Directional antenna communication method and system based on pose change self-adaption

Abstract

The invention relates to the technical field of antenna communication, and discloses a directional antenna communication method and system based on pose change self-adaption, and the method comprises the steps: obtaining an initial pose parameter set of an antenna from a dynamic environment; performing time sequence analysis, anomaly correction, noise suppression, data correction and data updating in sequence according to the initial pose parameter set to obtain pose state information updated in real time; when it is judged that the pose state information updated in real time exceeds the pose deviation threshold value, a corresponding adjustment instruction is generated; after the adjustment instruction is executed, signal quality data are obtained, and when the signal quality data exceed a preset quality range, a preliminary communication link adjustment parameter is calculated according to the error rate and the deviation of the signal strength; performing stability evaluation on the preliminary communication link adjustment parameters; and performing selective adjustment according to an evaluation result, and generating a final communication link adjustment scheme. According to the method, the reliability and performance of antenna communication in a dynamic environment can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of antenna communication, and in particular to a directional antenna communication method and system based on adaptive pose changes. BACKGROUND

[0002] In the field of modern communication technology, especially in dynamic application scenarios such as mobile platforms or complex terrains, the precise pointing and stable communication capability of the antenna system are crucial for ensuring information transmission quality and efficiency, and are key support for the overall performance and reliability of the system. For example, millimeter wave communication has wide application in dynamic scenarios such as vehicles, high-speed trains, and unmanned aerial vehicles.

[0003] In one prior art, a directional antenna communication method includes obtaining and processing real-time pose data of the antenna, compensating and adjusting based on the pose data, and then adjusting the pointing of the antenna to establish a stable communication link. However, in a dynamic environment, displacement and attitude changes of the device can cause complex fluctuations in the antenna pose data, such as position offset and inclination, and it is difficult to achieve high-precision real-time capture relying solely on traditional measurement methods. When the pose data cannot be accurately obtained, the compensation mechanism is further invalidated, making the pointing adjustment of the antenna in a dynamic environment lack effective basis, and ultimately causing a significant decline in communication performance.

[0004] In summary, the traditional directional antenna communication method lacks real-time response capability to dynamic changes, especially when facing device displacement or attitude changes, and it is difficult to effectively maintain the stability of the communication link, resulting in frequent problems of signal interruption or quality degradation. SUMMARY

[0005] The present application provides a directional antenna communication method and system based on adaptive pose changes to improve antenna communication signal quality and optimize communication link stability in a dynamic environment.

[0006] In a first aspect, to solve the above technical problems, the present application provides a directional antenna communication method based on adaptive pose changes, comprising: obtaining an initial pose parameter set of the antenna from a dynamic environment; performing time series analysis on the initial pose parameter set to obtain an abnormal data set, correcting the abnormal data set to obtain a corrected pose parameter set; performing noise suppression and data correction on the corrected pose parameter set to obtain an optimized pose parameter set; updating the optimized pose parameter set based on a preset calibration feedback period as a time reference to obtain real-time updated pose state information; When it is determined that the real-time updated pose state information exceeds a preset pose deviation threshold, a corresponding adjustment instruction is generated, and a target execution sequence of the adjustment instruction is determined according to a preset instruction priority; After the adjustment instruction is executed, signal quality data is acquired, when the signal quality data exceeds a preset quality range, a preliminary communication link adjustment parameter is calculated according to the deviation of the bit error rate and the signal strength; wherein the signal quality data includes the bit error rate and the signal strength; According to the preliminary communication link adjustment parameter and a preset stability index, stability evaluation is performed, when it is determined that the evaluation result meets a preset performance standard, a final communication link adjustment scheme is generated; when it is determined that the evaluation result does not meet the preset performance standard, the antenna parameter is adjusted again or the relay device is added until the preset performance standard is met.

[0007] Preferably, the time series analysis is performed according to the initial pose parameter set to obtain an abnormal data set, the abnormal data set is corrected to obtain a corrected pose parameter set, including: The initial pose parameter set is standardized to obtain a standard pose data set; The time series analysis is performed according to the standard pose data set, and fluctuation feature data is extracted therefrom; When it is determined that the fluctuation feature data exceeds a preset fluctuation deviation threshold, the data point is marked as abnormal to obtain a marked abnormal data set; The abnormal data set is corrected to obtain a corrected pose parameter set.

[0008] Preferably, the noise suppression and data correction are performed according to the corrected pose parameter set to obtain an optimized pose parameter set, including: The noise interference in the corrected pose parameter set is smoothed to obtain a smoothed pose parameter set; The wind speed vibration analysis is performed according to the smoothed pose parameter set to obtain wind speed vibration data of all data points; When it is determined that the wind speed vibration data of any data point exceeds a preset wind speed vibration threshold, the data point is marked as abnormal to obtain a marked wind speed interference data set; An adjustment coefficient is extracted according to the wind speed interference data set, the smoothed pose parameter set is corrected according to the adjustment coefficient to obtain a corrected pose parameter set; The multi-dimensional data integration is performed according to the corrected pose parameter set to obtain an optimized pose parameter set.

[0009] Preferably, the updated pose parameter set is updated based on the preset calibration feedback period as a time reference, and real-time updated pose state information is obtained, including: Obtain the pose fluctuation data in a dynamic environment; Timestamp the pose fluctuation data to obtain a time pose parameter set with a time identifier; According to the time pose parameter set, the fluctuation is detected, and when it is determined that the pose parameter in a certain time period exceeds the preset pose fluctuation threshold, it is determined that there is abnormal pose fluctuation in the time period, and the pose data to be calibrated is determined; According to the pose data to be calibrated, the abnormal fluctuation correction processing is carried out, and the corrected pose state set is obtained; Based on the preset calibration feedback period as a time reference, the corrected pose state set is updated and adjusted in real time based on the time reference, and real-time updated pose state information is obtained.

