Satellite communication method, satellite terminal and satellite communication system

Abstract

The invention provides a satellite communication method, a satellite terminal and a satellite communication system, and the method comprises the steps: obtaining environment perception information; based on the environmental perception information, identifying an obstacle on a communication link between the satellite terminal and the satellite receiving end, and calculating the power attenuation of the obstacle to the communication signal based on the obstacle characteristics; determining a pre-compensation moment before the satellite terminal enters the obstacle shielding area based on the propagation time delay of the communication signal transmitted from the satellite terminal to the satellite receiving end; and at the pre-compensation moment, compensating the transmitting power and the receiving gain of the satellite terminal based on the power attenuation. According to the method, the obstacle on the communication link is recognized in advance through environmental perception, the pre-compensation moment is calculated and determined in combination with the propagation time delay, synchronous adjustment of the transmitting power and the receiving gain is actively completed before the signal is shielded, and therefore communication quality deterioration caused by obstacle penetration attenuation is avoided.

Description

Technical Field

[0001] This application relates to the field of satellite communication technology, and more specifically, to a satellite communication method, a satellite terminal, and a satellite communication system. Background Technology

[0002] With the evolution of 5G-A (5G-Advanced, 5G evolution) and 6G (6th Generation) technologies, satellite communication systems are accelerating their deep integration with terrestrial cellular networks, building ubiquitous connectivity across air, space, and ground. In mobile satellite communication scenarios, vehicle-mounted, shipborne, and airborne terminals need to maintain stable communication links with satellites in complex and dynamic environments, which places stringent requirements on the terminal's beam alignment and environmental adaptability. Traditional mobile satellite communication terminals continuously track satellites using mechanical or phased array antennas and dynamically adjust their transmission power based on power control commands issued by the satellite to cope with changes in Doppler frequency shift and path loss, thereby ensuring communication quality.

[0003] However, existing mobile satellite communication terminals generally lack the ability to actively perceive the surrounding environment of the communication link. When the terminal passes through obstacles such as bridges, tall buildings, and tunnels during movement, or when signal is blocked by weather conditions such as rain, snow, or fog, the communication link quality deteriorates due to the penetration attenuation caused by the obstacles. Because traditional terminals cannot identify obstacles in advance and estimate the attenuation, they can only passively respond to the satellite's power adjustment commands after the signal quality deteriorates. This leads to frequent problems such as communication interruptions, high bit error rates, and even dropped calls, making it difficult to meet the requirements of high reliability and low latency communication. Summary of the Invention

[0004] The purpose of this application is to provide a satellite communication method, a satellite terminal, and a satellite communication system to solve the above-mentioned problems.

[0005] In a first aspect, embodiments of this application provide a satellite communication method applied to a satellite terminal. The method includes: acquiring environmental perception information; identifying obstacles on the communication link between the satellite terminal and a satellite receiver based on the environmental perception information, and calculating the power attenuation of the communication signal by the obstacle based on obstacle characteristics; determining a pre-compensation time before the satellite terminal enters the obstacle-blocked area based on the propagation delay of the communication signal from the satellite terminal to the satellite receiver; and compensating the transmission power and receiving gain of the satellite terminal based on the power attenuation at the pre-compensation time.

[0006] In the implementation of the above scheme, obstacles on the communication link are identified in advance by environmental perception, and the pre-compensation time is determined by propagation delay calculation. This enables the synchronous adjustment of transmit power and receive gain to be completed proactively before the signal is blocked, thereby avoiding communication quality degradation caused by obstacle penetration attenuation. On the other hand, determining the pre-compensation time based on the propagation delay of the signal from the terminal to the satellite receiver ensures that the execution time of the compensation action is precisely aligned with the actual propagation process of the signal, eliminating the response lag in the traditional power control mechanism. Furthermore, the transmit power and receive gain are actively compensated based on the power attenuation calculated according to the obstacle characteristics, so that the power of the communication signal when it reaches the satellite receiver after experiencing obstacle attenuation is stably maintained within the dynamic range required for reception, ensuring the balance of the link budget.

[0007] In one implementation of the first aspect, the method further includes: after the satellite terminal enters the obstacle-blocking area, monitoring whether the satellite receiver sends a power control command to the satellite terminal, and detecting the link quality index of the communication link; if the satellite receiver does not send the power control command to the satellite terminal, and the link quality index is greater than a preset index threshold, then it is determined that the power attenuation is consistent with the actual attenuation, and the current obstacle is marked as a regular obstacle in the obstacle database; if the satellite receiver sends the power control command to the satellite terminal, then the actual power attenuation is calculated based on the power adjustment amount of the power control command, and the actual power attenuation is bound to the current obstacle and stored in the obstacle database.

[0008] In the implementation of the above scheme, after the satellite terminal enters the obstacle-blocked area, the power control command of the satellite receiver is monitored and the link quality indicators are detected. The estimated power attenuation is compared and verified with the actual link status fed back by the satellite. When a power control command is detected, the actual power attenuation is calculated based on its power adjustment and stored. Open-loop prediction and closed-loop feedback form a collaborative correction mechanism. On the other hand, the verified actual power attenuation is associated with obstacle features and stored to build an obstacle attenuation feature database. When the satellite terminal enters the same obstacle scene again, it can directly call the stored attenuation amount for compensation, avoiding repeated execution of attenuation prediction and multiple power adjustment processes.

[0009] In one implementation of the first aspect, the method further includes: when the satellite terminal re-enters an area that matches the obstacle information stored in the obstacle database, recalculating the power attenuation of the communication signal by the obstacle based on the obstacle features stored in the obstacle database; after the satellite terminal enters the obstacle-blocked area, detecting the link quality index of the communication link; if the link quality index is lower than the preset index threshold and the obstacle is not marked as a regular obstacle, then re-compensating the transmission power and the receiving gain of the satellite terminal by calling the actual power attenuation stored in the obstacle database.

[0010] In the implementation of the above scheme, when the satellite terminal re-enters the obstacle area matched with the database, the power attenuation is first recalculated based on the obstacle characteristics for compensation. After entering the obstructed area, the link quality index is checked. If the link quality does not meet the standard and the obstacle is not marked as a regular obstacle, the stored actual power attenuation is called for recompensation, realizing a dynamic switching mechanism between the calculated value and the stored value. On the other hand, by verifying the link quality index after entering the obstructed area and using the stored actual attenuation when the compensation effect is not good, compensation failure caused by changes in the obstacle scene or initial calculation errors is avoided.

[0011] In one implementation of the first aspect, after compensating for the transmit power and receive gain of the satellite terminal, the method further includes: in response to the power attenuation or the actual power attenuation being greater than a preset attenuation threshold, after the satellite terminal enters the obstacle-blocking area, detecting the link quality index of the communication link; if the link quality index does not meet the preset index threshold, calculating the minimum beam deflection angle to avoid the obstacle; adjusting the antenna beam pointing according to the minimum beam deflection angle, and compensating for the beam gain loss caused by the minimum beam deflection angle.

[0012] In the implementation of the above scheme, when the power attenuation exceeds the preset attenuation threshold and the link quality index does not meet the preset index threshold, the minimum beam deflection angle to avoid the obstacle is calculated and the antenna beam direction is adjusted so that the communication link can bypass the high attenuation area of ​​the obstacle in the spatial dimension, thereby providing spatial domain avoidance capability in addition to power domain compensation; on the other hand, by compensating for the beam gain loss caused by the minimum beam deflection angle, the gain reduction caused by the antenna pattern offset is offset, so that the power of the communication signal when it reaches the satellite receiver after changing the propagation path still meets the reception requirements, and the link budget balance is maintained.

[0013] In one implementation of the first aspect, after adjusting the antenna beam pointing according to the minimum beam deflection angle and compensating for the beam gain loss caused by the minimum beam deflection angle, the method further includes: re-detecting the link quality index of the communication link; if the link quality index still does not meet the preset index threshold, issuing a communication link interruption warning.

[0014] In the implementation of the above scheme, the link quality indicators are re-detected after beam pointing adjustment and gain loss compensation. If the preset indicator threshold is still not met, a communication link interruption warning is issued, which realizes the provision of predictive alarm information to higher-level protocols or application layers before the actual communication interruption. On the other hand, the transmission of communication link interruption warning provides satellite terminals with an advance decision-making time window, enabling them to initiate avoidance measures such as redundant link switching, data caching, or reducing service rates before the communication interruption occurs.

[0015] In one implementation of the first aspect, the method further includes: periodically synchronizing the obstacle database to other satellite terminals.

[0016] In the implementation of the above scheme, by periodically synchronizing the obstacle database to other satellite terminals, multiple terminals can share obstacle attenuation characteristic data. Newly connected terminals do not need to repeat the environmental perception and attenuation learning process and can directly call the actual power attenuation in the database for compensation. On the other hand, the database synchronization mechanism forms a distributed environmental cognition network when the satellite terminals are networked. The obstacle information collected by each terminal can be quickly reused throughout the network, reducing the frequency of power adjustment of the satellite communication network for repeated scenarios.

[0017] In one implementation of the first aspect, determining the pre-compensation time before the satellite terminal enters the obstacle-blocking area based on the propagation delay of the communication signal from the satellite terminal to the satellite receiver includes: determining the signal processing and transmission delay of the satellite terminal; wherein the signal processing and transmission delay includes data processing delay, digital intermediate frequency transmission delay, and analog channel transmission delay; calculating the penetration delay of the signal through the obstacle based on the thickness and dielectric constant of the obstacle; calculating the spatial propagation delay of the communication signal based on the distance from the obstacle to the satellite receiver; calculating the propagation delay based on the signal processing and transmission delay, the penetration delay, and the spatial propagation delay; predicting the entry time of the satellite terminal into the obstacle-blocking area based on the motion trajectory of the satellite terminal; and calculating the pre-compensation time based on the entry time and the propagation delay.

