A user positioning method and device for low-orbit satellite communication and satellite network equipment

Abstract

The application provides a user positioning method and device for low-orbit satellite communication and satellite network equipment, relates to the technical field of satellite communication, and the device comprises a receiving unit configured to receive a transmission delay and a Doppler frequency shift reported by a terminal device; a first processing unit configured to control the satellite network equipment to perform the following first operation: calculating a first included angle from the terminal device to a subsatellite point via a satellite according to the transmission delay and an orbital height of the satellite; calculating a second included angle from the subsatellite point to the terminal device in a satellite moving direction via the subsatellite point from a satellite overhead angle according to the first included angle, the Doppler frequency shift, a carrier frequency and a satellite moving speed; and determining position information of the terminal device according to the first included angle and the second included angle. The application can automatically estimate the position information of the terminal device without the terminal device reporting the position information, ensure the service continuity of a communication architecture depending on the terminal device information, and protect the user privacy and safety.

Description

Technical Field

[0001] This invention relates to the field of satellite communication technology, and in particular to a user positioning method, apparatus, and satellite network equipment for low-Earth orbit satellite communication. Background Technology

[0002] In low-Earth orbit (LEO) satellite communication systems, the most significant characteristics of satellite-to-ground links are high dynamics, high transmission latency, and Doppler frequency offset. Taking an orbital altitude of 600 kilometers as an example, the satellite's movement speed is approximately 7 kilometers per second. Even if the ground terminal remains stationary, there is still high relative motion between the LEO satellite and the ground terminal, resulting in high latency and frequency offset rates.

[0003] In existing 5G non-terrestrial networks (NTN), after security authentication, the terminal side reports its location information based on the Global Navigation Satellite System (GNSS) to the network side. This allows the network side to optimize relevant strategies using the terminal's location information during subsequent time and frequency synchronization maintenance, resource scheduling, mobility management, paging, and other processes.

[0004] Currently, the 3GPP NTN protocol provides two reporting mechanisms for the coarse location of terminals: one is to report the coarse location information (fuzzy 2 km) of the terminal when reporting the measurement report; the other is for the network side to query the coarse location information of the terminal once through the terminal information request message. Summary of the Invention

[0005] This invention addresses the risks of user privacy leaks associated with existing NTN technologies, where terminal location information is reported by the terminal side or directly obtained by the network side. Furthermore, when the terminal location information cannot be determined by the terminal side, the communication system architecture that relies on the terminal location information by the network side struggles to guarantee service continuity.

[0006] To address the aforementioned technical problems, the first aspect of this invention provides a user positioning device for low-Earth orbit satellite communication, applicable to satellite network equipment, comprising:

[0007] The receiving unit is used to receive the transmission delay and Doppler shift reported by the terminal device;

[0008] The first processing unit is configured to control the satellite network equipment to perform the following first operation:

[0009] Based on the transmission delay and the satellite's orbital altitude, calculate the first included angle between the terminal device and the sub-satellite point via the satellite;

[0010] Based on the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, calculate the second included angle from the satellite's top-view angle, the satellite's moving direction via the nadir point to the terminal device;

[0011] The location information of the terminal device is determined based on the first included angle and the second included angle.

[0012] In a further embodiment of the present invention, calculating the first included angle between the terminal device and the sub-satellite point via the satellite, based on the transmission delay and the satellite's orbital altitude, includes:

[0013] Calculate the straight-line length from the terminal device to the satellite based on the transmission delay;

[0014] Determine the straight-line length from the nadir point to the satellite based on the satellite's orbital altitude;

[0015] The first included angle is calculated using trigonometric functions based on the straight-line length from the terminal device to the satellite and the straight-line length from the nadir point to the satellite.

[0016] In a further embodiment of the present invention, the first included angle is calculated using trigonometric functions based on the straight-line length from the terminal device to the satellite and the straight-line length from the nadir point to the satellite. The first included angle is calculated using the following formula:

[0017] θ0 = arccos(SO / (τ0·c));

[0018] Wherein, θ0 is the first included angle, SO is the straight-line length from the sub-satellite point to the satellite, τ0 is the transmission delay, c is the speed of light, and τ0·c is the straight-line length from the terminal device to the satellite.

[0019] In a further embodiment of the present invention, the calculation of the second angle from the satellite's moving direction via the nadir point to the terminal device, based on the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, includes:

[0020] A three-dimensional coordinate system (X,Y,Z) is established, wherein the origin of the three-dimensional coordinate system is the sub-satellite point, the satellite is located on the Z-axis, the satellite's movement direction is parallel to the X-axis, and the terminal device is located on the XY plane;

[0021] Based on the positions of the satellite, the nadir point, and the terminal device in the three-dimensional coordinate system, as well as the first included angle, the Doppler shift, the carrier frequency, and the satellite's moving speed, the second included angle from the satellite's top-down view of the direction of satellite movement through the nadir point to the terminal device is calculated using trigonometric functions.

[0022] In a further embodiment of the present invention, based on the positions of the satellite, the nadir point, and the terminal device in the three-dimensional coordinate system, and the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, the second included angle from the nadir point to the terminal device, as viewed from the satellite's top view, is calculated using trigonometric functions, including:

[0023] Calculate the candidate included angle using the following formula:

[0024]

[0025] Where, φ 01 φ is the first candidate included angle. 02 f is the second candidate angle. o For Doppler frequency shift, f c Here, c is the satellite carrier frequency, v is the satellite's moving speed, and θ0 is the first included angle.

