, mouse, remote control, touchpad, or voice control device.

[0077] The memory 51 includes at least one type of readable storage medium, including flash memory, a hard disk, a multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic storage, a magnetic disk, an optical disk, etc. In some embodiments, the memory 51 may be an internal storage unit of the antenna adjustment device 5 of the RF control system, such as a hard disk or internal memory of the antenna adjustment device 5 of the RF control system. In other embodiments, the memory 51 may also be an external storage device of the antenna adjustment device 5 of the RF control system, such as a plug-in hard disk equipped on the antenna adjustment device 5 of the RF control system, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Of course, the memory 51 may also include both the internal storage unit and an external storage device of the antenna adjustment device 5 of the RF control system. In this embodiment, the memory 51 is generally used to store the operating system and various application software installed in the antenna adjustment device 5 of the RF control system, such as the program code of the antenna adjustment method of the RF control system. In addition, the memory 51 can also be used to temporarily store various data that has been output or will be output.

[0078] In some embodiments, processor 52 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. Processor 52 is typically used to control the overall operation of antenna adjustment device 5 of the RF control system. In this embodiment, processor 52 is used to execute program code stored in memory 51 or process data, such as program code for executing the antenna adjustment method of the RF control system.

[0079] The network interface 53 may include a wireless network interface or a wired network interface. The network interface 53 is generally used to establish a communication connection between the antenna adjustment device 5 of the RF control system and other electronic devices.

[0080] Compared with the prior art, the storage medium and computer device provided by the embodiments of the present invention receive a position return signal sent by a target device, wherein the position return signal includes a heading angle and a current geographic coordinate position corresponding to the target device; determine the current coordinate position deviation of the target device relative to the RF control system in the first coordinate system according to the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system; determine the current azimuth angle of the target device relative to the RF control system based on the current coordinate position deviation, and determine whether the antenna of the RF control system needs to be adjusted according to the angular relationship between the heading angle and the current azimuth angle; when it is determined that adjustment is required, the predicted geographic coordinate position of the target device after a specific time interval can be calculated according to the moving speed and heading angle of the target device, and the predicted geographic coordinate position can be calculated according to the first geographic coordinate position and the predicted geographic coordinate position. , determine the predicted azimuth of the target device relative to the RF control system after a specific time interval; based on the predicted azimuth, adjust the antenna pointing angle of the RF control system, that is, when the present invention adjusts the antenna direction of the RF control system, it can determine whether the antenna of the RF control system needs to be adjusted according to the angular relationship between the heading angle and the current azimuth. When it is determined that adjustment is required, the future geographic coordinate position of the target device can be predicted according to the current geographic coordinate position, movement speed and heading angle of the target device to adjust the antenna direction. During the entire process, there is no need to poll all angles and directions, that is, the antenna can be adjusted to a direction with higher or highest gain, thereby greatly reducing the delay of the antenna adjustment, thereby improving the response speed of the antenna adjustment, and improving the tracking adaptability and real-time performance of the RF control system for the target device.

[0081] Through the above description of the embodiments, those skilled in the art will clearly understand that the above-mentioned embodiments and methods can be implemented using software plus the necessary general-purpose hardware online platform. Of course, hardware can also be used, but in many cases the former is a more preferred implementation method. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, or optical disk) and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0082] The present invention can be used in a wide variety of general or special 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 consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like. The present invention can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present invention can also be practiced in distributed computing environments in which tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.

[0083] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present invention specification and drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. An antenna adjustment method for an RF control system, characterized in that: Applications in RF control systems, including: Receive a position return signal sent by the target device, wherein the position return signal includes a heading angle and a current geographic coordinate position corresponding to the target device; determining, based on the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system, a current coordinate position deviation of the target device relative to the RF control system in the first coordinate system; determining, based on the current coordinate position deviation, a current azimuth angle of the target device relative to the RF control system; and determining, based on an angular relationship between the heading angle and the current azimuth angle, whether an antenna of the RF control system needs to be adjusted; If adjustment is required, the predicted geographic coordinate position of the target device after a specific time interval is calculated based on the moving speed and heading angle of the target device; the predicted azimuth of the target device relative to the RF control system after the specific time interval is determined based on the first geographic coordinate position and the predicted geographic coordinate position; and the antenna pointing angle of the RF control system is adjusted based on the predicted azimuth.

2. The method according to claim 1, characterized in that determining a current coordinate position deviation of the target device relative to the RF control system in the first coordinate system based on the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system; Based on the current coordinate position deviation, determine the current azimuth angle between the RF control system and the target device, including: Converting the first geographic coordinate position and the current geographic coordinate position into coordinate positions in a first coordinate system respectively, and calculating a current coordinate position deviation of the target device relative to the RF control system based on the converted coordinate positions; Convert the first coordinate system corresponding to the current coordinate position deviation into the second coordinate system to obtain the current coordinate position deviation projection in the second coordinate system; Determine the current azimuth angle of the target device relative to the RF control system based on the current coordinate position deviation projection and the preset projection azimuth relationship; The step of determining a predicted azimuth angle of the target device relative to the RF control system after a specific time interval based on the first geographic coordinate position and the predicted geographic coordinate position corresponding to the RF control system includes: Calculating a predicted coordinate position deviation of the target device relative to the RF control system based on the first geographic coordinate position and the predicted geographic coordinate position; Converting the first coordinate system corresponding to the predicted coordinate position deviation into the second coordinate system to obtain a projection of the predicted coordinate position deviation in the second coordinate system; Determine the predicted azimuth and predicted elevation of the target device relative to the RF control system based on the predicted coordinate position deviation projection and the preset projection azimuth relationship; The adjusting the antenna pointing angle of the RF control system based on the predicted azimuth angle includes: Based on the predicted azimuth angle and the predicted elevation angle, an antenna pointing angle of the RF control system is adjusted.