[0018] In the implementation of the above scheme, by determining the signal processing and transmission delay, penetration delay, and spatial propagation delay, and predicting the entry time into the obstacle-blocked area based on the motion trajectory of the satellite terminal, the pre-compensation time is calculated, so that the triggering time of the compensation action accurately matches the complete propagation process of the signal from generation to arrival at the satellite receiver, avoiding compensation timing deviation; on the other hand, the penetration delay is calculated based on the thickness of the obstacle and the dielectric constant of the material, and the spatial propagation delay is calculated in combination with the distance from the obstacle to the satellite receiver, so that the pre-compensation time can reflect the influence of different obstacle physical characteristics and link geometry on signal transmission delay.

[0019] In one implementation of the first aspect, identifying obstacles located on the communication link between the satellite terminal and the satellite receiver, and determining the power attenuation of the communication signal by the obstacles, includes: extracting features from the environmental perception information to obtain geometric contour data and material reflection characteristic data of the obstacles located on the communication link between the satellite terminal and the satellite receiver; determining the effective path length of the communication signal penetrating the obstacles based on the geometric contour data; matching the material electromagnetic parameters corresponding to the obstacles based on the material reflection characteristic data; and calculating the power attenuation based on the electromagnetic wave space propagation model, according to the effective path length and the material electromagnetic parameters.

[0020] In the implementation of the above scheme, the geometric contour data and material reflection characteristic data of obstacles are obtained by extracting features from environmental perception information. The effective path length of communication signals penetrating obstacles and the electromagnetic parameters of materials are determined respectively, so that the calculation of power attenuation is based on the physical properties of obstacles rather than empirical estimation, thereby improving the accuracy of attenuation prediction. On the other hand, the power attenuation is calculated by integrating the effective path length and material electromagnetic parameters based on the electromagnetic wave spatial propagation model. Radio frequency propagation theory is applied to the quantification of obstacle attenuation, so that the calculation results are consistent with the actual signal transmission loss.

[0021] Secondly, embodiments of this application provide a satellite terminal, including a processing module, a radio frequency module, an antenna, and an environmental sensing module. The radio frequency module and the environmental sensing module are respectively connected to the processing module, and the antenna is connected to the radio frequency module, wherein: The processing module is configured to execute the method provided by the first aspect or any possible implementation thereof. The radio frequency module is used to adjust the transmit power, receive gain, and antenna beam pointing of the satellite terminal. The antenna is used to transmit and receive communication signals; The environmental perception module is used to acquire environmental perception information of the environment in which the satellite terminal is located, and send the environmental perception information to the processing module.

[0022] In one implementation of the second aspect, the environmental perception module includes a millimeter-wave radar, a microwave radar, and a gyroscope, wherein: The millimeter-wave radar is used to acquire the geometric contour information of the obstacle; The microwave radar is used to acquire long-distance environmental information; The gyroscope is used to acquire the motion state information of the satellite terminal.

[0023] Thirdly, embodiments of this application provide a satellite communication system, a satellite receiver, and a satellite terminal communicatively connected to the satellite receiver, wherein the satellite terminal is provided in the second aspect or any possible implementation thereof.

[0024] Fourthly, embodiments of this application provide an electronic device, including: a processor, a memory, and a communication bus, wherein the processor and the memory communicate with each other through the communication bus; the memory stores computer program instructions that can be executed by the processor, and the computer program instructions are read and executed by the processor to perform the method provided in the first aspect or any possible implementation of the first aspect.

[0025] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the method provided in the first aspect or any possible implementation thereof.

[0026] In a sixth aspect, embodiments of this application provide a computer program product, the computer program product including a computer program, which, when executed by a processor, implements the method provided by the first aspect or any possible implementation of the first aspect.

[0027] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing embodiments of this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims and drawings. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A flowchart illustrating the satellite communication method provided in this application embodiment; Figure 2 This is a schematic diagram of the structure of the satellite terminal provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of a satellite terminal connected to a spectrum analyzer provided in an embodiment of this application; Figure 4 This is a schematic diagram of the architecture of a satellite communication system provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0031] Mobile satellite communication terminals typically consist of a radio frequency (RF) channel, an antenna array, a baseband processing unit, and a power management unit. The terminal transmits communication signals to the satellite via the antenna array. Upon receiving the signal, the satellite receiver measures the signal power level and compares it to a preset target received power. If the actual received power deviates from the target value, a power control command is sent to the terminal via the signaling link. The terminal's baseband processing unit responds to this power control command, calculates a power adjustment value using a power control algorithm, and dynamically adjusts the transmit power via the RF channel to maintain the power level at the satellite receiver within a reasonable range, thus forming a closed-loop power control system.

[0032] However, the shortcomings of the aforementioned traditional solutions are as follows: When a terminal encounters a sudden obstacle during movement, because the terminal itself lacks environmental perception and attenuation prediction capabilities, it cannot know in advance the amount of signal attenuation caused by the obstruction. It can only wait for the signal to penetrate the obstacle before the satellite detects the power drop and issues a power control command. This process has an inherent response delay, resulting in a temporary deterioration of communication signal quality at the edge of the obstacle. More importantly, when the terminal repeatedly passes through similar obstacle scenarios, due to the lack of scenario memory and learning mechanisms, it must repeatedly undergo multiple rounds of interaction involving power reduction, command issuance, and power adjustment. This increases the power adjustment signaling overhead of the satellite communication network in repetitive scenarios, and the signal quality fluctuates continuously within multiple power adjustment cycles, affecting the user experience.

[0033] In view of this, embodiments of this application provide a satellite communication method. This method identifies obstacles on the communication link in advance through environmental perception and determines the pre-compensation time by combining propagation delay calculation. This enables the proactive synchronous adjustment of transmit power and receive gain before the signal is blocked, thereby avoiding communication quality degradation caused by obstacle penetration attenuation. On the other hand, determining the pre-compensation time based on the propagation delay of the signal from the terminal to the satellite receiver ensures that the execution time of the compensation action is precisely aligned with the actual propagation process of the signal, eliminating the response lag in the traditional power control mechanism. Furthermore, the proactive compensation of transmit power and receive gain based on the power attenuation calculated according to obstacle characteristics ensures that the power of the communication signal reaching the satellite receiver after attenuation by obstacles is stably maintained within the dynamic range required for reception, thus ensuring the balance of the link budget.

[0034] Please see Figure 1 The diagram illustrates a flow chart of a satellite communication method provided in an embodiment of this application. The satellite communication method provided in this application can be applied to electronic devices, which may include physical devices such as servers, PCs, tablets, or smartphones, or virtual devices such as virtual machines or containers. The electronic device can be a single device, a combination of multiple devices, or a cluster of a large number of devices. The aforementioned satellite communication method may include: Step S110: Obtain environmental perception information.

[0035] The aforementioned environmental perception information refers to a multi-dimensional data set characterizing the physical properties of obstacles in the surrounding space environment of the satellite terminal. This data can include the obstacle's geometric contour data, material reflectivity data, relative spatial position information, and the satellite terminal's own motion state information. Specifically, the obstacle's geometric contour data includes its shape, size, surface structure, and spatial orientation relative to the communication link; the material reflectivity data reflects the scattering and reflection characteristics of electromagnetic waves on the obstacle's surface, used to invert the obstacle's material electromagnetic parameters; and the satellite terminal's motion state information can include the satellite terminal's displacement direction, velocity vector, and attitude change data, used to predict the relative trajectory between the terminal and the obstacle.

[0036] Environmental perception information is acquired through multi-sensor collaborative detection and data fusion. For example, satellite terminals can be equipped with LS radar (L-band and S-band radar), millimeter-wave radar, and gyroscopes. LS radar can perform large-area, long-range environmental scanning, detecting the outlines of buildings, bridges, tunnels, and rain-attenuation zones within hundreds of meters ahead of the communication link, generating coarse-grained environmental point cloud data. Millimeter-wave radar can perform high-resolution target identification and tracking in close-range areas, acquiring the fine geometric structure and surface material reflection characteristics of obstacles. Gyroscopes collect the three-axis acceleration and angular velocity information of the satellite terminal in real time, and obtain motion trajectory prediction data through integration. After processing and analysis of the raw data from each sensor, unified environmental perception information is ultimately generated through coordinate transformation, data registration, and feature extraction.

[0037] Step S120: Based on environmental perception information, identify obstacles on the communication link between the satellite terminal and the satellite receiver, and calculate the power attenuation of the communication signal by the obstacles based on the characteristics of the obstacles.

[0038] In satellite communication links, the aforementioned obstacles can be physical entities or meteorological attenuators located on the line-of-sight path between the satellite terminal and the satellite receiver, obstructing the propagation of communication signals and causing penetration attenuation. Based on environmental characteristics, obstacles can be divided into two categories: solid obstructions and atmospheric attenuators. Solid obstructions include rigid three-dimensional structures such as bridges, buildings, tunnels, mountains, and trees, made of materials including concrete, metal, glass, and vegetation. Atmospheric attenuators are spatially distributed attenuating media formed by meteorological conditions such as rainfall areas, snowfall areas, and fog areas, whose physical boundaries change dynamically with weather conditions. A common technical feature of these obstacles is that they occupy spatial positions in the communication link, requiring communication signals to penetrate their interior or bypass their edges to propagate. This leads to power attenuation based on the dielectric properties and geometric thickness of the materials, resulting in the signal power received by the satellite receiver being lower than the theoretical reception level in an unobstructed scenario.

[0039] Optionally, step S120 may include: extracting features from environmental perception information to obtain geometric contour data and material reflection characteristic data of obstacles located on the communication link between the satellite terminal and the satellite receiver; determining the effective path length for the communication signal to penetrate the obstacle based on the geometric contour data; matching the material electromagnetic parameters corresponding to the obstacle based on the material reflection characteristic data; and calculating the power attenuation based on the electromagnetic wave space propagation model, according to the effective path length and material electromagnetic parameters.