[0026] Based on the wave position information of the terminal device, the second included angle is determined from the first candidate included angle and the second candidate included angle.

[0027] In a further embodiment of the present invention, determining the second included angle from the first candidate included angle and the second candidate included angle based on the wave position information of the terminal device includes:

[0028] From the beam position information of the terminal device, determine the fourth included angle from the satellite's top-down view of the direction of satellite movement, passing through the nadir point to the beam center point;

[0029] Calculate the differences between the first candidate angle, the second candidate angle and the fourth angle, respectively;

[0030] Select the candidate angle corresponding to the smallest difference as the second angle.

[0031] As a further embodiment of the present invention, the user positioning device for low-orbit satellite communication further includes:

[0032] The second processing unit is used to control the satellite network equipment to perform the following second operation:

[0033] Based on the beam position information of the terminal device, determine the third included angle from the satellite to the sub-satellite point through the beam center;

[0034] Calculate the difference between the first included angle and the third included angle;

[0035] The validity of the location information of the terminal device is determined based on the difference.

[0036] In a further embodiment of the present invention, determining the validity of the location information of the terminal device based on the difference includes:

[0037] If the difference is greater than a preset value, the location information of the terminal device is determined to be invalid; or

[0038] If the difference is less than or equal to the preset value, then the location information of the terminal device is determined to be valid.

[0039] In a further embodiment of the present invention, after determining that the location information of the terminal device is valid, the method further includes:

[0040] The beam pointing is optimized based on the location information of the terminal device.

[0041] In a further embodiment of the present invention, after determining that the location information of the terminal device is invalid, the method further includes:

[0042] The beam direction is determined using the beam position information of the terminal device.

[0043] In a further embodiment of the present invention, the transmission delay and Doppler frequency shift reported by the receiving terminal device include:

[0044] The receiving terminal device reports an information unit, the information unit including a first feature field, a second feature field, a third feature field and a fourth feature field, the first feature field including data with a first dimension, the second feature field including data with a second dimension, the third feature field including integer data of Doppler frequency shift, and the fourth feature field including fractional data of Doppler frequency shift;

[0045] The estimated timing advance of the terminal device is determined based on the data in the first dimension and the data in the second dimension.

[0046] The transmission delay is calculated based on the timing advance estimated by the terminal device.

[0047] In a further embodiment of the present invention, the precision of the first dimension is lower than that of the second dimension.

[0048] A second aspect of the present invention provides a user positioning method for low-Earth orbit satellite communication, applicable to satellite network equipment, comprising:

[0049] Receive the transmission delay and Doppler shift reported by the receiving terminal equipment;

[0050] Based on the transmission delay and the satellite's orbital altitude, calculate the first included angle between the terminal device and the sub-satellite point via the satellite;

[0051] Based on the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, calculate the second included angle from the satellite's top-view angle, the satellite's moving direction via the nadir point to the terminal device;

[0052] The location information of the terminal device is determined based on the first included angle and the second included angle.

[0053] A third aspect of the present invention provides a satellite network device, comprising:

[0054] The receiving unit is used to receive the transmission delay and Doppler shift reported by the terminal device;

[0055] The first processing unit is configured to control the satellite network equipment to perform the following first operation:

[0056] Based on the transmission delay and the satellite's orbital altitude, calculate the first included angle between the terminal device and the sub-satellite point via the satellite;

[0057] Based on the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, calculate the second included angle from the satellite's top-view angle, the satellite's moving direction via the nadir point to the terminal device;

[0058] The beam pointing information of the terminal device is determined based on the first included angle and the second included angle.

[0059] A fourth aspect of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the user positioning method for low-Earth orbit satellite communication as described in any embodiment of the present invention.

[0060] A fifth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor of a computer device, implements the user positioning method for low-Earth orbit satellite communication according to any embodiment of the present invention.

[0061] The sixth aspect of the present invention provides a computer program product comprising a computer program that, when executed by a processor of a computer device, implements the user positioning method for low-Earth orbit satellite communication described in any embodiment of the present invention.

[0062] The user positioning device and method for low-Earth orbit satellite communication provided by this invention are applicable to satellite network equipment. It receives transmission delay and Doppler shift reported by the terminal equipment; calculates a first angle from the satellite to the nadir point based on the transmission delay and the satellite's orbital altitude; calculates a second angle from the nadir point to the terminal equipment based on the first angle, Doppler shift, carrier frequency, and satellite speed; and determines the terminal equipment's location information based on the first and second angles. This allows the satellite network equipment to automatically estimate the terminal equipment's location, ensuring service continuity for communication system architectures that heavily rely on terminal location information. It also prevents the network from being unable to determine the terminal equipment's location due to the terminal's inability to report its location information in a timely manner. Furthermore, it protects user privacy.