[0010] Preferably, when it is determined that the real-time updated pose state information exceeds the preset pose deviation threshold, the corresponding adjustment instruction is generated, and the target execution sequence of the adjustment instruction is determined according to the preset instruction priority, including: When it is determined that the real-time updated pose state information exceeds the preset pose deviation threshold, the abnormal pose state information is marked to obtain the antenna pose data to be adjusted; Generate a pointing adjustment instruction according to the antenna pose data to be adjusted, and format the pointing adjustment instruction to obtain a control signal that meets the execution standard; wherein the control signal includes target angle, adjustment speed and instruction priority; Combined with the preset adjustment execution delay limit, the control signal is executed in time sequence and constrained to determine the initial execution sequence that meets the calibration time limit; According to the instruction priority, the initial execution sequence is sorted and constrained to obtain the target execution sequence of the adjustment instruction.

[0011] Preferably, when it is determined that the signal quality data exceeds the preset quality range, the preliminary communication link adjustment parameter is calculated according to the deviation of the bit error rate and the signal strength, including: When it is determined that the bit error rate exceeds the preset bit error rate range or the signal strength is lower than the preset strength range, it is determined that the signal quality data exceeds the preset quality range; Calculate the deviation data including the bit error rate deviation and the signal strength deviation, and determine the adjustment angle of the antenna according to the deviation data; According to the adjustment angle, and in combination with a historical database, a preliminary communication link adjustment parameter is calculated; wherein the preliminary communication link adjustment parameter comprises a modulation mode and an adjustment angle.

[0012] Preferably, the stability evaluation according to the preliminary communication link adjustment parameter and a preset stability index comprises: After the preliminary communication link adjustment parameter is applied to a communication device, a preliminary link adjustment response is obtained, and a preliminary stability evaluation is performed thereon; wherein the preliminary link adjustment response comprises a bit error rate and a signal strength; It is judged whether the preliminary link adjustment response conforms to a preset preliminary stability index, if yes, an optimized communication link adjustment parameter is generated, if not, a signal correction algorithm is used for optimization processing, and then the optimized communication link adjustment parameter is generated; After the optimized communication link adjustment parameter is applied to the communication device, an optimized link adjustment response is obtained, and a final stability evaluation is performed thereon; wherein the optimized link adjustment response comprises a bandwidth usage rate, a packet loss rate, a bit error rate and a signal strength.

[0013] In a second aspect, the present application provides a directional antenna communication device based on adaptive pose change, comprising: A data acquisition module is configured to acquire an initial pose parameter set of an antenna from a dynamic environment; A data correction module is configured to perform time series analysis on the initial pose parameter set to obtain an abnormal data set, and correct the abnormal data set to obtain a corrected pose parameter set; A data optimization module is configured to perform noise suppression and data correction on the corrected pose parameter set to obtain an optimized pose parameter set; A data updating module is configured to update the optimized pose parameter set based on a preset calibration feedback period as a time reference to obtain real-time updated pose state information; An instruction generation module is configured to generate a corresponding adjustment instruction when it is determined that the real-time updated pose state information exceeds a preset pose deviation threshold, and determine a target execution sequence of the adjustment instruction according to a preset instruction priority; A quality adjustment module is configured to obtain signal quality data after executing the adjustment instruction, and calculate a preliminary communication link adjustment parameter according to a deviation of a bit error rate and a signal strength when it is determined that the signal quality data exceeds a preset quality range; wherein the signal quality data comprises a bit error rate and a signal strength; A scheme generation module is configured to perform stability evaluation according to the preliminary communication link adjustment parameter and a preset stability index, and generate a final communication link adjustment scheme when the evaluation result meets the preset performance standard, or adjust the antenna parameter again or add a relay device until the preset performance standard is met when the evaluation result does not meet the preset performance standard.

[0014] In a third aspect, the present application further provides an electronic device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the pose change adaptive directional antenna communication method according to any one of the above aspects when executing the computer program.

[0015] In a fourth aspect, the present application further provides a computer readable storage medium comprising a stored computer program, wherein the computer readable storage medium controls the device where the computer readable storage medium is located to execute the pose change adaptive directional antenna communication method according to any one of the above aspects when the computer program runs.

[0016] Compared with the prior art, the present application has the following beneficial effects: (1) The present application first acquires an initial pose parameter set, then performs time series analysis to obtain an abnormal data set and corrects it, then performs noise suppression and data correction, and also updates the pose state information in real time. This series of operations can effectively process the abnormality and noise in the pose data, improve the accuracy of the pose data, and solve the problem of inaccurate pose data in the traditional method. The present application improves the accuracy and reliability of the antenna pose data, and provides a more accurate basis for subsequent antenna pointing adjustment.

[0017] (2) After acquiring the real-time updated pose state information, the present application generates an adjustment instruction when the deviation threshold is exceeded, and executes it according to the priority, and further adjusts it according to the signal quality data after execution until the performance standard is met. Through continuous adjustment and optimization, it ensures that the communication link is always in a stable state, overcoming the shortcomings of the traditional method. The present application can enhance the stability and reliability of the communication link in a dynamic environment, and reduce the frequent problems of signal interruption or quality decline.

[0018] (3) The traditional method lacks real-time response capability in the face of dynamic change scenarios. The present application introduces mechanisms such as a preset calibration feedback period and a pose deviation threshold to automatically determine whether adjustment is needed and how to adjust, and can also adaptively generate an adjustment scheme according to the signal quality data until the performance requirement is met, reflecting the intelligent perception and automatic adjustment capability for dynamic changes. The present application realizes intelligent adjustment of antenna communication, can dynamically optimize the communication link according to the actual situation, and improves the overall performance and adaptability of the communication system.