[0040] The implementation method for obtaining the geometric contour data and material reflection characteristic data of the obstacle in step S120 above is as follows: A millimeter-wave radar transmits a frequency-modulated continuous wave signal and receives the reflected echo from the obstacle. Point cloud data is generated through range-Doppler two-dimensional FFT (Fast Fourier Transform). Noise points are removed and independent targets are identified through clustering. Hough transform is used to extract the straight or curved edge features in the point cloud. Combining the spatial geometric relationship between the radar's three-dimensional coordinate system and the satellite communication link, the point cloud data is projected onto the communication link coordinate system to obtain the geometric contour data of the obstacle in the link direction, including the obstacle's thickness, width, and relative distance to the terminal. Simultaneously, the RCS (Radar Cross-Section) value of the radar echo and the echo phase information are statistically averaged to generate material reflection characteristic data. This data reflects the specular and diffuse reflection energy distribution of the obstacle surface to electromagnetic waves. The LS radar performs a fan-shaped scan of the long-range environment, acquires a large-area point cloud, and then identifies the macroscopic boundary contours of buildings, bridges, or rain-attenuated areas through voxel rasterization downsampling. The two types of radar data are spatiotemporally registered with the terminal motion attitude data provided by the gyroscope. The three-axis angular velocity information of the gyroscope is used to obtain the terminal attitude matrix through quaternion calculation. The radar point cloud coordinates are transformed from the radar coordinate system to the Earth inertial coordinate system and projected onto the satellite communication link vector direction. Finally, point cloud clusters that intersect or are adjacent to the link vector are selected as valid obstacle data, and the geometric contour data and material reflection characteristic data of the obstacle are output.

[0041] The above step S120, which determines the effective path length of the communication signal penetrating the obstacle based on geometric contour data, can be implemented as follows: Using obstacle point cloud data acquired by millimeter-wave radar, the point cloud is mapped from the radar coordinate system to a spatial coordinate system based on the communication link vector through coordinate transformation. The maximum depth value of the point cloud in the link direction is extracted as the physical thickness of the obstacle. When the link vector intersects with the geometric contour of the obstacle, this thickness value is the effective path length of the signal penetrating the obstacle. For obstacles with complex geometric structures, the point cloud is projected onto the link direction vector, the projection length distribution of the point cloud in the link direction is calculated, and its maximum value is taken. This maximum value is the effective path length.

[0042] The aforementioned material reflection characteristic data refers to multi-dimensional measurements carried in millimeter-wave radar echo signals that characterize the electromagnetic scattering properties of obstacle surfaces. These mainly include the statistical characteristics of the radar cross section, the statistical moments of the echo phase distribution, the polarization scattering matrix elements under multi-polarization channels, and the fading power spectral density of the echo signal. The backscattering cross section (RCS) reflects the obstacle surface's ability to backscatter incident electromagnetic waves; its value is related to the surface roughness, dielectric properties, and incident angle. The polarization scattering matrix describes the material's ability to change the polarization state of electromagnetic waves; different materials exhibit different ratios of same-polarization and cross-polarization components. Material electromagnetic parameters are intrinsic physical quantities describing the material's response characteristics under electromagnetic field action. They include the real and imaginary parts of the complex relative permittivity, the complex relative permeability, and conductivity. The imaginary part of the permittivity directly determines the dielectric loss of electromagnetic waves within the material, while conductivity affects the ohmic loss of the material. Together, they constitute the attenuation factor when a signal penetrates the material. Matching material reflection characteristic data with material electromagnetic parameters is achieved by establishing a nonlinear mapping relationship between material reflection characteristics and material electromagnetic parameters. Specifically, radar measurements of typical building materials with varying angles and polarizations can be performed in a standard anechoic chamber environment beforehand to collect reflection characteristic data of materials with different electromagnetic parameters and construct a material feature database. This database stores a one-to-one correspondence between material types and reflection characteristic vectors. In actual terminal operation, the real-time acquired obstacle reflection characteristic data is pattern matched with the feature vectors in the database. The Euclidean distance or correlation coefficient between the measured vector and each template in the database is calculated, and the material electromagnetic parameters corresponding to the template with the smallest distance or the highest correlation coefficient are selected as the matching parameters for the obstacle.

[0043] The aforementioned electromagnetic wave propagation model is a mathematical model describing the power loss of electromagnetic waves as they pass through a medium. This model is based on Maxwell's equations and obtains the signal amplitude attenuation characteristics with propagation distance by solving the propagation equations of electromagnetic waves in a layered medium with complex relative permittivity and complex relative permeability. The model input parameters include material electromagnetic parameters, effective path length, operating frequency, and the polarization of the incident electromagnetic wave. The output is the medium penetration loss value. The power attenuation can be calculated based on the effective path length and material electromagnetic parameters, using the following formula: ,in This indicates the power attenuation, expressed in decibels (dB). The effective path length is in meters. The attenuation coefficient per unit length, expressed in decibels per meter. Determined by the imaginary part of the material's complex relative permittivity, relative permeability, operating frequency, and incident angle, and obtained through transmission line theory or wave equations, this model reflects the cumulative relationship between energy absorption loss and path length when electromagnetic waves propagate in a medium.

[0044] The above scheme extracts geometric contour data and material reflection characteristic data of obstacles by performing feature extraction on environmental perception information. It then determines the effective path length of the communication signal penetrating the obstacle and the electromagnetic parameters of the material, so that the power attenuation calculation is based on the physical properties of the obstacle rather than empirical estimation, thus improving the accuracy of attenuation prediction. On the other hand, it calculates the power attenuation by integrating the effective path length and the electromagnetic parameters of the material based on the electromagnetic wave spatial propagation model. It applies radio frequency propagation theory to the quantification of obstacle attenuation, so that the calculation results are consistent with the actual signal transmission loss.

[0045] Step S130: Based on the propagation delay of the communication signal from the satellite terminal to the satellite receiver, determine the pre-compensation time before the satellite terminal enters the obstacle-blocked area.

[0046] The aforementioned step S130, which determines the pre-compensation time based on the propagation delay of the communication signal from the satellite terminal to the satellite receiver, is to ensure that the execution time of the compensation action is precisely aligned with the actual signal propagation process. It is understandable that, due to the inherent time lag in the generation, processing, transmission, penetration of obstacles, and arrival at the satellite receiver, if the compensation time is set to the moment the terminal enters the obstacle area, the satellite terminal will have already penetrated the obstruction zone by the time the signal actually arrives at the satellite, and the compensation will lag behind the attenuation effect. Therefore, advancing the compensation time by one propagation delay ensures that the adjustments to the transmit power and receive gain take effect precisely at the instant the signal passes through the obstacle during the entire process of signal processing within the terminal, penetration of obstacles, and propagation in space, eliminating the transient communication quality degradation caused by the compensation delay.

[0047] Optionally, step S130 may include: determining the signal processing and transmission delay of the satellite terminal; wherein the signal processing and transmission delay includes data processing delay, digital intermediate frequency transmission delay, and analog channel transmission delay; calculating the penetration delay of the signal through the obstacle based on the thickness of the obstacle and the dielectric constant of the material; calculating the spatial propagation delay of the communication signal based on the distance from the obstacle to the satellite receiver; calculating the propagation delay based on the signal processing and transmission delay, the penetration delay, and the spatial propagation delay; predicting the entry time of the satellite terminal into the obstacle-blocked area based on the motion trajectory of the satellite terminal; and calculating the pre-compensation time based on the entry time and the propagation delay.

[0048] The aforementioned signal processing and transmission delay refers to the time interval between the completion of baseband data generation and the output of radio frequency signals from the antenna port within the satellite terminal. This delay includes all processing steps experienced by the signal in the digital and analog domains, mainly including: (1) Data processing delay: refers to the time consumed by the baseband processing unit to perform digital signal processing operations such as channel coding, digital modulation, symbol mapping, frame structure encapsulation, and forward error correction coding on the original communication data. This delay is related to the complexity of the processing algorithm, the clock frequency, and the length of the data block. The data processing delay can be obtained by multiplying the number of clock cycles in which the processing unit completes the processing of one frame of data by the clock cycle, or by measuring the time interval between the data entering the processing unit and the processing completion flag signal. (2) Digital intermediate frequency transmission delay: refers to the buffer queue waiting time and serial transmission time during the process of the digital intermediate frequency signal being transmitted from the output interface of the baseband processing unit to the digital front-end converter via the digital interface bus. This delay depends on the transmission rate of the digital interface, the data bit width, and the FIFO depth. The digital intermediate frequency transmission delay can be obtained by measuring the time difference between the output enable signal of the digital intermediate frequency chip and the received enable signal of the digital-to-analog converter. (3) Analog channel transmission delay: This refers to the signal group delay caused by the RC network and transmission line effect inside analog devices such as analog filters, power amplifiers, duplexers, and RF switches after the analog RF signal is output from the digital-to-analog converter. This delay is related to the operating bandwidth of the analog devices and the circuit topology. The analog channel transmission delay can be obtained by measuring the time difference between the time when the analog signal is output from the digital-to-analog converter and the time when the RF signal is output from the power amplifier.

[0049] It is understandable that signal processing and transmission delays can be obtained using the pulse comparison method. This delay refers to the cumulative time delay from data generation at the data processing end to the output signal from the radio frequency channel. During measurement, simultaneously with the transmission of communication data at the data processing end, the electronic device executing the aforementioned satellite communication method can generate a synchronization pulse signal. This pulse signal is transmitted to the spectrum analyzer via the digital intermediate frequency transmission channel and the analog channel. The time difference between the moment the spectrum analyzer detects the pulse signal and the moment the electronic device executing the aforementioned satellite communication method transmits the pulse is recorded as . Replace the satellite terminal with an ideal pulse generator, which is directly connected to a spectrum analyzer. The measured pulse transmission time is recorded as follows: Signal processing and transmission delay pass and The difference is calculated as follows: .