[0063] To make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 A schematic diagram of a satellite communication system according to an embodiment of the present invention is shown;

[0066] Figure 2 A flowchart of a user positioning method for low-Earth orbit satellite communication according to an embodiment of the present invention is shown;

[0067] Figure 3 A schematic diagram of the positioning coordinate system of the terminal device according to an embodiment of the present invention is shown;

[0068] Figure 4 A flowchart of the second included angle determination process according to an embodiment of the present invention is shown;

[0069] Figure 5 Another flowchart of the user positioning method for low-Earth orbit satellite communication according to an embodiment of the present invention is shown;

[0070] Figure 6 This diagram illustrates a structural representation of a user positioning device for low-Earth orbit satellite communication according to an embodiment of the present invention.

[0071] Figure 7 Another structural diagram of a user positioning device for low-Earth orbit satellite communication according to an embodiment of the present invention is shown;

[0072] Figure 8 A structural diagram of a satellite network device according to an embodiment of the present invention is shown;

[0073] Figure 9A This invention illustrates a schematic diagram of the energy distribution of the C / N receiver received on the terminal side according to an embodiment of the invention.

[0074] Figure 9B A schematic diagram of the energy distribution of the C / N gain for a user according to an embodiment of the present invention is shown;

[0075] Figure 9C A schematic diagram comparing the C / N performance of the technical solution of the present invention with that of existing solutions is shown;

[0076] Figure 10 A structural diagram of a computer device according to an embodiment of the present invention is shown;

[0077] Figure 11A This diagram illustrates a data structure diagram of a terminal device periodically reporting MAC CE in advance, according to an embodiment of the present invention.

[0078] Figure 11B This invention illustrates another data structure diagram for the terminal device to periodically report MAC CE in advance, according to an embodiment of the present invention.

[0079] Explanation of symbols in the attached drawings:

[0080] 601. Receiving Unit;

[0081] 602. First processing unit;

[0082] 603. Second processing unit;

[0083] 801. Receiving Unit;

[0084] 802, First Processing Unit;

[0085] 1002. Computer equipment;

[0086] 1004, Processor;

[0087] 1006. Memory;

[0088] 1008. Drive mechanism;

[0089] 1010. Network interface;

[0090] 1012. Communication link;

[0091] 1014. Communication bus. Detailed Implementation

[0092] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0093] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0094] This specification provides the operational steps of the methods described in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operational steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only possible execution order. In actual system or device products, the methods shown in the embodiments or drawings can be executed sequentially or in parallel.

[0095] It should be noted that the information involved in this invention (including but not limited to user terminal device information, user personal information, etc.) is all information and data authorized by the user or fully authorized by all parties, and the acquisition, transmission, storage, use and processing of related data comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0096] It should be noted that in the embodiments of the present invention, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of the present invention. However, they do not mean that the applicant has used or necessarily used the solution.

[0097] The terminal device described in this invention is a terminal device with satellite communication capabilities, and this invention does not specifically limit its manufacturer, model, etc. The satellite network device described in this invention is a satellite base station device, which can also be simply referred to as a satellite.

[0098] In the field of satellite communications, terminal devices may experience GNSS signal loss or undetectability at certain locations or during certain time periods (such as locations where GNSS signals are blocked, during power-saving sleep periods, or during periods when GNSS signals are interfered with). This prevents the terminal devices from reporting their location information to the network side in a timely manner, making it difficult for communication system architectures that heavily rely on terminal location information to guarantee service continuity.

[0099] Furthermore, location information obtained through GNSS measurements constitutes personal privacy for terminal devices. Whether this location information can be reported to the network without the consent of the user of the terminal device involves relevant data privacy regulations, and these regulations vary across different countries and regions. Current international standards do not provide a clear definition of whether a terminal device will necessarily report location information obtained through GNSS measurements to the network (whether actively or passively due to a query initiated by the network).

[0100] Therefore, to address the aforementioned issues, there is an urgent need to propose a user positioning scheme for low-Earth orbit satellite communication applied to the satellite network equipment side. When the network side cannot obtain the location information of the terminal equipment based on GNSS measurements, the location information of the terminal equipment should be estimated based on transmission delay and frequency offset.

[0101] Specifically, such as Figure 1 As shown, the satellite's location S is set as the reference point, and a beam pointing to a certain wavelength (such as...) Figure 1 The position shown by the hexagon is defined by a pair of orientation angles (θ, φ), where θ is the angle between the beam center and the nadir point via the satellite (also called the elevation angle), as shown below. Figure 1 In the beam, φ is the angle between the satellite's direction of movement as viewed from above, passing through the nadir point to the beam center point (also called the azimuth angle). Figure 1 Let AOB be the angle in the equation, where OA is the direction of satellite movement. The beam pointing from the satellite to a point on the ground can be uniquely defined by (θ, φ).

[0102] Based on this, the present invention provides a user positioning method for low-Earth orbit satellite communication suitable for satellite network equipment, such as... Figure 2 As shown, it includes:

[0103] Step 201: Receive the transmission delay and Doppler shift reported by the terminal device.

[0104] Step 202: Based on the transmission delay and the satellite's orbital altitude, calculate the first angle between the terminal device and the nadir point via the satellite, i.e., the first angle between the terminal device's location and the nadir point via the satellite. In other words, the first angle is the angle between the straight line between the terminal device and the satellite, and the straight line between the satellite and the nadir point.