[0019] (4) The application not only adjusts based on the pose data, but also comprehensively considers signal quality data such as bit error rate and signal strength, determines the final adjustment scheme through stability evaluation, and even when the evaluation does not meet the standard, takes measures such as adjusting the antenna parameters again or increasing the relay equipment, forms a comprehensive evaluation and optimization system, and ensures that the communication link reaches the expected performance in multiple indicators. The application improves the quality and performance of the communication link from pose adjustment to signal quality optimization, so that the communication system can operate more stably and efficiently in a complex dynamic environment. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a flow diagram of a directional antenna communication method based on pose change adaptation provided by the first embodiment of the application; Figure 2 is a structural diagram of a directional antenna communication system based on pose change adaptation provided by the second embodiment of the application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0022] Referring to Figure 1 The first embodiment of the application provides a directional antenna communication method based on pose change adaptation, including the following steps: Step S1, obtaining an initial pose parameter set of an antenna from a dynamic environment; Step S2, performing time series analysis on the initial pose parameter set to obtain an abnormal data set, correcting the abnormal data set to obtain a corrected pose parameter set; Step S3, performing noise suppression and data correction on the corrected pose parameter set to obtain an optimized pose parameter set; Step S4, taking a preset calibration feedback period as a time reference, updating the optimized pose parameter set to obtain real-time updated pose state information; Step S5, when it is determined that the real-time updated pose state information exceeds a preset pose deviation threshold, generating a corresponding adjustment instruction, and determining a target execution sequence of the adjustment instruction according to a preset instruction priority; Step S6, after executing the adjustment instruction, acquiring signal quality data, when the signal quality data is out of the preset quality range, calculating a preliminary communication link adjustment parameter according to the bias of the bit error rate and the signal strength; wherein the signal quality data includes the bit error rate and the signal strength; Step S7, performing stability evaluation according to the preliminary communication link adjustment parameter and a preset stability index, when the evaluation result meets the preset performance standard, generating a final communication link adjustment scheme; when the evaluation result does not meet the preset performance standard, adjusting the antenna parameter again or adding a relay device until the preset performance standard is met.

[0023] In step S1, it is necessary to acquire an initial pose parameter set of the antenna from the dynamic environment.

[0024] It should be noted that the initial pose parameter set of the antenna includes a timestamp, an antenna pose parameter and a pose deviation threshold determination result. The antenna pose parameter includes a position offset and an inclination change of the antenna.

[0025] In this embodiment, first, the antenna pose parameter is acquired from the dynamic environment. When acquiring the antenna pose parameter from the dynamic environment, a multi-sensor fusion device can be deployed, including a three-axis accelerometer, a gyroscope and a magnetometer, to form a comprehensive perception system; wherein the three-axis accelerometer is used to measure the acceleration data of the antenna on the X, Y and Z axes, and then obtain the position offset of the antenna; the gyroscope is used to measure the angular velocity of the antenna, and then obtain the inclination change of the antenna; the magnetometer is used to provide a direction reference for the pose parameter. For example, the acceleration data of the antenna on the X, Y and Z axes is measured by using the accelerometer, assuming that the acquisition frequency is 100 Hz, 100 groups of data are acquired per second, and the data range is between -2g and 2g; the angular velocity of the antenna is measured by using the gyroscope, and the acquisition frequency is also 100 Hz, and the angular velocity range is -250 degrees / second to 250 degrees / second; the magnetometer provides a direction reference, and the acquisition frequency is 50 Hz, and the obtained data is used to correct the attitude drift. Through the above method, real-time and accurate original antenna pose parameters can be acquired from the dynamic environment.

[0026] Then, the pose deviation threshold determination result is obtained. In obtaining the pose deviation threshold determination result, the Kalman filtering algorithm can be used to fuse the original antenna pose parameters first, and then the processed data is subjected to deviation detection to obtain an abnormal data set. Based on the abnormal data set, the pose deviation threshold determination result is obtained based on the real-time deviation detection frequency. For example, assuming that the initial position offset threshold is 0.05 meters and the inclination change threshold is 0.5 degrees, the error between the estimated value and the true value of the antenna pose parameter is calculated in real time. In a certain calculation, the position offset is 0.06 meters, which exceeds the threshold of 0.05 meters. The system records an anomaly and performs an abnormality mark to obtain an abnormal data set. The abnormal data set is detected, and the detection frequency is set to 50 times per second. The data fluctuation in the last 1 second is analyzed by using a sliding window, the window size is 50 data points, the mean and standard deviation are calculated, and if the standard deviation exceeds the preset value of 0.02 meters, it is determined as a potential risk, and the pose deviation threshold determination result is obtained.

[0027] In a possible implementation, in obtaining the pose deviation threshold determination result, a machine learning model such as a support vector machine can be used to train historical data. The input features include the position offset and the inclination change value, and the output is a classification result of whether it is abnormal. For example, in the training data, the position offset of 0.07 meters and the inclination change of 0.6 degrees are marked as abnormal, and the model prediction accuracy reaches 95%, thereby generating an initial pose parameter set for subsequent real-time comparison.

[0028] The above process forms a closed-loop logic through sensor data acquisition, algorithm fusion, real-time analysis and model training, ensuring the accuracy and reliability of antenna pose monitoring.

[0029] In step S2, time series analysis is performed on the initial pose parameter set to obtain an abnormal data set, and the abnormal data set is corrected to obtain a corrected pose parameter set, including: The initial pose parameter set is standardized to obtain a standard pose data set; The standard pose data set is subjected to time series analysis to extract fluctuation feature data therefrom; When it is determined that the fluctuation feature data exceeds the preset fluctuation deviation threshold, the data point is marked as abnormal to obtain a marked abnormal data set; The abnormal data set is corrected to obtain a corrected pose parameter set.

[0030] In this embodiment, first, the initial pose parameter set is standardized and arranged, i.e., the original data is converted into a unified format, to obtain a standard pose data set. For example, the acceleration data range is normalized to the interval of -1 to 1, and the angular velocity data is converted to radian system, to ensure the consistency of data from different sensors. Assuming that the mean value of the acceleration data in 100 groups of data collected at a certain time is , and the standard deviation is 0.03, after standardization processing, the data is adjusted to a distribution with a mean value of 0 and a standard deviation of 1. This standardization arrangement facilitates subsequent analysis and reduces calculation deviations caused by different dimensions.

[0031] Secondly, for the standard pose data set, time series decomposition is performed to analyze the pose fluctuation. The seasonal-trend decomposition method can be used to separate the periodic fluctuation and long-term trend of the data, to obtain fluctuation characteristic data. For example, assuming that the antenna pose data shows periodic fluctuation in position offset within 1 minute, the period is 5 seconds, and the amplitude is about 0.04 meters, the fluctuation characteristic data such as the frequency and amplitude of periodic oscillation is extracted, and it is found that the main fluctuation is concentrated between 0.03 and 0.05 meters. This analysis helps to identify the regularity of pose changes and provides a basis for subsequent anomaly detection.