[0050] The aforementioned penetration delay refers to the additional time delay relative to vacuum propagation caused by the reduction in the phase velocity of electromagnetic waves when a communication signal penetrates the interior of an obstacle's material due to the material's complex relative permittivity being greater than the vacuum permittivity. The physical essence of this delay is the shortening of the effective wavelength of the electromagnetic wave within the material medium, increasing the number of oscillation cycles required for the electromagnetic wave to penetrate the same physical thickness. This results in the signal leading edge arriving at the obstacle's exit surface later than the expected time for vacuum propagation. The value of this delay is determined by both the obstacle's geometric thickness and the material's electromagnetic parameters. The penetration delay is calculated based on the obstacle's thickness and the material's permittivity, using the following formula: ,in Indicates the penetration delay. The effective path length for the signal to penetrate the obstacle. Let be the real part of the complex relative permittivity of the obstacle material. The speed of light in a vacuum. This calculation is based on the formula for the propagation speed of electromagnetic waves in a homogeneous medium. The propagation time of a signal inside an obstacle can be obtained by dividing the effective path length by the phase velocity inside the material. The larger the dielectric constant of the material, the slower the phase velocity and the longer the penetration delay.

[0051] The aforementioned spatial propagation delay refers to the time required for a communication signal to propagate from the exit surface after penetrating an obstacle to the phase center of the satellite receiver antenna. This delay is determined by the signal's propagation speed and distance in a vacuum or atmosphere, and is independent of the propagation process inside the obstacle. It is a crucial component of the overall propagation delay. The spatial propagation delay is calculated based on the distance from the obstacle to the satellite receiver, using the following formula: ,in Indicates spatial propagation delay, Let c be the straight-line distance from the geometric exit surface of the obstacle to the phase center of the satellite receiver antenna, and c be the speed of light in vacuum (3 × 10⁻⁶). 8 (m / s). This calculation is based on the principle that the propagation speed of electromagnetic waves in free space is constant. The time required for signal propagation is obtained by dividing the distance by the speed of light. The greater the distance, the longer the spatial propagation delay. In the calculation of the pre-compensation time, this delay needs to be subtracted from the entry time to achieve accurate time alignment.

[0052] The aforementioned propagation delay is calculated by linearly superimposing the signal processing delay, transmission delay, penetration delay, and spatial propagation delay. In the time domain, it represents the cumulative sum of delays experienced by the communication signal at each stage from generation by the baseband processing unit to arrival at the satellite receiver. The calculation formula is as follows: The calculation process is based on the physical characteristics that the delays of each stage are independent and sequential on the time axis. The total time interval from the signal generation time to the signal arrival time at the satellite receiver is obtained by arithmetic summation of the three components, which is used to determine the amount of time that the compensation action must be performed in advance.

[0053] The trajectory of the aforementioned satellite terminal is obtained through integration of three-axis angular velocity and acceleration information collected by the gyroscope. Combined with the current position and velocity vector, a spatial coordinate sequence for future moments is extrapolated. This trajectory describes the terminal's continuous motion path in the inertial coordinate system. The obstruction area is constructed based on the geometric contour data acquired by the environmental perception module, forming a three-dimensional spatial obstacle in the communication link direction. The intersection of the obstacle boundary and the link vector is the entry point. When predicting the entry time, the spatial geometry of the terminal's trajectory and the obstacle boundary is solved, calculating the coordinates of the nearest intersection point between the trajectory line and the obstacle surface. Based on the magnitude of the terminal's current velocity vector and the distance to the intersection point, the time when the terminal arrives at the entry point from its current position is calculated through time calculation. This time is the entry time into the obstruction area.

[0054] The pre-compensation time is obtained by subtracting the entry time from the propagation delay using the following formula: ,in Indicates the pre-compensation time. The entry time of the satellite terminal into the area obstructed by obstacles. The calculation is based on the principle of causal timing alignment, ensuring that the communication signal carries the compensated transmission power at the moment of generation. After the complete time delay of signal processing and transmission, penetration of obstacles and spatial propagation, the signal arrives at the satellite receiver exactly at the moment it passes through the obstacle. This ensures that the compensation effect and the obstacle attenuation effect are strictly synchronized in the time domain, eliminating the compensation lag caused by signal propagation delay.

[0055] The above scheme determines the signal processing and transmission delay, penetration delay, and spatial propagation delay, and predicts the entry time into the obstacle-blocked area based on the satellite terminal's motion trajectory, calculating the pre-compensation time. This ensures that the triggering time of the compensation action precisely matches the complete propagation process of the signal from generation to arrival at the satellite receiver, avoiding compensation timing deviations. On the other hand, the penetration delay is calculated based on the obstacle's thickness and material dielectric constant, and the spatial propagation delay is calculated in conjunction with the distance from the obstacle to the satellite receiver. This allows the pre-compensation time to reflect the impact of different obstacle physical characteristics and link geometry on signal transmission delay.

[0056] Step S140: At the pre-compensation time, compensate the satellite terminal's transmit power and receive gain based on the power attenuation.

[0057] At the pre-compensation moment, a transmit power control command is generated based on the power attenuation amount X. This command acts on the RF transmit link, increasing the transmitter's output power by X dB above the original reference level by increasing the digital domain waveform amplitude factor or adjusting the power amplifier bias voltage. The increase is equal to the absolute value of the obstacle attenuation, ensuring that the signal's arrival power after penetrating the obstacle remains consistent with that in the unobstructed scenario. This compensation is achieved through closed-loop digital power control or open-loop voltage amplitude adjustment.

[0058] During the pre-compensation phase, the receiver link gain can also be compensated based on the same power attenuation amount X. This is achieved by increasing the gain control voltage of the low-noise amplifier or adjusting the attenuation network of the variable gain amplifier, thereby increasing the total gain of the receiver link by X dB from the original configuration. This gain increase directly offsets the reduction in received power caused by obstacles to the downlink signal, maintaining the signal-to-noise ratio at the input of the baseband demodulation unit. The compensation process is performed synchronously with the transmit power compensation, and is achieved through the same set of control parameters or an independent gain control channel.

[0059] Optionally, the above satellite communication method may further include: after the satellite terminal enters the obstacle-blocked area, monitoring whether the satellite receiver sends a power control command to the satellite terminal and detecting the link quality index of the communication link; if no power control command is detected from the satellite receiver to the satellite terminal, and the link quality index is greater than a preset index threshold, then it is determined that the power attenuation is consistent with the actual attenuation, and the current obstacle is marked as a regular obstacle in the obstacle database; if a power control command is detected from the satellite receiver to the satellite terminal, then the actual power attenuation is calculated based on the power adjustment amount of the power control command, and the actual power attenuation is bound to the current obstacle and stored in the obstacle database.

[0060] It is understandable that in a satellite communication link, when the terminal's transmit power propagates through space to the satellite receiver, the path loss continuously changes due to factors such as the distance between the terminal and the satellite, atmospheric attenuation, and antenna pointing deviation, causing the input power at the satellite receiver to deviate from the preset target receive power. The satellite receiver monitors the received power level in real time through an automatic gain control circuit. When the detected power value is lower than the receiver sensitivity threshold, it sends a power boost command through the downlink, requesting the terminal to increase the transmit power to overcome the path loss. When the received power is too high, causing receiver saturation or nonlinear distortion, it sends a power reduction command. This command is transmitted through the signaling channel in the satellite-to-ground downlink. After parsing the command, the terminal adjusts the power amplifier gain to bring the receive power back to the target range, thereby ensuring that the signal-to-noise ratio meets the demodulation requirements and maintaining the stability of the communication link.

[0061] The aforementioned link quality indicators are physical parameters used to quantitatively evaluate the transmission performance of a communication link. These can include Received Signal Strength Indicator (RSSI), Carrier-to-Noise Ratio (CNR), Bit Error Rate (BER), and Signal-to-Noise Ratio (SNR). The RSI is obtained through a power detection circuit in the RF receiving link. This circuit performs square-law detection and integration on the intermediate frequency (IF) signal, outputting a voltage value proportional to the received power. After analog-to-digital conversion, the RSSI value is obtained. The CNR is obtained by tracking the carrier component of the received signal using a phase-locked loop (PLL) or Costas loop, measuring the ratio of carrier power to noise power spectral density. The BER is obtained by statistically analyzing the ratio of the number of errors after decoding at the receiver to the total number of symbols. Under known training sequences or check fields, the difference between received bits and expected bits is compared, and error counts are accumulated. The SNR is obtained by measuring the difference between the received signal power and the background noise power. Noise power is measured during signal transmission gaps or dedicated time slots, while signal power is measured during effective data reception periods. The difference between the two yields the SNR value. These indicators are periodically calculated by the baseband processing unit after the satellite terminal enters an area obstructed by obstacles. The results are compared with preset thresholds to determine whether the link quality meets communication requirements. Furthermore, the aforementioned link quality indicators can employ a single parameter from received signal strength indication, carrier-to-noise ratio (CNR), bit error rate (BER), or signal-to-noise ratio (SNR). This single indicator can be directly mapped to the link quality level by setting a threshold. Link quality indicators can also be a joint evaluation of multiple parameters. In multi-indicator fusion scenarios, each parameter can be normalized and comprehensively judged through weighted summation or hierarchical decision logic. Specific implementation methods include assigning weight coefficients to CNR, BER, and received signal strength according to link margin, demodulation threshold, and power dynamic range, and obtaining a comprehensive link quality index through linear weighting; or performing multi-level judgment based on a priority order of BER first, CNR second, and received signal strength second.