[0105] Step 203: Based on the first included angle, Doppler shift, carrier frequency, and satellite speed, calculate the second included angle from the satellite's top-down view of the satellite's movement direction through the nadir point to the terminal device. In other words, the second included angle is the angle between the projected line of the satellite's movement direction onto the plane (the satellite's movement direction is parallel to this plane, and the terminal device and the nadir point are located in this plane) and the straight line between the terminal device and the nadir point. The carrier frequency and satellite speed are known quantities.

[0106] Step 204: Determine the location information of the terminal device based on the first included angle and the second included angle. In this step, the location information of the terminal device is represented by the first included angle and the second included angle, denoted as (θ0, φ0), where θ0 is the first included angle and φ0 is the second included angle.

[0107] This embodiment, through the implementation of steps 201 to 204 described above, enables satellite network equipment to automatically estimate the location information of terminal devices. This ensures the service continuity of communication system architectures that heavily rely on terminal location information, preventing situations where the network side cannot determine the location of the terminal device due to the terminal's inability to report its location information to the network side in a timely manner. Simultaneously, it also protects user privacy.

[0108] In detail, the transmission delay in step 201 is a one-way delay, that is, the delay from the satellite to the terminal device or the delay from the terminal device to the satellite. When the terminal device reports a two-way delay, the two-way delay reported by the terminal device is first halved to obtain the one-way delay. Specifically, the transmission delay is calculated by the terminal device based on its own location information and satellite ephemeris information.

[0109] In one embodiment of the present invention, the above step 201 of receiving the transmission delay and Doppler shift reported by the terminal device includes:

[0110] The receiving terminal device reports an information unit, which includes a timing advance and a Doppler frequency shift.

[0111] In some implementations, the timing advance in the information unit is the total timing advance, and the transmission delay can be directly determined based on this total timing advance.

[0112] In some implementations, the timing advance in the information unit is the timing advance estimated by the terminal device. Based on the timing advance estimated by the terminal device, the total timing advance is first calculated using the following formula. Then, the transmission delay can be directly determined based on the total timing advance.

[0113] T TA =(NTA +N TA,UE-specific +N TA,common +N TA,offset )×T c ;

[0114] Among them, T TA This is the total timing advance. T C =0.509ns is a time unit in NR.

[0115] N TA The timing advance amount is the amount of information that the base station detects and sends to the terminal device via uplink signals such as preamble or SRS (sounding reference signal) (which is then sent to the terminal device via TAC).

[0116] N TA,common It is used to compensate for the transmission delay of the link between the satellite and the ground base station when the satellite acts as a relay, and is configured through high-level parameters.

[0117] N TA,offset The frequency band location and duplex mode configuration for uplink data transmission on the terminal equipment side are determined. For specific parameter values, please refer to Table 7.1.2-2 of 3GPP 38.133.

[0118] N TA,UE-specific This refers to the timing advance of the link between the terminal device and the satellite, estimated by the terminal device based on its own and satellite position information. The terminal device compensates for this advance itself.

[0119] In some implementations, to improve the accuracy of timing advance and Doppler shift upload, the information unit includes a first feature domain, a second feature domain, a third feature domain, and a fourth feature domain. The first feature domain includes data with a first dimension, the second feature domain includes data with a second dimension, the third feature domain includes integer data of the Doppler shift, and the fourth feature domain includes fractional data of the Doppler shift.

[0120] The estimated timing advance of the terminal device, N, is determined based on the data in the first dimension and the data in the second dimension. TA,UE-specific The transmission delay is calculated based on the timing advance estimated by the terminal device.

[0121] In some embodiments of the present invention, the precision of the first dimension is lower than that of the second dimension.

[0122] In some implementations, the first unit is milliseconds and the second unit is microseconds. The information unit is carried in two bytes.

[0123] In some implementations, the first dimension is milliseconds, and the second dimension is 1 / (15*2048) milliseconds. The information unit is carried in four bytes.

[0124] In some real-time methods, the information unit further includes a parameter threshold, which contains indication information used to indicate the data format of the feature domain. The data format includes data units and data length.

[0125] In some embodiments of the present invention, the terminal device reports information units in multi-byte MAC CE format. For example, the data structure of MAC CE is as follows: Figure 11A and Figure 11B As shown.

[0126] Specifically, such as Figure 11A As shown, the information unit is sent in a four-byte MAC CE format.

[0127] In the MAC CE, the first two bits of the first byte are reserved bits. The four bits following the reserved bits in the first byte of the MAC CE are used to store data of the first dimension. The remaining bits of the first byte and the second byte of the MAC CE are used to store data of the second dimension. The first two bits of the third byte of the MAC CE are reserved bits. The remaining bits of the third byte of the MAC CE are used to store the integer data of the Doppler frequency shift. The fourth byte of the MAC CE is used to store the fractional data of the Doppler frequency shift. The process of splitting the integer and fractional data of the Doppler frequency shift can be referred to the aforementioned embodiment, and will not be detailed here.

[0128] like Figure 11B As shown, the information unit is sent in a six-byte MAC CE format.

[0129] In MAC CE, the first two bits of the first byte are reserved bits. The remaining bits of the first byte and the second byte are used to store data in the first dimension (i.e., ms). The third and fourth bytes of MAC CE are used to store data in the second dimension (Ts). The first two bits of the fifth byte of MAC CE are reserved bits. The remaining bits of the fifth byte of MAC CE are used to store integer data of the Doppler frequency shift. The sixth byte of MAC CE is used to store fractional data of the Doppler frequency shift.