[0032] Then, if the fluctuation characteristic data of a certain data point exceeds the preset fluctuation deviation threshold, such as the position offset threshold of 0.05 meters, the data point is marked as abnormal to obtain a marked abnormal data set. For example, in a certain monitoring, the position offset of a certain data point reaches 0.06 meters, exceeding the position offset threshold, and the system automatically marks it as abnormal. Further analysis finds that the abnormal point appears at the 20th second of the data sequence, which may be related to external interference. By counting the proportion of abnormal points, it is judged whether it affects the overall pose accuracy. If the abnormal points only account for 2% of the total data, it may not affect the overall accuracy, but if the proportion exceeds 10%, further correction is needed.

[0033] Finally, for the marked abnormal data set, correction parameters can be generated by interpolation method to adjust the abnormal data. Specifically, cubic spline interpolation can be used to generate correction parameters. First, a window (n≥3) containing n data points before and after the abnormal point P(n0) is constructed; secondly, a cubic spline function S(t) is fitted, which satisfies the second-order derivative continuity in the interval [n0-n, n0+n], and the boundary condition is set as natural boundary; finally, the correction parameters such as Δx=S(n0)-P(n0) are generated. For example, assuming that the position offset of a certain abnormal data point is 0.06 meters, according to the cubic spline interpolation of the previous and subsequent 10 data points, it is calculated that it should be 0.04 meters, and the correction parameter -0.02 is generated to adjust the point data. This correction method can effectively smooth the abnormal fluctuation, and generate a corrected pose parameter set, providing a reliable data basis for subsequent high-precision pose monitoring. This closed-loop processing logic ensures the continuous optimization of antenna pose data.

[0034] In step S3, noise suppression and data correction are performed according to the corrected pose parameter set to obtain an optimized pose parameter set, including: Smooth the noise interference in the corrected pose parameter set to obtain a smoothed pose parameter set; Perform wind speed vibration analysis according to the smoothed pose parameter set to obtain wind speed vibration data of all data points; When it is determined that the wind speed vibration data of any data point exceeds a preset wind speed vibration threshold, the data point is marked as abnormal to obtain a marked wind speed interference data set; Extract an adjustment coefficient according to the wind speed interference data set, and correct the smoothed pose parameter set according to the adjustment coefficient to obtain a corrected pose parameter set; Perform multi-dimensional data integration according to the corrected pose parameter set to obtain an optimized pose parameter set.

[0035] In this embodiment, first, Kalman filtering is used to smooth the noise interference of multi-dimensional parameters in the corrected pose parameter set. Kalman filtering can effectively reduce the pose data fluctuations caused by sensor noise by weighted fusion of historical data and current observation values. For example, in a certain antenna monitoring, the corrected pose parameters show slight jitter in time series, such as random changes in position data within 0.02 meters, and after Kalman filtering processing, these jitter are smoothed into curves close to the true trajectory to obtain a smoothed pose parameter set. This method is particularly suitable for continuous monitoring of antenna pose in dynamic environment.

[0036] Secondly, the wind speed vibration data in the smoothed pose parameter set is analyzed, and it is determined whether the wind speed vibration exceeds a preset wind speed vibration threshold. Specifically, when analyzing the wind speed vibration data, frequency spectrum analysis and root mean square (RMS) detection can be used. First, the antenna motion component in the pose parameters is eliminated to obtain pure wind vibration acceleration; second, the root mean square value a rms of the pure wind vibration acceleration is calculated; then, the maximum amplitude A peak of the 5-20Hz frequency band in the FFT spectrum of the pose parameters is extracted; finally, according to the formula v wind = k1a rms +k2A peakThe reverse wind speed vibration is detected, wherein k1 and k2 are preset correction coefficients, which can be obtained by wind tunnel calibration experiment. For example, the preset wind speed vibration threshold is 5 m / s, and the wind speed vibration is detected to be 6 m / s in a certain monitoring, and the system will automatically mark the data as abnormal data to generate a marked wind speed disturbance data set. This detection method can timely discover potential environmental influencing factors and provide basis for subsequent parameter adjustment.

[0037] Then, the adjustment coefficient is extracted from the marked wind speed disturbance data set to linearly correct the pose parameters. Specifically, when extracting the adjustment coefficient, the wind tunnel calibration experiment is performed in advance to determine the adjustment coefficient corresponding to different wind speeds to generate a lookup table, and then the adjustment coefficient is determined in the lookup table according to the wind speed in the wind speed disturbance data set. For example, assuming that the adjustment coefficient corresponding to the wind speed of 6 m / s is 0.8 in the lookup table in the above case of exceeding the wind speed, the pose parameters are corrected based on this coefficient, such as adjusting the position offset at a certain time from 0.05 m to 0.05*0.8=0.04 m, to obtain a corrected pose parameter set. This dynamic adjustment can be personalized to correct specific environmental disturbances and ensure the reliability of the data.

[0038] Finally, for the corrected pose parameter set, the weights of the parameters in each dimension can be allocated according to the historical data and the current environmental characteristics for further optimization. The pose parameters usually include two dimensions of position parameters and attitude parameters. Specifically, when allocating the weights, the weights of the parameters in each dimension in different situations are determined in advance according to the pose parameters and environmental characteristics in the past period, such as one week, to generate a weight database, and then the weights of the parameters in each dimension are looked up in the weight database according to the current environmental characteristics when allocating. For example, in a certain vehicle antenna pose monitoring, the environment is strong wind and bumpy road, and after looking up in the weight database, the weight of the position parameter is 0.6 and the weight of the attitude parameter is 0.4, and the system will integrate the data based on the weights to generate an optimized pose parameter set. This weight allocation method can balance the importance of parameters in different dimensions and improve the applicability of the overall data.