[0062] In the above scheme, if no power control command is detected from the satellite receiver after the satellite terminal enters the obstacle-blocked area, and the link quality index is greater than the preset threshold, it indicates that the power attenuation compensation applied by the terminal at the pre-compensation moment exactly offsets the actual attenuation caused by the obstacle. This ensures that the signal power received by the satellite receiver remains within the target level range without additional adjustment, and the link quality meets the demodulation requirements. Therefore, it is determined that the power attenuation calculated by the terminal is consistent with the actual physical attenuation. Marking the obstacle as a regular obstacle in the database records that its attenuation characteristics have been verified. When the terminal subsequently enters the same scenario again, it can directly call this attenuation amount for compensation without repeating the monitoring and verification process, reducing power adjustment signaling overhead and shortening the compensation response time.

[0063] If the satellite receiver sends a power control command after the satellite terminal enters the obstruction area, it indicates that there is a deviation between the power attenuation compensation amount applied by the terminal at the pre-compensation time and the actual attenuation, causing the received power of the satellite receiver to deviate from the target level. In this case, the power control command includes a power adjustment amount. This adjustment amount represents the decibel increase or decrease the satellite requires from the terminal based on the current transmit power. The actual power attenuation is calculated by combining the power attenuation X applied at the pre-compensation moment with the power adjustment amount. Algebraic calculations show that the actual attenuation when the command requests an increase in power is... When the command requests a reduction in power, the actual attenuation is: The actual power attenuation is bound to the geometric contour data, material reflection characteristics data, and terminal motion state information of the current obstacle and stored in the obstacle database to form a mapping record containing scene features and precise attenuation. This record can be directly called by the terminal when it re-enters the same scene, avoiding repeated execution of monitoring, verification, and calculation processes, shortening the compensation response time, and reducing the power regulation signaling overhead of the satellite communication network.

[0064] The aforementioned obstacle database is a structured dataset stored in the satellite terminal. Its data model uses obstacle scene feature vectors as the primary key index. These feature vectors include the satellite terminal's geographic location coordinates, obstacle geometric contour parameters, terminal motion state vectors, and communication link frequency and polarization parameters, forming a unique multidimensional key that identifies a specific scene. Database record fields include the power attenuation initially calculated based on environmental perception information, the actual power attenuation corrected by satellite power control commands, a regular obstacle marker representing the reliability of the attenuation, a data acquisition timestamp, and a scene recurrence frequency counter. The database is dynamically updated during terminal operation: when the terminal first enters a new scene, it calculates the initial attenuation based on environmental perception and creates a new record; when a satellite power control command is detected, it corrects the attenuation with the command adjustment amount and updates the actual attenuation field; after link quality verification is passed, a regular obstacle marker is set to increase the record's priority. The database query uses a scene feature vector similarity matching algorithm. When the terminal re-enters a certain area, the distance measurement is calculated between the currently collected feature vector and the records in the database. If the match is successful, the stored attenuation amount is directly called to perform open-loop compensation, thereby avoiding repeated environmental perception calculations and closed-loop power adjustment processes.

[0065] The above scheme monitors the power control commands from the satellite receiver and detects link quality indicators after the satellite terminal enters an obstacle-blocked area. It compares and verifies the estimated power attenuation with the actual link status fed back by the satellite. When a power control command is detected, the actual power attenuation is calculated based on its power adjustment and stored. Open-loop prediction and closed-loop feedback form a collaborative correction mechanism. On the other hand, the verified actual power attenuation is associated with obstacle features and stored to build an obstacle attenuation feature database. When the satellite terminal enters the same obstacle scene again, it can directly call the stored attenuation amount for compensation, avoiding repeated attenuation prediction and multiple power adjustment processes.

[0066] Optionally, the above satellite communication method may further include: when the satellite terminal re-enters an area that matches the obstacle information stored in the obstacle database, recalculating the power attenuation of the communication signal by the obstacle based on the obstacle features stored in the obstacle database; after the satellite terminal enters the obstacle-blocked area, detecting the link quality index of the communication link; if the link quality index is lower than a preset index threshold and the obstacle is not marked as a regular obstacle, then calling the actual power attenuation stored in the obstacle database to recompensate the transmission power and receiving gain of the satellite terminal.

[0067] The aforementioned satellite terminal can construct a current scene feature vector by collecting environmental perception information in real time. This vector includes the terminal's geographical location coordinates, motion state parameters, and geometric contour features of obstacles. The current feature vector is compared with the historical scene feature vectors stored in the obstacle database to calculate similarity. By calculating the Euclidean distance or cosine similarity between the vectors and comparing it with a preset matching threshold, it is determined that the terminal has re-entered the same obstacle area when the similarity is higher than the threshold or the distance is lower than the threshold. This matching process is completed before the terminal enters the potential obstacle area to ensure that the compensation takes effect in a timely manner.

[0068] In the above scheme, when the satellite terminal enters an area obstructed by an obstacle, it can periodically measure the link quality indicators of the communication link and compare parameters such as carrier-to-noise ratio (CNR) or bit error rate (BER) with preset thresholds. If the link quality indicator is lower than the preset threshold, it indicates that the power attenuation compensation calculated by the terminal based on environmental perception information before entering the obstacle has not completely offset the actual attenuation, resulting in insufficient link margin. At this time, the obstacle's marking field is queried in the obstacle database. If it is not marked as a regular obstacle, it means that the attenuation characteristics of the obstacle have not been verified by historical data, and its stored actual power attenuation has correction value. The satellite terminal can read the actual power attenuation from the obstacle database. This value is obtained from previous satellite power control commands and has a higher accuracy than the initial calculated value. The satellite terminal regenerates transmit power control commands and receive gain control commands based on the actual attenuation and performs secondary compensation in the radio frequency link. The compensation amount directly replaces the original calculated value, so that the signal power can be quickly restored to a level that meets the link quality requirements, avoiding repeated execution of the power control command interaction process.

[0069] In the above scheme, when the satellite terminal re-enters the obstacle area matched with the database, the power attenuation is first recalculated based on the obstacle characteristics for compensation. After entering the obstructed area, the link quality index is checked. If the link quality does not meet the standard and the obstacle is not marked as a regular obstacle, the stored actual power attenuation is called for recompensation, realizing a dynamic switching mechanism between the calculated value and the stored value. On the other hand, by verifying the link quality index after entering the obstructed area and using the stored actual attenuation when the compensation effect is not good, compensation failure caused by changes in the obstacle scene or initial calculation errors is avoided.

[0070] Optionally, after compensating for the transmit power and receive gain of the satellite terminal, the above satellite communication method may further include: in response to the power attenuation or the actual power attenuation being greater than a preset attenuation threshold, after the satellite terminal enters the obstacle-blocked area, detecting the link quality index of the communication link; if the link quality index does not meet the preset index threshold, calculating the minimum beam deflection angle to avoid the obstacle; adjusting the antenna beam pointing according to the minimum beam deflection angle, and compensating for the beam gain loss caused by the minimum beam deflection angle.

[0071] The aforementioned preset attenuation threshold can be determined based on the maximum compensable attenuation amount determined by the physical performance constraints of the satellite terminal's RF front-end components. This threshold characterizes the boundary of the terminal's power domain compensation capability. For example, in some scenarios, the upper limit of the linear operating region of the power amplifier determines the maximum gain boost capability of the transmit link. When the attenuation exceeds this upper limit, further power boosting will cause the amplifier to enter the saturation region, generating nonlinear distortion and out-of-band radiation. The gain adjustment range of the low-noise amplifier and the quantization noise of the analog-to-digital converter together limit the maximum gain compensation capability of the receive link. When the attenuation exceeds this range, the received signal is submerged in quantization noise, and the signal-to-noise ratio deteriorates, failing to meet demodulation requirements. The preset attenuation threshold can be determined by measuring the smaller value between the gain margin corresponding to the 1dB compression point of the power amplifier and the maximum gain boost of the low-noise amplifier. When the power attenuation or actual power attenuation is greater than this threshold, it indicates that link quality recovery cannot be achieved solely through power compensation, and a beam pointing adjustment mechanism needs to be activated to replace power domain countermeasures with spatial domain avoidance.

[0072] It is understandable that beam deflection causes the main lobe of the antenna pattern to deviate from its original alignment direction, resulting in a decrease in gain. This decrease increases monotonically with the increase of the deflection angle. While an excessively large deflection angle can completely bypass obstacles, the resulting beam gain loss may exceed the power compensation capability, leading to a link budget imbalance. The purpose of calculating the minimum beam deflection angle in the above scheme is to achieve obstacle avoidance with the minimum antenna gain loss. The minimum beam deflection angle can be defined as the angle at which the edge of the main lobe of the beam is tangent to the outline of the obstacle. At this angle, the degree of deviation of the beam center axis from the obstacle is minimal, ensuring that the communication signal propagation path is completely free from the obstruction area while minimizing the gain loss introduced by pointing deviation, thus achieving a trade-off between spatial domain avoidance and power domain compensation. The minimum beam deflection angle can be obtained through geometric solutions. Based on the obstacle point cloud data provided by millimeter-wave radar, a three-dimensional contour model of the obstacle is constructed. The communication link vector is used as the reference direction, and the angle distribution between this vector and the normal vector of each point on the obstacle surface is calculated. The minimum angle that makes the edge of the main lobe of the beam tangent to the obstacle is selected as the deflection angle. Specifically, the half-power beamwidth of the main lobe of the antenna pattern can be used as a constraint condition to solve for the minimum deflection amount of the beam axis when the edge of the main lobe just touches the boundary of the obstacle. This solution process is performed separately in the azimuth and elevation degrees of freedom. The magnitude of the combined vector of the two is taken as the final minimum beam deflection angle. The calculation result directly drives the phase shifter array of the phased array antenna, so that the beam direction is deflected at this angle.