[0130] Reserved fields in MAC CE format data can store parameter threshold information, which can be used to indicate the dimensions, data length, and data format of the feature domain.

[0131] Figure 11A and Figure 11BThe timing advance and Doppler shift uploading methods shown can enhance timing advance, improve the accuracy of timing advance reporting, and thus support the system or network side to make some necessary optimization designs for terminal devices.

[0132] In one embodiment of the present invention, step 202, which calculates the first included angle from the terminal device to the nadir point via the satellite based on the transmission delay and the satellite's orbital altitude, includes: calculating the straight-line length from the terminal device to the satellite based on the transmission delay; determining the straight-line length from the nadir point to the satellite based on the satellite's orbital altitude; and calculating the first included angle using trigonometric functions based on the straight-line length from the terminal device to the satellite and the straight-line length from the nadir point to the satellite.

[0133] In one embodiment of the present invention, step 203, based on the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, calculates the second included angle from the satellite's top-down view of the satellite's moving direction via the nadir point to the terminal device. This includes: establishing a three-dimensional coordinate system (X,Y,Z), where the origin O of the three-dimensional coordinate system is the nadir point, the satellite's position is located on the Z-axis, the satellite's moving direction v is parallel to the X-axis, and the terminal device is located on the XY plane. Figure 3 As shown; based on the positions of the satellite, the nadir point, and the terminal device in the three-dimensional coordinate system, as well as the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, the second included angle from the satellite's top-down view of the satellite's moving direction through the nadir point to the terminal device is calculated using trigonometric functions.

[0134] like Figure 1 As shown, in a low-Earth orbit satellite communication system at any orbital altitude of SO, through Figure 3 The following two equations are true:

[0135] cosθ=SO / (τ·c) (1)

[0136]

[0137] Among them, f o The Doppler frequency shift transmitted by the terminal device, v is the satellite's moving speed, and f is the frequency shift. c Let be the satellite's carrier frequency, c be the speed of light, SO be the satellite's orbital altitude, and τ be the transmission delay from the satellite to the terminal device.

[0138] Based on this, such as Figure 1As shown, the terminal device located at point E is within the coverage area of ​​wave position B. The pair of directional angles of the beam pointing to the center point of the wave position are defined as (θ, φ). Assuming that the satellite network device obtains the transmission delay τ0 from the base station to the terminal, when step 202 is implemented, the elevation angle θ0 (i.e., the first included angle) of the terminal device's location can be obtained according to formula (1):

[0139] θ0=arccos(SO / (τ·c))

[0140] Where θ0 is the first included angle, SO is the orbital altitude of the satellite, τ0 is the transmission delay, c is the speed of light, and τ0·c is the distance from the terminal device to the satellite (e.g., ...). Figure 3 PS in the middle.

[0141] It is important to note that since the pitch angle in a real system ranges from [0° to 90°], the above formula yields a unique pitch angle. For a service satellite, the pitch angle θ0 defines a circle (since the Earth is not a perfectly spherical object, the pitch angle θ0 defines a non-standard circle), meaning the terminal equipment must be located within this circle.

[0142] In low-Earth orbit satellite communication systems, due to the high-speed movement of the satellite, the Doppler frequency offset rate of the signal received by the terminal equipment is much greater than that of terrestrial communication systems. According to formula (2), in... Figure 1 For any stationary terminal device along any arc in the arc, the Doppler frequency offset of the received signal is equal. For easier understanding, please refer to... Figure 3 In a rectangular coordinate system, any straight line on the xy plane perpendicular to the direction of satellite movement (e.g.) Figure 3 Terminals on the dashed line (in the middle) have the same Doppler frequency offset. Since the Earth's surface is a sphere (which can be considered a small sector within the coverage area of ​​low-Earth orbit satellites) and not a plane, terminal devices with the same Doppler frequency offset are on a single arc, such as... Figure 1 As shown by the dotted arc.

[0143] When implementing step 203, based on formula (2) and the first included angle, Doppler frequency shift, satellite carrier frequency, and satellite moving speed, the candidate included angle can be calculated using the following formula (e.g., Figure 1 Points E and F in the diagram determine the candidate included angle:

[0144]

[0145] Where, φ 01 φ is the first candidate included angle. 02 f is the second candidate angle. o For Doppler frequency shift, f c Let be the satellite carrier frequency, c be the speed of light, v be the satellite's moving speed, and θ0 be the first included angle.

[0146] Based on the wavelength information of the terminal device, the second included angle is determined from the first candidate included angle and the second candidate included angle. The wavelength information is explicitly known by the base station through uplink random access timing or the SSBRI reported in the CSI.

[0147] In one embodiment of the present invention, as Figure 4 As shown, the second included angle is determined from the first candidate included angle and the second candidate included angle based on the wave position information of the terminal device, including:

[0148] Step 401: Determine the fourth included angle from the nadir point to the beam center point, as viewed from the satellite's top-down angle, based on the beam position information of the terminal device.

[0149] Step 402: Calculate the difference between the first candidate angle and the second candidate angle and the fourth angle, respectively.