[0039] In step S4, the optimized pose parameter set is updated with a preset calibration feedback period as a time reference to obtain real-time updated pose state information, including: Obtaining pose fluctuation data in a dynamic environment; Timestamping the pose fluctuation data to obtain a time pose parameter set with time identification; Performing fluctuation detection according to the time pose parameter set, and determining that there is pose abnormal fluctuation in a certain time period when the pose parameters in the time period exceed the preset pose fluctuation threshold to determine the pose data to be calibrated; According to the to-be-calibrated pose data, an abnormal fluctuation correction process is performed to obtain a corrected pose state set; Taking a preset calibration feedback period as a time reference, the corrected pose state set is updated in real time and adjusted in stability based on the time reference to obtain real-time updated pose state information.

[0040] In this embodiment, first, the pose fluctuation data in a dynamic environment is acquired and time-stamped. For example, for a scenario of acquiring pose fluctuation data in a dynamic environment from a sensor, it is assumed that an automated guided vehicle is running in a warehouse environment, which collects pose data in real time through a laser radar and an inertial measurement unit. The sensor collects data 100 times per second, including three-dimensional position coordinates and attitude angles, and each collection is accompanied by a time stamp accurate to milliseconds. For example, the collected data at a certain time is position coordinates x=1.2 meters, y=0.8 meters, z=0.1 meters, and attitude angle yaw angle of 5 degrees, and the time stamp is 2025-07-1709:26:00.123. These data form a time-pose parameter set with a time identifier, providing a basis for subsequent analysis. The high frequency of collected data and the accuracy of the time stamp in this application ensure the continuity of the tracking of the pose change in the dynamic environment, which helps to improve the accuracy of abnormal detection.

[0041] Secondly, the time-pose parameter set is subjected to fluctuation detection, and the establishment of the fluctuation detection logic can be based on a preset pose fluctuation threshold, wherein the pose fluctuation threshold includes a position coordinate change threshold and a yaw angle change threshold. For example, the position coordinate change threshold is set to 0.5 meters / second, and the yaw angle change threshold is set to 10 degrees / second. In continuous comparison, if the position coordinates x suddenly change from 1.2 meters to 1.8 meters within a certain time period, such as 1 second, the change rate is 0.6 meters / second, which exceeds the position coordinate change threshold, it is judged that there is an abnormal pose fluctuation. The abnormal time period can be from 09:26:00.123 to 09:26:01.123, and the range of the involved pose data is all the collection points within this second, and the to-be-calibrated pose data is determined. This detection logic can quickly identify abnormal jitter or deviation in a dynamic environment through quantized threshold, and improve the pertinence of calibration.

[0042] Then, for the to-be-calibrated pose data, a weighted moving average method is used for smoothing filtering to obtain a corrected pose state set. For example, for the abnormal fluctuation data x=1.8 meters, combined with the previous and next five data points, the weighted average value is calculated, the weights of the previous five points and the next five points are 0.1 each, and the weight of the current point is 0.8, to obtain the smoothed x=1.5 meters. The pose state set after smoothing processing maintains the continuity of the data while reducing the noise interference, so that the pose state is closer to the true value. This method effectively reduces the data jump caused by sensor noise or environmental interference, and optimizes the reliability of subsequent calibration.

[0043] Finally, take the preset calibration feedback period as the time reference, and update the corrected pose state set in real time and adjust the stability. The dynamic calibration feedback period can be set to update the pose state once every 0.5 seconds. For example, the corrected pose state set is updated in real time, and if the updated yaw angle fluctuates between 5 degrees and 6 degrees and does not exceed the preset stability condition of 5 degrees ± 1 degree, it is considered stable. If the yaw angle reaches 7 degrees, iterative adjustment is performed, such as using a fine-tuning method based on gradient descent, by gradually adjusting the yaw angle to 5.5 degrees to return it to the stable range. The combination of real-time updating and fine-tuning ensures high accuracy and stability of the pose state in a dynamic environment.

[0044] In step S5, when it is determined that the real-time updated pose state information exceeds the preset pose deviation threshold, a corresponding adjustment instruction is generated, and the target execution sequence of the adjustment instruction is determined according to the preset instruction priority, including: When it is determined that the real-time updated pose state information exceeds the preset pose deviation threshold, the pose state information is marked as abnormal to obtain the antenna pose data to be adjusted.

[0045] Generate a pointing adjustment instruction according to the antenna pose data to be adjusted, and format the pointing adjustment instruction to obtain a control signal that meets the execution standard; wherein the control signal includes a target angle, an adjustment speed, and an instruction priority; In combination with the preset adjustment execution delay limit, the control signal is executed timing sorting and constraint to determine an initial execution sequence that meets the calibration time limit; According to the instruction priority, the initial execution sequence is sorted and constrained to obtain the target execution sequence of the adjustment instruction.

[0046] In this embodiment, first, the deviation of the real-time updated pose state information is detected to determine whether the antenna pointing needs to be adjusted. The core of deviation detection is to set a reasonable pose deviation threshold. For example, assuming that the threshold is an angular deviation of ±0.5 degrees, when the pose state information shows that the antenna pointing deviates from the target direction by 0.7 degrees, the data in this time period is marked as abnormal. Subsequently, the pose state information in a continuous time window, such as 10 seconds, is analyzed to determine the abnormal range, for example, the pose state information that continuously deviates for 5 seconds is locked to obtain the antenna pose data to be adjusted. This method ensures the accuracy of abnormal detection and avoids false positives.

[0047] Secondly, for the antenna pose data to be adjusted, a pointing adjustment instruction is generated according to the specific direction and amplitude of the pose deviation. For example, if the antenna is detected to be deviated westward by 0.7 degrees, an instruction to correct eastward by 0.7 degrees is generated, and then the instruction is converted into a standardized control signal format, such as a signal data packet containing a target angle, an adjustment speed, and an instruction priority, in the format of "target angle: 0.7 degrees; speed: 0.1 degree / s; priority: high". This formatting processing ensures the compatibility of the instruction between different devices.