[0073] In the above scheme, adjusting the antenna beam pointing according to the minimum beam deflection angle is achieved through the beamforming algorithm of the phased array antenna. The baseband processing unit decomposes the minimum beam deflection angle into azimuth and elevation components, and calculates the required phase offset for each element based on the spacing between array antenna elements and the operating wavelength. The baseband processing unit generates the corresponding phase code and sends it to the phase shifter array of the RF front end via the digital control bus, driving each channel to synchronously adjust its phase, so that the main lobe of the synthesized beam of the antenna array is spatially deflected to the direction of the calculated minimum beam deflection angle, completing the realignment of the beam spatial pointing.

[0074] Beam deflection causes the main lobe of the antenna pattern to deviate from its original alignment direction. The gain loss is determined by the value of the pattern function at the deflection angle. The gain loss is calculated based on the antenna beamwidth factor and the deflection angle. ,in This refers to the deflection angle. During compensation, the output power is increased by boosting the digital domain waveform amplitude factor or increasing the power amplifier bias voltage in the transmit link. Decibels; in the receiving link, the receiving gain is synchronously increased by boosting the low-noise amplifier gain control voltage or adjusting the variable gain amplifier attenuation network. This reduces the beam pointing offset by a certain decibel, thus offsetting the link budget loss caused by beam pointing offset, ensuring that the communication signal power still meets the satellite reception requirements after the propagation direction is changed.

[0075] In the above scheme, when the power attenuation exceeds the preset attenuation threshold and the link quality index does not meet the preset index threshold, the minimum beam deflection angle to avoid the obstacle is calculated and the antenna beam direction is adjusted so that the communication link can bypass the high attenuation area of ​​the obstacle in the spatial dimension, thereby providing spatial domain avoidance capability in addition to power domain compensation; on the other hand, by compensating for the beam gain loss caused by the minimum beam deflection angle, the gain reduction caused by the antenna pattern offset is offset, so that the power of the communication signal when it reaches the satellite receiver after changing the propagation path still meets the reception requirements, and the link budget balance is maintained.

[0076] Optionally, after adjusting the antenna beam pointing according to the minimum beam deflection angle and compensating for the beam gain loss caused by the minimum beam deflection angle, the above satellite communication method may further include: re-detecting the link quality index of the communication link; if the link quality index still does not meet the preset index threshold, then issuing a communication link interruption warning.

[0077] After adjusting the antenna beam pointing according to the minimum beam deflection angle and compensating for beam gain loss, the above scheme can re-detect the link quality indicators of the communication link. Parameters such as carrier-to-noise ratio or bit error rate are compared with preset indicator thresholds. If the link quality indicators still do not meet the preset indicator thresholds, it is determined that neither power domain compensation nor spatial domain beam avoidance can maintain the communication link, and a communication link interruption warning needs to be issued to the upper-layer protocol or application layer. This warning is issued at the pre-compensation time or before the satellite terminal enters the obstacle-blocking area, providing the communication system with a time lead, enabling the network layer to initiate avoidance measures such as redundant link switching, reducing modulation and coding order, buffering pending data, or adjusting service routing before the actual communication interruption. The warning information is sent through the control signaling channel between the terminal and the satellite or the ground backhaul link between the terminal and the core network, including the expected interruption duration, interruption location coordinates, obstacle type, and suggested avoidance strategies, providing decision-making basis for maintenance personnel and upper-layer applications.

[0078] In the above scheme, the link quality indicators are re-detected after beam pointing adjustment and gain loss compensation. If the preset indicator threshold is still not met, a communication link interruption warning is issued, which realizes the provision of predictive alarm information to higher-level protocols or application layers before the actual communication interruption. On the other hand, the transmission of communication link interruption warning provides satellite terminals with an advance decision-making time window, enabling them to initiate avoidance measures such as redundant link switching, data caching, or reducing service rates before the communication interruption occurs.

[0079] Optionally, the above satellite communication method may also include: periodically synchronizing the obstacle database to other satellite terminals.

[0080] It is understandable that periodically synchronizing the obstacle database with other satellite terminals can eliminate the repetitive learning costs of multiple terminals within the network coverage area, enabling the rapid reuse of scene and attenuation knowledge accumulated by a single terminal through environmental perception and closed-loop verification across the entire network. In satellite communication networks, the motion trajectories and obstacle scenarios experienced by different terminals may have certain similarities. If each terminal independently executes the complete process of environmental scanning, attenuation prediction, power command monitoring, and database storage, it will lead to repeated calculations of attenuation characteristics for the same obstacle and multiple satellite power control signaling interactions, increasing the signaling load and power adjustment latency on the network side. Through the database synchronization mechanism, verified obstacle attenuation data is shared among terminals in the form of feature vectors and attenuation amounts. Newly connected terminals or those entering a certain area for the first time do not need to wait for satellite power control command feedback and can directly call the synchronized actual power attenuation amount to perform open-loop compensation, reducing the compensation response time from seconds to milliseconds. At the same time, it reduces the frequency of power adjustment for repeated scenarios across the entire system, improving network resource utilization efficiency and communication link stability.

[0081] The synchronization of obstacle databases can be achieved through a satellite-ground integrated communication network. Satellite terminals can encapsulate obstacle feature vectors and corresponding actual power attenuation values ​​from their local databases into synchronization data packets. These packets contain scene hash identifiers, attenuation values, timestamps, and data version numbers, and are uploaded to the core network server via satellite communication links or broadcast directly to neighboring terminals via inter-satellite links. After receiving data uploaded from multiple terminals, the core network server executes conflict detection and merging strategies, performing weighted averaging or priority filtering on multiple sets of attenuation records for the same obstacle to generate a unified obstacle attenuation feature database across the entire network. The updated database is then distributed to all online terminals via satellite broadcast channels or terrestrial communication networks. Upon receiving the synchronization data packets, other satellite terminals can parse the obstacle feature vectors and compare them with their local databases. If a match is found, the attenuation field of the corresponding record is updated; otherwise, a new record entry is added. The synchronization cycle is set by network management policies, or an event-triggered mechanism can be used to immediately send an update notification after a terminal collects new obstacle data, enabling rapid convergence and shared reuse of environmental awareness data from multiple terminals.

[0082] The above solution periodically synchronizes the obstacle database to other satellite terminals, enabling multiple terminals to share obstacle attenuation characteristic data. Newly connected terminals can directly call the actual power attenuation in the database for compensation without repeating the environmental perception and attenuation learning process. On the other hand, the database synchronization mechanism forms a distributed environmental cognition network when the satellite terminals are networked, and the obstacle information collected by each terminal can be quickly reused throughout the network, reducing the frequency of power adjustment of the satellite communication network for repeated scenarios.

[0083] To facilitate understanding of the working principle of the above-described satellite communication method, this application also provides an application example of the method in a specific application scenario. In this application scenario, the above-described satellite communication method mainly includes: When the road is open or has few obstructions, the satellite terminal's processing unit generates communication data. After up-conversion and power amplification by the radio frequency module, the data is transmitted to the satellite receiver via the antenna array. The satellite receiver measures the received power level. When the received power deviates from the target value, it sends a power control command to the terminal via the downlink to adjust the terminal's transmit power to a suitable level and maintain link stability. At this time, the satellite terminal's transmit link budget satisfies the following relationship: ,in, This represents the target received power (dBm) at the satellite receiver. This refers to the satellite terminal's transmit power (dBm). Operating frequency (GHz) Let be the distance between the satellite and the terminal (km). This formula is used to calculate the impact of free propagation loss in space on the link power.

[0084] When a vehicle travels into an area with varying obstacles (such as under an urban overpass or in a densely populated area of ​​tall buildings), the LS radar and millimeter-wave radar on the satellite terminal work together to scan the surrounding environment, identifying the geometric contours and material reflection characteristics of obstacles such as bridges and buildings along the communication link. Combining motion state information, the vehicle's trajectory for the next moment is predicted, and potential obstacle-occupied areas are identified. Then, based on the point cloud data fed back by the radar, the shape and edge features of the obstacles are extracted, the obstacle type is identified, and the electromagnetic parameters corresponding to that type of material are retrieved from the obstacle database to quickly calculate the penetration attenuation X of the communication signal. Based on this attenuation, one communication cycle (typically 10ms) before entering the obstacle, the terminal actively adjusts the transmit power and receive gain. The adjusted transmit power satisfies the following conditions: .in, This refers to the obstacle penetration attenuation. By compensating for the attenuation to the transmit power, we ensure that the signal power reaching the satellite receiver after penetrating the obstacle still meets the requirements. Requirements.

[0085] After a vehicle enters an obstacle zone, the satellite terminal can monitor whether the satellite receiver sends a power control command and check the link quality indicators. If no power control command is detected and the link quality indicators are better than a preset threshold, it indicates that the calculated attenuation amount X matches the actual attenuation, and the current obstacle is marked as a regular obstacle in the obstacle database. If a power control command is detected, the power adjustment amount in the command is used. Recalculate the actual attenuation ,Will Scene feature information associated with the current obstacle is bound and stored in the obstacle database. When re-entering the same scene, the satellite terminal will preferentially access the stored information. Compensation is performed to achieve rapid convergence.

[0086] When power compensation alone is insufficient to meet communication signal quality requirements (e.g., attenuation exceeds the terminal power adjustment range), the processing unit activates a beam control and gain compensation linkage mechanism. Based on environmental perception information and motion state information, it calculates the minimum beam deflection angle that can bypass obstacles. This angle represents the minimum deflection required to make the edge of the main lobe of the beam tangent to the obstacle. Beam deflection causes a decrease in antenna gain, which must be offset by power compensation. The adjusted transmit power must satisfy the following: ,in, This is the beam deflection angle (in degrees). The term represents the amount of gain loss compensation caused by beam deflection. If the link quality still does not meet the requirements after the above compensation, the terminal will issue a communication interruption warning signal before entering the obstacle, providing advance notice for upper-layer applications to initiate avoidance measures.