3. The method according to claim 1, characterized in that After determining whether it is necessary to adjust the antenna of the RF control system based on the angular relationship between the heading angle and the current azimuth angle, the method further includes: If no adjustment is required, maintain the antenna pointing angle of the RF control system; The adjusting the antenna pointing angle of the RF control system based on the predicted azimuth angle includes: Based on the predicted azimuth angle, an antenna driving instruction is generated and triggered, so that the antenna driving mechanism drives the antenna to rotate to a direction corresponding to the predicted azimuth angle.

4. The method according to claim 1, wherein Before receiving the location return signal sent by the target device, the method further includes: Detect the tracking mode of the target device; the default tracking mode of the target device is signal strength tracking mode; If a position tracking mode switching instruction is detected, the tracking mode of the target device is switched to the position tracking mode; if no return signal from the target device is detected, the tracking mode of the target device is switched to the memory tracking mode; if the tracking mode of the target device is detected to be the position tracking mode, a position return instruction is sent to the target device; The receiving of a position return signal from a target device includes: If it is detected that the tracking mode of the target device is the position tracking mode, a position return instruction is sent to the target device, and a position return signal sent by the target device according to the position return instruction is received.

5. The method according to claim 4, characterized in that The method further comprises: If it is detected that the tracking mode of the target device is the memory tracking mode, the historical geographic coordinate location trajectory of the target device is obtained; Based on the historical coordinate position trajectory, a motion model of the target device is constructed; based on the motion model and the latest geographic coordinate position in the historical geographic coordinate position, the geographic coordinate position of the target device after the return signal disappears is predicted; According to the first geographic coordinate position and the geographic coordinate position of the target device after the signal disappears, the azimuth of the target device relative to the RF control system after the return signal disappears is predicted, and the antenna pointing angle of the RF control system is adjusted.

6. The method according to claim 4, characterized in that The method further comprises: If it is detected that the tracking mode of the target device is the signal strength tracking mode, a real-time signal strength feedback instruction is sent to the target device to obtain the set target signal strength; Receive the real-time signal strength returned by the target device, calculate the required rotation angle of the antenna of the RF control system based on the error signal strength between the target signal strength and the real-time signal strength, the historical pointing angle and the preset angle control algorithm; and adjust the antenna pointing angle of the RF control system based on the rotation angle.

7. The method according to claim 5, characterized in that The preset angle control algorithm includes: a first preset angle control sub-formula and a second preset angle control sub-formula, wherein the calculation of the required rotation angle of the antenna of the RF control system based on the error signal strength between the target signal strength and the real-time signal strength, the historical pointing angle and the preset angle control algorithm includes: determining a current angle deviation of the target device relative to the RF control system based on the error signal strength and a first preset angle control sub-formula; Determining an antenna angle change rate and an antenna angle acceleration of the RF control system based on the historical pointing angle and a second preset angle control sub-formula, and determining a feedforward compensation angle based on the historical pointing angle, the antenna angle change rate, and the antenna angle acceleration; The required rotation angle of the antenna of the RF control system is determined based on the feedforward compensation angle and the current angle deviation.

8. An antenna adjustment device for an RF control system, characterized in that: Applications in RF control systems, including: A receiving unit, configured to receive a position return signal sent by a target device, wherein the position return signal includes a heading angle and a current geographic coordinate position corresponding to the target device; a determining unit configured to determine, based on the first geographic coordinate position and the current geographic coordinate position corresponding to the RF control system, a current coordinate position deviation of the target device relative to the RF control system in the first coordinate system; determine, based on the current coordinate position deviation, a current azimuth angle of the target device relative to the RF control system; and determine, based on an angular relationship between the heading angle and the current azimuth angle, whether an antenna of the RF control system needs to be adjusted; an adjustment unit, configured to calculate, if adjustment is required, a predicted geographic coordinate position of the target device after a specific time interval based on the moving speed and heading angle of the target device; determine a predicted azimuth of the target device relative to the RF control system after the specific time interval based on the first geographic coordinate position and the predicted geographic coordinate position; and adjust an antenna pointing angle of the RF control system based on the predicted azimuth.

9. A storage medium, characterized in that: The storage medium stores an antenna adjustment program for an RF control system. When the antenna adjustment program for the RF control system is executed by a processor, the steps of the antenna adjustment method for the RF control system according to any one of claims 1 to 7 are implemented.

10. An antenna adjustment device for an RF control system, characterized in that: An antenna adjustment program for an RF control system is stored, and when the processor executes the antenna adjustment program for the RF control system, the steps of the antenna adjustment method for the RF control system according to any one of claims 1 to 7 are implemented.

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