[0048] Then, in combination with the preset adjustment execution delay limit, the control signal is sequenced and constrained in execution timing. The adjustment execution delay limit needs to consider the real-time requirements of the system. For example, the delay limit of antenna calibration is 100 milliseconds, and the execution sequence of multiple instructions is sequenced according to the priority and time window of the instructions. Assuming that there are both pointing adjustment and power calibration instructions, the pointing adjustment instruction is preferentially arranged to be executed within 50 milliseconds to ensure that the antenna quickly recovers to the target direction. The execution sequence is timestamped, such as "instruction 1: 50 milliseconds; instruction 2: 80 milliseconds", so as to avoid instruction conflicts.

[0049] In step S6, after executing the adjustment instruction, the signal quality data is acquired, and when the signal quality data is out of the preset quality range, the preliminary communication link adjustment parameters are calculated according to the deviation of the bit error rate and the signal strength, including: After executing the adjustment instruction, the bit error rate and the signal strength are acquired from the real-time signal monitoring module; When it is determined that the bit error rate is out of the preset bit error rate range or the signal strength is lower than the preset strength range, it is determined that the signal quality data is out of the preset quality range; The deviation data including the bit error rate deviation and the signal strength deviation are calculated, and the adjustment angle of the antenna is determined according to the deviation data; The preliminary communication link adjustment parameters are calculated according to the adjustment angle and in combination with the historical database; wherein the preliminary communication link adjustment parameters include a modulation mode and an adjustment angle.

[0050] In this embodiment, first, after executing the adjustment instruction, the bit error rate and the signal strength data are acquired from the real-time signal monitoring module and it is determined whether they are out of the preset quality range. For example, assuming that a communication device works in the 5G frequency band, the real-time signal monitoring module collects data once per second, and the acquired bit error rate value is 0.02 and the signal strength is -85dBm. The preset bit error rate threshold is 0.01, and the signal strength standard is -80dBm. After comparison, it is found that the bit error rate is out of the limited range and the signal strength is lower than the set standard, and further adjustment is needed. This monitoring method ensures the real-time data through high-frequency sampling, which helps to quickly find signal abnormalities.

[0051] Then, the deviation data including the bit error rate deviation and the signal strength deviation is calculated, and the adjustment angle of the antenna is determined according to the deviation data. For example, assuming that the current antenna elevation angle is 30 degrees and the azimuth angle is 120 degrees, it is analyzed that the elevation angle needs to be increased by 2 degrees and the azimuth angle needs to be adjusted by 3 degrees. The above adjustment amount is further optimized in combination with historical data to generate preliminary communication link adjustment parameters, such as adjusting the modulation mode to QPSK to improve the noise resistance. In this way, the adjustment amount is ensured to be accurate by combining deviation analysis with historical data, and the communication stability is improved.

[0052] In step S7, stability evaluation is performed according to the preliminary communication link adjustment parameters and a preset stability index, and when it is determined that the evaluation result meets the preset performance standard, a final communication link adjustment scheme is generated; when it is determined that the evaluation result does not meet the preset performance standard, the antenna parameters are adjusted again or a relay device is added until the preset performance standard is met.

[0053] In an embodiment, the stability evaluation according to the preliminary communication link adjustment parameters and a preset stability index includes: After the preliminary communication link adjustment parameters are applied to the communication device, a preliminary link adjustment response is obtained, and preliminary stability evaluation is performed thereon; wherein the preliminary link adjustment response includes the bit error rate and the signal strength; It is determined whether the preliminary link adjustment response meets a preset preliminary stability index, and if so, optimized communication link adjustment parameters are generated; if not, a signal correction algorithm is used for optimization processing, and then the optimized communication link adjustment parameters are generated; After the optimized communication link adjustment parameters are applied to the communication device, an optimized link adjustment response is obtained, and final stability evaluation is performed thereon; wherein the optimized link adjustment response includes the bandwidth usage rate, the packet loss rate, the bit error rate and the signal strength.

[0054] It should be noted that the preliminary stability index includes the bit error rate threshold and the signal strength threshold; and the final stability index includes the bandwidth usage rate threshold, the packet loss rate threshold, the bit error rate threshold and the signal strength threshold.

[0055] In this embodiment, when it is determined whether the preliminary link adjustment response meets the preset preliminary stability index, multi-dimensional evaluation criteria can be set. For example, the bit error rate needs to be lower than 0.01, the signal strength needs to be higher than -80dBm, and the sampling is stable for 5 consecutive times. After collecting the preliminary link adjustment response, the bit error rate is 0.008 and the signal strength is -78dBm, which meets the requirements, and the optimized communication link parameters are generated. This multi-dimensional verification method ensures the reliability of the link adjustment.

[0056] Then, if the preliminary link adjustment response does not meet the preset preliminary stability index, optimization processing is performed. For example, real-time signal strength and interference data are collected by the signal detection device. Suppose the signal strength is found to have dropped below the preset signal strength threshold, such as below -90 dBm, and the interference data indicates the presence of adjacent frequency interference, optimization processing is required at this time. In one possible implementation, the interference can be reduced by adjusting the transmission power or switching channels, for example, by increasing the transmission power from the original 20 dBm to 25 dBm, while avoiding channels with severe interference, to improve the signal quality parameter.

[0057] Finally, when judging whether the optimized link adjustment response meets the preset final stability index, the stability index in the historical data record can be analyzed. Suppose the link stability index shows that the packet loss rate fluctuates between 1% and 3% in the past 24 hours. Combined with the stability index in the historical data record, the exponential smoothing prediction method is used to predict the fluctuation trend in the next few hours. The system may find that there is a risk of the packet loss rate rising to 4% during peak hours, so it is necessary to adjust the resource allocation strategy in advance, such as adjusting the bandwidth allocation. This prediction analysis helps to take preventive measures before the problem occurs, ensuring the stability of the link.

[0058] The above steps provide a multi-level evaluation and adjustment mechanism, which can continuously optimize the communication link in a dynamically changing environment, ensure that the business demand is met, and improve the adaptability and reliability of the system.