[0150] Step 403: Select the candidate angle corresponding to the smallest difference as the second angle.

[0151] On the Earth's surface, since terminals are not at the same altitude, the orbital altitude SO is used uniformly to calculate θ0. The angle value calculated using this method has errors. For terminals at altitudes of 0–4 km (the altitude of most ground terminals), the maximum estimation error for the nadir point is around 2°; the estimation error for the farthest point is about a few tenths of a degree. In 5G NTN networks, the network side does not have high requirements for the accuracy of user location information. Therefore, the estimation error of θ0 does not affect management operations such as beam pointing optimization, mobility management, and resource scheduling. For aircraft flying at altitudes similar to those of civil aviation aircraft, the estimation error of θ0 is unacceptable, and the estimated θ0 differs significantly from the θ at the center point of the beam position. For low-Earth orbit satellite communication systems, with a beam position coverage radius of tens of kilometers, the difference between the elevation angle θ0 of a ground terminal within the beam position and the elevation angle θ of the beam position center point is generally very small. Therefore, after estimating the first included angle θ0, if the difference between the estimated angle and the elevation angle θ of the beam center point is greater than the preset error, such as 2°, then it is considered that in this scenario, it is inappropriate to use the transmission delay and Doppler frequency shift for the rough positioning of the terminal device.

[0152] Based on this, in one embodiment of the present invention, as follows: Figure 5 As shown, the user positioning method for low-Earth orbit satellite communication, in addition to steps 201 to 204 described above, also includes:

[0153] Step 501: Determine the third angle between the beam center and the sub-satellite point via the satellite, based on the beam position information of the terminal device.

[0154] Step 502: Calculate the difference between the first included angle and the third included angle.

[0155] Step 503: Determine the validity of the location information of the terminal device based on the difference between the first included angle and the third included angle.

[0156] Specifically, if the difference between the first included angle and the third included angle is greater than a preset value, the location information of the terminal device is determined to be invalid; if the difference between the first included angle and the third included angle is less than or equal to the preset value, the location information of the terminal device is determined to be valid. The preset value is a preset amount and can be set according to actual needs; this invention does not limit it.

[0157] This embodiment can improve the accuracy of beam pointing optimization by judging the validity of the terminal device location information.

[0158] In some embodiments, after determining that the location information of the terminal device is valid, the user positioning method for low-orbit satellite communication further includes: optimizing beam pointing based on the location information of the terminal device.

[0159] In some embodiments, after determining that the location information of the terminal device is invalid, the user positioning method for low-orbit satellite communication further includes: determining the beam direction using the beam position information of the terminal device.

[0160] The user positioning method for low-Earth orbit satellite communication provided by this invention enables the network side to estimate the location of terminal devices (i.e., users) based on the transmission delay and Doppler frequency offset reported by the terminal devices, thereby ensuring the service continuity of communication system architectures that heavily rely on terminal location information. Simultaneously, this invention also provides a fallback solution, allowing the satellite-based base station to perform a coarse location estimation of the terminal devices based on transmission delay and Doppler frequency offset, without relying on reported terminal location information, given existing available information (estimated through uplink reference signal measurements or reported by the terminal devices).

[0161] Based on the same inventive concept, this invention also provides a user positioning device for low-Earth orbit satellite communication suitable for satellite network equipment, as described in the following embodiments. Since the principle of the user positioning device for low-Earth orbit satellite communication suitable for satellite network equipment is similar to the user positioning method for low-Earth orbit satellite communication suitable for satellite network equipment, the implementation of the user positioning device for low-Earth orbit satellite communication suitable for satellite network equipment can refer to the user positioning method for low-Earth orbit satellite communication suitable for satellite network equipment; repeated details will not be elaborated further.

[0162] like Figure 6 As shown, the user positioning device suitable for low-Earth orbit satellite communication in satellite network equipment includes:

[0163] The receiving unit 601 is used to receive the transmission delay and Doppler shift reported by the terminal device.

[0164] The first processing unit 602 is configured to control the satellite network equipment to perform the following first operation:

[0165] Based on the transmission delay and the satellite's orbital altitude, calculate the first included angle between the terminal device and the sub-satellite point via the satellite;

[0166] Based on the first included angle, Doppler frequency shift, carrier frequency, and satellite moving speed, calculate the second included angle from the satellite's top-view angle, through the nadir point, to the terminal device;

[0167] The location information of the terminal device is determined based on the first included angle and the second included angle.

[0168] In some embodiments of the present invention, the first processing unit 602 calculates the first included angle from the satellite to the nadir point of the terminal device based on the transmission delay and the satellite's orbital altitude, including:

[0169] Based on the transmission delay, calculate the straight-line length from the terminal device to the satellite, such as... Figure 3 SP in the middle;

[0170] Based on the satellite's orbital altitude, determine the straight-line length from the nadir point to the satellite, such as... Figure 3 SO in

[0171] Based on the straight-line length from the terminal device to the satellite and the straight-line length from the nadir point to the satellite, the first included angle is calculated using trigonometric functions, such as... Figure 3 As shown, the satellite position S, the satellite nadir point O, and the terminal position P can be approximately formed a right-angled triangle.