[0087] To achieve precise alignment during compensation, the total propagation delay of the signal from generation to arrival at the satellite needs to be calculated. The total delay T is determined by the terminal's internal delay. Penetration delay Space propagation delay Composition. Terminal internal latency Measurement using the pulse comparison method: The data processing terminal generates a pulse signal simultaneously with sending data, and the time it takes for the signal to be transmitted to the spectrum analyzer via the internal link of the terminal is recorded as (the measurement is not specified in the original text). The environmental delay was measured after replacing the terminal with an ideal pulse generator. ,but Penetration delay Based on the effective path length of the signal penetrating the obstacle With the dielectric constant of the material calculate: Spatial propagation delay Based on the distance from the obstacle exit to the satellite receiver calculate: Total latency Pre-compensation time ,in The moment the satellite terminal enters the obstacle area is determined in advance. Time-based compensation ensures that the signal power is precisely compensated at the moment of penetration, maintaining link stability.

[0088] In the aforementioned application scenarios, the satellite communication method uses an environmental perception module to identify obstacles on the communication link in advance and calculate the penetration attenuation. Ten milliseconds before entering an obstacle, the transmit power and receive gain are proactively adjusted, ensuring that the signal power is compensated the instant the obstacle is penetrated. This avoids the transient communication quality problems caused by signal penetration attenuation leading to a sudden drop in satellite receive power, deterioration of the carrier-to-noise ratio, and increased bit error rate, as in traditional methods, thus maintaining link stability. When a satellite power control command is detected, the command adjustment amount is combined with the initial attenuation amount to calculate the actual attenuation amount, which is then stored. Subsequent entry into the same obstacle scenario directly calls the stored value for compensation, reducing repetitive environmental perception calculations and multiple power control command interactions, shortening the compensation response time from seconds to milliseconds, and reducing the power adjustment signaling overhead of the satellite communication network in repetitive scenarios. When the attenuation exceeds the terminal's power adjustment capability, the minimum beam deflection angle is calculated, and the obstacle is bypassed in the spatial dimension. Simultaneously, the gain loss caused by beam pointing offset is compensated, providing joint compensation capabilities in the power and spatial domains. This allows the communication link to maintain connectivity even in severely obstructed environments through path replanning, expanding the applicable scenarios for mobile satellite communication. Furthermore, by measuring the internal delay of the terminal, calculating the penetration delay and the spatial propagation delay, and determining the pre-compensation time based on the total propagation delay, the timing of the compensation action and the signal propagation process is precisely aligned. This eliminates the compensation lag caused by signal processing, obstacle penetration, and spatial transmission delay, ensuring that the power and gain adjustment values ​​take effect precisely at the moment the signal passes through the obstacle.

[0089] Please see Figure 2 Based on the same inventive concept, this application also provides a satellite terminal 200, including a processing module 210, a radio frequency module 220, an antenna 230, and an environmental sensing module 240. The radio frequency module 220 and the environmental sensing module 240 are respectively connected to the processing module 210, and the antenna 230 is connected to the radio frequency module 220, wherein: Processing module 210 is used to execute the satellite communication method provided in the embodiments of this application; The radio frequency module 220 is used to adjust the transmit power, receive gain, and antenna beam pointing of the satellite terminal. Antenna 230 is used for transmitting and receiving communication signals; The environmental perception module 240 is used to acquire environmental perception information of the environment in which the satellite terminal is located, and send the environmental perception information to the processing module.

[0090] The aforementioned processing module 210 can be implemented using a Field-Programmable Gate Array (FPGA). This device executes multiple tasks in parallel, including environmental perception information processing, delay calculation, power attenuation calculation, and compensation control command generation, through reconfigurable logic resources. The FPGA can integrate a radar signal processing unit to perform range-Doppler two-dimensional fast Fourier transform, point cloud clustering, and geometric feature extraction on millimeter-wave and LS radar echoes, outputting obstacle contour data and material reflection characteristics; it can also integrate a delay calculation unit to complete signal processing, transmission delay measurement, and numerical calculations of penetration delay and spatial propagation delay within a single clock cycle using a counter and lookup table method; it can integrate an attenuation calculation unit to perform multiplication and addition operations based on the electromagnetic wave propagation model and material electromagnetic parameter library to obtain the power attenuation; and it can integrate a control command generation unit to trigger a pulse signal at the pre-compensation moment to drive the RF module to adjust the power amplifier gain and low-noise amplifier gain, achieving synchronous compensation of transmit power and receive gain. The reconfigurable nature of FPGAs allows for flexible adjustment of the algorithm pipeline structure based on the antenna array size and radar sensor type. Its parallel processing capability ensures that all calculations are completed within a 10ms communication cycle, meeting the real-time requirements of mobile satellite communication.

[0091] It is understood that the processing module 210 provided in the embodiments of this application can be used to execute the satellite communication method provided in the embodiments of this application. Its implementation principle and the resulting technical effects have been described in the foregoing method embodiments. For the sake of brevity, any part not mentioned in the terminal embodiment can be referred to the corresponding content in any of the foregoing method embodiments.

[0092] Optionally, the aforementioned environmental perception module 240 includes millimeter-wave radar, microwave radar, and a gyroscope, wherein: Millimeter-wave radar is used to acquire geometric contour information of obstacles; Microwave radar is used to acquire environmental information at long distances; A gyroscope is used to acquire motion status information of a satellite terminal.

[0093] The aforementioned millimeter-wave radars typically operate in the 30GHz to 300GHz frequency band, employing frequency-modulated continuous wave or phased array systems to transmit narrow-beam electromagnetic waves. They utilize high carrier frequency characteristics to achieve sub-centimeter-level range and angular resolution. By receiving the echoes scattered from the surface of obstacles and performing range-Doppler two-dimensional fast Fourier transform and digital beamforming, they generate high-density point cloud data. Through clustering algorithms and edge detection, they extract the fine geometric contour information of obstacles, including obstacle thickness, width, height, and relative angle with the communication link, providing accurate geometric parameters for calculating power attenuation.

[0094] The aforementioned microwave radar operates in the L-band or S-band (1GHz to 4GHz), employing high-power transmission and a wide-beam scanning mechanism. It has a detection range of hundreds of kilometers and strong weather penetration capability. Through fan-shaped scanning or mechanical rotation, it can conduct wide-area detection of distant environments, identify bridges, buildings, mountains, and macroscopic boundaries of rain-attenuated areas in a large area in front of the communication link, and output low-resolution but wide-coverage environmental information. As a supplement to millimeter-wave radar, it is used to provide early warning of potential obstacles and guide millimeter-wave radar for precise tracking.

[0095] The aforementioned gyroscopes, based on microelectromechanical systems (MEMS) or fiber optic loop technology, utilize the Coriolis or Sagnac effects to measure the angular rate and acceleration of the satellite terminal in three-dimensional space. Through integral calculations and attitude calculation algorithms, they output the terminal's motion direction vector, velocity magnitude, and attitude Euler angles in real time, providing motion state information for predicting the relative motion trajectory of the terminal and obstacles. Combined with static obstacle position data detected by radar, they enable accurate prediction of obstacle entry times in dynamic scenarios.

[0096] like Figure 3 As shown, during the satellite terminal's R&D and debugging phase or periodic performance calibration, the aforementioned satellite terminal can be connected to an external spectrum analyzer via its RF test interface to accurately measure signal processing and transmission delays. In the measurement configuration, the spectrum analyzer's RF input port is connected to the terminal's RF module output port via a coaxial cable, and the spectrum analyzer's trigger input port is connected to the processing module's synchronization pulse output port. The processing module outputs a synchronization pulse signal while generating communication data. The spectrum analyzer uses this pulse as a trigger source to start timing counting. It stops counting when it detects the communication signal output by the RF module. The recorded time interval is the total delay of signal processing, intermediate frequency transmission, and analog channel transmission within the terminal. This measurement method using an external spectrum analyzer allows for the acquisition of accurate signal processing and transmission delay values, which can be used as fixed parameters in propagation delay calculations, improving the accuracy of pre-compensation timing determination.

[0097] Based on the same inventive concept, embodiments of this application may also provide a satellite communication system, including: a satellite receiver and a satellite terminal communicating with the satellite receiver, wherein the satellite terminal is the satellite terminal provided in embodiments of this application.

[0098] The aforementioned satellite communication system can be integrated with traditional mobile communication systems. For example, the mobile communication system can be a fourth-generation (4G) communication system (e.g., Long Term Evolution (LTE) system), a worldwide interoperability for microwave access (WiMAX) communication system, a fifth-generation (5G) communication system (e.g., a new radio (NR) system), and future mobile communication systems, etc.

[0099] like Figure 4 As shown, Figure 4 This is a schematic diagram of a multi-beam mobile satellite communication system applicable to embodiments of this application. (See diagram below.) Figure 4 In this scenario, the satellite provides communication services to terminal devices via multiple beams. The satellite in this case is a non-geostationary earth orbit (NGEO) satellite, connected to core network equipment. The satellite uses multiple beams to cover the service area, and different beams can communicate via one or more of time-division, frequency-division, and space-division multiplexing. The satellite provides communication and navigation services to terminal devices by broadcasting communication and navigation signals. The satellite mentioned in this embodiment can also be a satellite base station or network-side equipment mounted on a satellite.

[0100] For example, satellite communication systems can be categorized into three types based on their orbital altitude: geostationary earth orbit (GEO) satellite communication systems, also known as synchronous orbit satellite communication systems; medium earth orbit (MEO) satellite communication systems; and low earth orbit (LEO) satellite communication systems. GEO satellites orbit at an altitude of 35,786 km, and their main advantage is that they remain relatively stationary compared to the ground and provide a large coverage area. However, GEO satellite communication also has significant disadvantages: the large distance between GEO satellites and Earth results in high free-space propagation loss, leading to tight communication link budgets; and large-aperture antennas are required to increase transmission or reception gain. GEO communication also suffers from high transmission latency, reaching approximately 500 ms round-trip time, which cannot meet the demands of low-latency services. Furthermore, GEO orbital resources are relatively scarce, resulting in high launch costs and an inability to provide coverage to the polar regions. MEO satellites orbit at altitudes between 2000 and 35786 km. Their advantage lies in achieving global coverage with a relatively small number of satellites. However, their orbital altitude is higher than LEO satellites, resulting in significantly longer communication transmission latency. LEO satellites, on the other hand, orbit at altitudes between 300 and 2000 km. LEO satellites are lower than MEO and GEO satellites, offering advantages such as lower data transmission latency, less transmission loss, and lower launch costs. Of course, in specific application scenarios, LEO satellites can be replaced by GEO or MEO satellites, or even a combination of multiple satellite types.