[0059] In summary, the application discloses a directional antenna communication method based on adaptive pose change, comprising the following steps: acquiring an initial pose parameter set of an antenna from a dynamic environment; performing time series analysis according to the initial pose parameter set to obtain an abnormal data set, correcting the abnormal data set to obtain a corrected pose parameter set; performing noise suppression and data correction according to the corrected pose parameter set to obtain an optimized pose parameter set; taking a preset calibration feedback period as a time reference to update the optimized pose parameter set to obtain real-time updated pose state information; when it is determined that the real-time updated pose state information exceeds a preset pose deviation threshold, generating a corresponding adjustment instruction, and determining a target execution sequence of the adjustment instruction according to a preset instruction priority; acquiring signal quality data after executing the adjustment instruction, and when the signal quality data exceeds a preset quality range, calculating preliminary communication link adjustment parameters according to the deviation of the bit error rate and the signal strength; wherein the signal quality data comprises the bit error rate and the signal strength; performing stability evaluation according to the preliminary communication link adjustment parameters and a preset stability index, and when it is determined that the evaluation result meets a preset performance standard, generating a final communication link adjustment scheme; when it is determined that the evaluation result does not meet the preset performance standard, adjusting the antenna parameters again or adding a relay device until the preset performance standard is met. Through real-time monitoring and calibration of the antenna pose in the dynamic environment and evaluation and optimization of the communication link adjustment scheme, the application realizes the improvement of the antenna communication signal quality and the stability optimization of the communication link in the dynamic environment.

[0060] Reference Figure 2 The second embodiment of the application provides a directional antenna communication device based on adaptive pose change, comprising: A data acquisition module is configured to acquire an initial pose parameter set of an antenna from a dynamic environment. A data correction module is configured to perform time series analysis according to the initial pose parameter set to obtain an abnormal data set, correct the abnormal data set to obtain a corrected pose parameter set. A data optimization module is configured to perform noise suppression and data correction according to the corrected pose parameter set to obtain an optimized pose parameter set. A data update module is configured to take a preset calibration feedback period as a time reference to update the optimized pose parameter set to obtain real-time updated pose state information. An instruction generation module is configured to generate a corresponding adjustment instruction when it is determined that the real-time updated pose state information exceeds a preset pose deviation threshold, and determine a target execution sequence of the adjustment instruction according to a preset instruction priority. The quality adjustment module is configured to acquire signal quality data after the adjustment instruction is executed, and to calculate preliminary communication link adjustment parameters according to the bias of the error code rate and the signal strength when it is determined that the signal quality data is out of a preset quality range; wherein the signal quality data comprises the error code rate and the signal strength. The scheme generation module is configured to perform stability evaluation according to the preliminary communication link adjustment parameters and a preset stability index, and to generate a final communication link adjustment scheme when it is determined that the evaluation result meets a preset performance standard, or to adjust the antenna parameters again or to add a relay device until the preset performance standard is met when it is determined that the evaluation result does not meet the preset performance standard.

[0061] It should be noted that the directional antenna communication device based on the adaptive change of the pose provided by the embodiment of the present application is used to perform all the flow steps of the directional antenna communication method based on the adaptive change of the pose provided by the above-mentioned embodiment, and the working principles and beneficial effects of the two are one-to-one corresponding, and thus will not be described again.

[0062] The embodiment of the present application further provides an electronic device. The electronic device comprises a processor, a memory, and a computer program, such as a data acquisition program, stored in the memory and executable on the processor. The processor implements the steps in the above-mentioned various directional antenna communication methods based on the adaptive change of the pose when executing the computer program, such as Figure 1 The processor implements the functions of the modules / units in the above-mentioned various devices when executing the computer program, such as a data acquisition module.

[0063] For example, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the electronic device.

[0064] The electronic device can be a desktop computer, a notebook, a palm computer, and a smart tablet, etc. The electronic device can include, but is not limited to, a processor, a memory. Those skilled in the art can understand that the above-mentioned components are only examples of the electronic device, and do not constitute a limitation on the electronic device, and can include more or fewer components than the above-mentioned, or combine certain components, or different components, for example, the electronic device can also include an input / output device, a network access device, a bus, etc.

[0065] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The processor is a control center of the electronic device, and connects various parts of the electronic device through various interfaces and lines.

[0066] The memory can be used to store the computer program and / or modules, and the processor realizes various functions of the electronic device by running or executing the computer program and / or modules stored in the memory, and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a nonvolatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory device.

[0067] The modules / units integrated in the electronic device, if realized in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can implement the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer readable medium can include any entity or device, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. that can carry the computer program code. It should be noted that the contents included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0068] It should be noted that the above-described device embodiments are only schematic, and the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. In addition, the connection relationship between the modules in the device embodiment provided by the present application indicates that there is a communication connection between them, which can be realized as one or more communication buses or signal lines. Those skilled in the art can understand and implement it without creative labor.

[0069] The above-described specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above-described specific embodiments are only for the specific embodiments of the present application and do not limit the protection scope of the present application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for directional antenna communication based on adaptive pose change, characterized in that, The method comprises the following steps: obtaining an initial pose parameter set of an antenna from a dynamic environment; performing time series analysis on the initial pose parameter set to obtain an abnormal data set, and correcting the abnormal data set to obtain a corrected pose parameter set; performing noise suppression and data correction on the corrected pose parameter set to obtain an optimized pose parameter set; updating the optimized pose parameter set according to a preset calibration feedback period as a time reference to obtain real-time updated pose state information; when it is determined that the real-time updated pose state information exceeds a preset pose deviation threshold, generating a corresponding adjustment instruction, and determining a target execution sequence of the adjustment instruction according to a preset instruction priority; after executing the adjustment instruction, obtaining signal quality data, when the signal quality data exceeds a preset quality range, calculating preliminary communication link adjustment parameters according to the deviation of the bit error rate and the signal strength; wherein the signal quality data includes the bit error rate and the signal strength; performing stability evaluation according to the preliminary communication link adjustment parameters and a preset stability index, when it is determined that the evaluation result meets a preset performance standard, generating a final communication link adjustment scheme; when it is determined that the evaluation result does not meet the preset performance standard, adjusting the antenna parameters again or adding a relay device until the preset performance standard is met.