[0172] In a further embodiment, based on the straight-line length from the terminal device to the satellite and the straight-line length from the nadir point to the satellite, the first included angle is calculated using trigonometric functions and the following formula:

[0173] θ0 = arccos(SO / (τ0·c));

[0174] Where θ0 is the first included angle, SO is the straight-line length from the sub-satellite point to the satellite, which is also the orbital altitude of the satellite, τ0 is the transmission delay, and c is the speed of light.

[0175] In some embodiments of the present invention, the first processing unit 602 calculates, based on the first included angle, Doppler shift, satellite carrier frequency, and satellite moving speed, the second included angle from the satellite's top-down view of the satellite's moving direction via the nadir point to the terminal device, including:

[0176] Establish a three-dimensional coordinate system (X, Y, Z), such as Figure 3 As shown, the origin of the three-dimensional coordinate system is the sub-satellite point, the satellite's position is on the Z-axis, the satellite's movement direction is parallel to the X-axis, and the terminal device is located on the XY plane.

[0177] Based on the positions of the satellite, the nadir point, and the terminal device in the three-dimensional coordinate system, as well as the first included angle, the Doppler shift, the carrier frequency, and the satellite's moving speed, the second included angle from the satellite's top-down view of the direction of satellite movement through the nadir point to the terminal device is calculated using trigonometric functions.

[0178] In some implementations, based on the positions of the satellite, the nadir point, and the terminal device in a three-dimensional coordinate system, and the first included angle, the Doppler shift, the carrier frequency, and the satellite's moving speed, the second included angle from the nadir point to the terminal device, as viewed from the satellite's top view, is calculated using trigonometric relationships, including:

[0179] Calculate the candidate included angle using the following formula:

[0180]

[0181] Where, φ 01 φ is the first candidate included angle. 02 f is the second candidate angle. o For Doppler frequency shift, f c Here, c is the satellite carrier frequency, v is the satellite's moving speed, and θ0 is the first included angle.

[0182] Based on the wave position information of the terminal device, the second included angle is determined from the first candidate included angle and the second candidate included angle.

[0183] In some embodiments of the present invention, the first processing unit 602 determines a second included angle from a first candidate included angle and a second candidate included angle based on the wave position information of the terminal device, including:

[0184] From the beam position information of the terminal device, determine the fourth included angle from the satellite's top-down view of the direction of satellite movement, passing through the nadir point to the beam center point;

[0185] Calculate the differences between the first candidate angle, the second candidate angle and the fourth angle, respectively;

[0186] Select the candidate angle corresponding to the smallest difference as the second angle.

[0187] In some embodiments of the present invention, such as Figure 7 As shown, the user positioning device for low-Earth orbit satellite communication also includes:

[0188] The second processing unit 603 is used to control the satellite network equipment to perform the following second operation:

[0189] Based on the beam position information of the terminal, determine the third included angle from the satellite to the sub-satellite point via the beam center;

[0190] Calculate the difference between the first included angle and the third included angle;

[0191] The validity of the location information of the terminal device is determined based on the difference.

[0192] In some embodiments of the present invention, the second processing unit 603 determines the validity of the location information of the terminal device based on the difference, including:

[0193] If the difference is greater than a preset value, the location information of the terminal device is determined to be invalid.

[0194] If the difference is less than or equal to the preset value, then the location information of the terminal device is determined to be valid.

[0195] In some embodiments of the present invention, after the second processing unit 603 determines that the location information of the terminal device is valid, it is further used to optimize the beam pointing based on the location information of the terminal device.

[0196] In detail, the specific implementation process of optimizing beam pointing based on the location information of the terminal device can be referred to the existing technology. This invention does not make specific limitations on this. Since the location information of the terminal device used in this embodiment is estimated by the satellite network device, it can realize continuous optimization of beam pointing and ensure user data security.

[0197] In some embodiments of the present invention, after the second processing unit 603 determines that the location information of the terminal device is invalid, it further includes: determining the beam direction using the beam position information of the terminal device.

[0198] In one embodiment of the present invention, as Figure 8 As shown, a satellite network device is also provided, including:

[0199] The receiving unit 801 is used to receive the transmission delay and Doppler frequency shift reported by the terminal device;

[0200] The first processing unit 802 is configured to control the satellite network equipment to perform the following first operation:

[0201] Based on the transmission delay and the satellite's orbital altitude, calculate the first angle between the beam center of the terminal device and the satellite's nadir point.

[0202] Based on the first included angle, Doppler frequency shift, satellite carrier frequency, and satellite moving speed, calculate the second included angle from the satellite moving direction through the nadir point to the beam center point of the terminal device;

[0203] The beam pointing information of the terminal device is determined based on the first included angle and the second included angle.

[0204] In one embodiment of the present invention, considering a satellite's service coverage area of ​​hundreds of thousands of square kilometers and a single beam's coverage area of ​​tens of square kilometers, and assuming that the power settings on both the satellite side and the terminal side remain unchanged during different beam services at different frequency positions (i.e., beam hopping mode), the energy distribution diagram of the C / N received on the terminal side is as follows. Figure 9A As shown, the beam center represents the part with larger values, while the edge of the beam position represents the part with smaller values. It can be seen that the C / N ratio of the beam pointing towards the beam position center differs by several dB between the beam center and the edge of the beam position.