[0101] Please refer to Figure 5 , Figure 5 This application provides a structural block diagram of an electronic device 300, which includes at least one processor 310, at least one memory 320, at least one communication interface 330, and at least one communication bus 340. The communication bus 340 enables direct communication between these components, the communication interface 330 facilitates signaling or data communication with other node devices, and the memory 320 stores machine-readable instructions executable by the processor 310. When the electronic device 300 is running, the processor 310 communicates with the memory 320 via the communication bus 340, and the machine-readable instructions, when invoked by the processor 310, execute the aforementioned satellite communication method.

[0102] In one implementation, the aforementioned electronic device 300 can be a terminal, and different terminals can be interconnected via wired or wireless means. Terminals can be widely used in various scenarios, such as Near Field Communication (NFC) device-to-device communication. to Device-to-Device (D2D) communication, Vehicle-to-Everything (V2X) communication, Machine-to-Machine (M2M) communication Machine-Type Communication (MTC), Internet of Things (IoT), Virtual Reality, Augmented Reality, Industrial Control, Autonomous Driving, Telemedicine, Smart Grid, Smart Furniture, Smart Office, Smart Wearables, Smart Transportation, Smart Cities, etc. The terminal can also be called a Mobile Station (MS), Terminal, or Terminal Equipment, and may include a Subscriber Unit, Cellular Phone, Smart Phone, Wireless Data Card, Personal Digital Assistant (PDA) Computer, Tablet Computer, Wireless Modem, Handheld Device, Laptop Computer, Cordless Phone, Wireless Local Loop (WLL) Station, Machine-Type Communication (MTC) Terminal, etc. For ease of description, in all embodiments of this application, the devices mentioned above are collectively referred to as terminals. The aforementioned terminal may also include an antenna and a transceiver. The transceiver modulates (e.g., analog-to-analog conversion, filtering, amplification, and up-conversion) the output sample and generates an uplink signal, which is transmitted to the network device via an antenna. On the downlink, the antenna receives the downlink signal transmitted by the network device, and the transceiver modulates (e.g., filtering, amplification, down-conversion, and digitization) the signal received from the antenna and provides input sampling. The processor 310 is used to execute the satellite communication method described in the above embodiments. The embodiments of this application do not limit the specific technology or device form used in the terminal.

[0103] The processor 310 may include one or more, and may be an integrated circuit chip with signal processing capabilities. The processor 310 may be a general-purpose processor, including a Central Processing Unit (CPU), a Microcontroller Unit (MCU), a Network Processor (NP), or other conventional processors; it may also be a special-purpose processor, including a Neural-network Processing Unit (NPU), a Graphics Processing Unit (GPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. Furthermore, when there are multiple processors 310, some may be general-purpose processors, and others may be special-purpose processors.

[0104] The memory 320 includes one or more, which may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0105] This application also provides a computer-readable storage medium that stores computer program instructions. When the computer program instructions are executed by a computer, the computer performs various functions or steps in the above-described satellite communication method embodiments.

[0106] This application also provides a computer program product that, when run on a computer, causes the computer to perform the various functions or steps described in the above-described satellite communication method embodiments.

[0107] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0108] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0109] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0110] It should be noted that if the function is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0111] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application, are intended to cover non-exclusive inclusion. In the description of embodiments of this application, technical terms such as "first," "second," etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary or secondary relationship of the indicated technical features. In the description of embodiments of this application, "a plurality of" means two or more, unless otherwise expressly and specifically defined. The reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0112] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A satellite communication method, characterized in that, Applied to satellite terminals, the method includes: Acquire environmental perception information; Based on the environmental perception information, obstacles located on the communication link between the satellite terminal and the satellite receiver are identified, and the power attenuation of the communication signal by the obstacles is calculated based on the characteristics of the obstacles. Based on the propagation delay of the communication signal from the satellite terminal to the satellite receiver, a pre-compensation time is determined before the satellite terminal enters the obstacle-blocked area; At the pre-compensation time, the transmit power and receive gain of the satellite terminal are compensated based on the power attenuation.

2. The satellite communication method according to claim 1, characterized in that, The method further includes: After the satellite terminal enters the area blocked by the obstacle, it monitors whether the satellite receiver sends a power control command to the satellite terminal and detects the link quality indicators of the communication link. If the power control command is not detected being sent from the satellite receiver to the satellite terminal, and the link quality index is greater than the preset index threshold, then the power attenuation is determined to be consistent with the actual attenuation, and the current obstacle is marked as a regular obstacle in the obstacle database. If the satellite receiver detects that it sends the power control command to the satellite terminal, the actual power attenuation is calculated based on the power adjustment amount of the power control command, and the actual power attenuation is bound to the current obstacle and stored in the obstacle database.

3. The satellite communication method according to claim 2, characterized in that, The method further includes: When the satellite terminal re-enters an area that matches the obstacle information stored in the obstacle database, the power attenuation of the communication signal by the obstacle is recalculated based on the obstacle features stored in the obstacle database. After the satellite terminal enters the area blocked by the obstacle, the link quality index of the communication link is detected; If the link quality index is lower than the preset index threshold, and the obstacle is not marked as a regular obstacle, then the actual power attenuation stored in the obstacle database is used to recompensate the satellite terminal's transmit power and receive gain.

4. The satellite communication method according to claim 2, characterized in that, After compensating for the transmit power and receive gain of the satellite terminal, the method further includes: In response to the power attenuation amount or the actual power attenuation amount being greater than a preset attenuation threshold, the link quality index of the communication link is detected after the satellite terminal enters the obstacle blockage area; If the link quality index does not meet the preset index threshold, then calculate the minimum beam deflection angle to avoid the obstacle; Adjust the antenna beam pointing according to the minimum beam deflection angle and compensate for the beam gain loss caused by the minimum beam deflection angle.

5. The satellite communication method according to claim 4, characterized in that, After adjusting the antenna beam pointing according to the minimum beam deflection angle and compensating for the beam gain loss caused by the minimum beam deflection angle, the method further includes: Re-inspect the link quality indicators of the communication link; If the link quality indicators still do not meet the preset indicator threshold, a communication link interruption warning will be issued.

6. The satellite communication method according to any one of claims 2 to 5, characterized in that, The method further includes: The obstacle database is periodically synchronized to other satellite terminals.

7. The satellite communication method according to any one of claims 1 to 5, characterized in that, The determination of the pre-compensation time before the satellite terminal enters the obstacle-blocked area based on the propagation delay of the communication signal from the satellite terminal to the satellite receiver includes: The signal processing and transmission delay of the satellite terminal is determined; wherein, the signal processing and transmission delay includes data processing delay, digital intermediate frequency transmission delay, and analog channel transmission delay; Based on the thickness and dielectric constant of the obstacle, the penetration delay of the signal through the obstacle is calculated. The spatial propagation delay of the communication signal is calculated based on the distance from the obstacle to the satellite receiver. The propagation delay is calculated based on the signal processing and transmission delay, the penetration delay, and the spatial propagation delay. Based on the motion trajectory of the satellite terminal, predict the entry time of the satellite terminal into the obstacle-blocked area; Calculate the pre-compensation time based on the entry time and the propagation delay.

8. The satellite communication method according to any one of claims 1 to 5, characterized in that, The step of identifying obstacles on the communication link between the satellite terminal and the satellite receiver, and determining the power attenuation of the communication signal by the obstacles, includes: Feature extraction is performed on the environmental perception information to obtain geometric contour data and material reflection characteristic data of obstacles located on the communication link between the satellite terminal and the satellite receiver; The effective path length for the communication signal to penetrate the obstacle is determined based on the geometric contour data. Based on the material reflection characteristic data, the electromagnetic parameters of the material corresponding to the obstacle are matched; Based on the electromagnetic wave propagation model, the power attenuation is calculated according to the effective path length and the electromagnetic parameters of the material.

9. A satellite terminal, characterized in that, The system includes a processing module, a radio frequency (RF) module, an antenna, and an environmental sensing module. The RF module and the environmental sensing module are respectively connected to the processing module, and the antenna is connected to the RF module. The processing module is used to execute the method as described in any one of claims 1 to 8; The radio frequency module is used to adjust the transmit power, receive gain, and antenna beam pointing of the satellite terminal. The antenna is used to transmit and receive communication signals; The environmental perception module is used to acquire environmental perception information of the environment in which the satellite terminal is located, and send the environmental perception information to the processing module.

10. The satellite terminal according to claim 9, characterized in that, The environmental perception module includes millimeter-wave radar, microwave radar, and gyroscope, wherein: The millimeter-wave radar is used to acquire the geometric contour information of the obstacle; The microwave radar is used to acquire long-distance environmental information; The gyroscope is used to acquire the motion state information of the satellite terminal.

11. A satellite communication system, characterized in that, include: A satellite receiver and a satellite terminal that is communicatively connected to the satellite receiver, wherein the satellite terminal is the satellite terminal as described in claim 9 or 10.

12. An electronic device, characterized in that, include: A processor, a memory, and a communication bus, wherein the processor and the memory communicate with each other via the communication bus; The memory stores program instructions that can be executed by the processor, and the processor can execute the method as described in any one of claims 1 to 8 by calling the program instructions.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a computer, cause the computer to perform the method as described in any one of claims 1 to 8.

14. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 8.

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