2. The pose change based adaptive directional antenna communication method of claim 1, wherein, The method comprises the following steps: standardizing and arranging the initial pose parameter set to obtain a standard pose data set; performing time series analysis on the standard pose data set to extract fluctuation feature data; when it is determined that the fluctuation feature data exceeds a preset fluctuation deviation threshold, marking the data point as abnormal to obtain a marked abnormal data set; correcting the abnormal data set to obtain a corrected pose parameter set. 3.The pose-change-based adaptive directional antenna communication method according to claim 1, wherein, The method comprises the following steps: performing smoothing processing on the noise interference in the corrected pose parameter set to obtain a smoothed pose parameter set; performing wind speed vibration analysis on the smoothed pose parameter set to obtain wind speed vibration data of all data points; when it is determined that the wind speed vibration data of any data point exceeds a preset wind speed vibration threshold, marking the data point as abnormal to obtain a marked wind speed interference data set; extracting an adjustment coefficient from the wind speed interference data set, and correcting the smoothed pose parameter set according to the adjustment coefficient to obtain a corrected pose parameter set; performing multi-dimensional data integration on the corrected pose parameter set to obtain an optimized pose parameter set.

4. The pose change based adaptive directional antenna communication method of claim 1, wherein, The method comprises the following steps: obtaining pose fluctuation data in a dynamic environment; Timestamping the pose fluctuation data to obtain a time pose parameter set with time identification; According to the time pose parameter set, the fluctuation is detected, and when it is determined that the pose parameter in a certain time period exceeds the preset pose fluctuation threshold, it is determined that there is a pose abnormal fluctuation in the time period, and the pose data to be calibrated is determined. According to the pose data to be calibrated, the abnormal fluctuation correction processing is carried out to obtain a corrected pose state set. Taking the preset calibration feedback period as a time reference, the corrected pose state set is updated and stability adjusted in real time based on the time reference to obtain real-time updated pose state information.

5. The pose change based adaptive directional antenna communication method of claim 1, wherein, When it is determined that the real-time updated pose state information exceeds the preset pose deviation threshold, the corresponding adjustment instruction is generated, and the target execution sequence of the adjustment instruction is determined according to the preset instruction priority, including: When it is determined that the real-time updated pose state information exceeds the preset pose deviation threshold, the pose state information is abnormally marked to obtain antenna pose data to be adjusted; According to the antenna pose data to be adjusted, a pointing adjustment instruction is generated, and the pointing adjustment instruction is formatted to obtain a control signal meeting the execution standard; wherein the control signal includes target angle, adjustment speed and instruction priority; Combined with the preset adjustment execution delay limit, the execution time sequence of the control signal is sorted and constrained to determine the initial execution sequence meeting the calibration time limit; The initial execution sequence is sorted and constrained according to the instruction priority to obtain the target execution sequence of the adjustment instruction.

6. The pose change based adaptive directional antenna communication method of claim 1, wherein, When it is determined that the signal quality data exceeds the preset quality range, the preliminary communication link adjustment parameter is calculated according to the deviation of the bit error rate and the signal strength, including: When it is determined that the bit error rate exceeds the preset bit error rate range or the signal strength is lower than the preset strength range, it is determined that the signal quality data exceeds the preset quality range; The deviation data including the bit error rate deviation and the signal strength deviation is calculated, and the adjustment angle of the antenna is determined according to the deviation data; According to the adjustment angle, and combined with the historical database, the preliminary communication link adjustment parameter is calculated; wherein the preliminary communication link adjustment parameter includes modulation mode and adjustment angle. 7.The pose-change-based adaptive directional antenna communication method according to claim 1, wherein, According to the preliminary communication link adjustment parameter and the preset stability index, the stability is evaluated, including: After applying the preliminary communication link adjustment parameter to the communication equipment, the preliminary link adjustment response is obtained, and the preliminary stability evaluation is carried out; wherein the preliminary link adjustment response includes bit error rate and signal strength; Determine whether the preliminary link adjustment response meets the preset preliminary stability index, if it meets, generate the optimized communication link adjustment parameter, if it does not meet, use the signal correction algorithm for optimization processing, and then generate the optimized communication link adjustment parameter; After applying the optimized communication link adjustment parameter to the communication equipment, the optimized link adjustment response is obtained, and the final stability evaluation is carried out; wherein the optimized link adjustment response includes bandwidth utilization rate, packet loss rate, bit error rate and signal strength.

8. A directional antenna communication system based on adaptive to pose changes, characterized by, Including: The data acquisition module is configured to acquire an initial pose parameter set of the antenna from a dynamic environment. The data correction module is configured to perform time series analysis on the initial pose parameter set to obtain an abnormal data set, and correct the abnormal data set to obtain a corrected pose parameter set. The data optimization module is configured to perform noise suppression and data correction on the corrected pose parameter set to obtain an optimized pose parameter set. The data updating module is configured to update the optimized pose parameter set based on a preset calibration feedback period as a time reference to obtain real-time updated pose state information. The instruction generation module is configured to generate corresponding adjustment instructions when it is determined that the real-time updated pose state information exceeds a preset pose deviation threshold, and determine a target execution sequence of the adjustment instructions according to a preset instruction priority. The quality adjustment module is configured to acquire signal quality data after executing the adjustment instructions, and calculate preliminary communication link adjustment parameters according to a deviation of a bit error rate and a signal strength when it is determined that the signal quality data exceeds a preset quality range, wherein the signal quality data includes the bit error rate and the signal strength. The scheme generation module is configured to perform stability evaluation according to the preliminary communication link adjustment parameters and a preset stability index, and generate a final communication link adjustment scheme when it is determined that an evaluation result meets a preset performance standard, or adjust antenna parameters again or add a relay device until the preset performance standard is met when it is determined that the evaluation result does not meet the preset performance standard.

9. An electronic device, comprising: The computer readable storage medium comprises a stored computer program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the directional antenna communication method based on pose change adaptation when the computer program runs.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored computer program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the directional antenna communication method based on pose change adaptation when the computer program runs.

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