[0205] The present invention uses the method to estimate the location information of user terminal equipment, and performs beam pointing optimization based on the estimated location information. The energy distribution diagram of the C / N gain for all users is shown below. Figure 9B As shown, by Figure 9B It is clearly visible that the beam gain brought to users at the edge of the beam position after beam pointing optimization is clearly visible. At the same time, it can be found that the beam gain obtained at certain positions of the beam position where the nadir is located is negative. This is mainly because the beam position where the nadir is located cannot distinguish the possible location of the user based on different beam positions. Therefore, this solution does not perform beam pointing optimization for the beam position where the nadir is located, or specifically defined as the beam position with an azimuth angle of about 0° or 180°.

[0206] like Figure 9C As shown, Figure 9C The horizontal axis represents the signal-to-noise ratio (C / N), and the vertical axis represents the cumulative distribution function (CDF), with the CDF value ranging from 0 to 1. Figure 9C The topmost curve is the CDF curve (Current) determined by existing technology. Figure 9C The intermediate curve is the CDF curve (optimized with TA) based on transmission delay optimization. Figure 9C The bottom curve is the CDF curve optimized with TA and FO based on transmission delay and Doppler frequency shift.

[0207] Depend on Figure 9C As can be seen, the percentage of users with a C / N greater than 1 dB increased from 41% to 62%; the percentage of users with a C / N greater than 2 dB increased from 20% to approximately 43%. Therefore, the beam gain after beam pointing optimization using the scheme of this invention is obvious.

[0208] In one embodiment of the present invention, a computer device is also provided, such as... Figure 10As shown, located on a satellite, computer device 1002 may include one or more processors 1004, such as one or more central processing units (CPUs), each of which may implement one or more hardware threads. Computer device 1002 may also include any memory 1006 for storing information of any kind, such as code, settings, data, etc. Non-limitingly, for example, memory 1006 may include any type of RAM, any type of ROM, flash memory, hard disk, optical disk, etc. More generally, any memory can use any technology to store information. Furthermore, any memory may provide volatile or non-volatile retention of information. Furthermore, any memory may represent a fixed or removable component of computer device 1002. In one case, when processor 1004 executes associated instructions stored in any memory or combination of memories, computer device 1002 may perform any operation of the associated instructions. Computer device 1002 also includes one or more drive mechanisms 1008 for interacting with any memory, such as hard disk drive mechanisms, optical disk drive mechanisms, etc.

[0209] The computer device 1002 may also include one or more network interfaces 1010 for exchanging data with other devices via one or more communication links 1012. One or more communication buses 1014 couple the components described above together.

[0210] The communication link 1012 can be implemented in any way, such as via a local area network, a wide area network (e.g., the Internet), a point-to-point connection, or any combination thereof. The communication link 1012 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.

[0211] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the above-described method.

[0212] This invention also provides a computer-readable instruction, wherein when a processor executes the instruction, the program therein causes the processor to perform the method described in any of the foregoing embodiments.

[0213] It should be understood that, in various embodiments of the present invention, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0214] It should also be understood that, in the embodiments of the present invention, the term "and / or" is merely a description of the relationship between associated 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. Furthermore, in the present invention, the character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0215] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed in this invention can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0216] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0217] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, or may be electrical, mechanical, or other forms of connection.

[0218] 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 the embodiments of the present invention, depending on actual needs.

[0219] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0220] If the integrated unit is implemented as a software functional unit 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 the present invention, in essence, or the part that contributes to the prior art, or all 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 the present invention. 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.

[0221] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A user positioning device for low-Earth orbit satellite communication, wherein, Suitable for satellite network equipment, including: The receiving unit is used to receive the transmission delay and Doppler shift reported by the terminal device; The first processing unit is configured to control the satellite network equipment to perform the following first operation: Based on the transmission delay and the satellite's orbital altitude, calculate the first included angle between the terminal device and the sub-satellite point via the satellite; Based on the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, calculate the second included angle from the satellite's top-view angle, the satellite's moving direction via the nadir point to the terminal device; The location information of the terminal device is determined based on the first included angle and the second included angle.

2. The apparatus of claim 1, wherein, Based on the transmission delay and the satellite's orbital altitude, the calculation of the first included angle between the terminal device and the sub-satellite point via the satellite includes: Calculate the straight-line length from the terminal device to the satellite based on the transmission delay; Determine the straight-line length from the nadir point to the satellite based on the satellite's orbital altitude; The first included angle is calculated using trigonometric functions based on the straight-line length from the terminal device to the satellite and the straight-line length from the nadir point to the satellite.

3. The apparatus of claim 2, wherein, Based on the straight-line length from the terminal device to the satellite and the straight-line length from the nadir point to the satellite, the first included angle is calculated using trigonometric functions. The first included angle is calculated using the following formula: θ0 = arccos(SO / (τ0·c)); Wherein, θ0 is the first included angle, SO is the straight-line length from the sub-satellite point to the satellite, τ0 is the transmission delay, c is the speed of light, and τ0·c is the straight-line length from the terminal device to the satellite.

4. The apparatus of claim 1, wherein, Based on the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, the second included angle from the satellite's top-view angle, through the nadir point, to the terminal device includes: A three-dimensional coordinate system (X,Y,Z) is established, wherein the origin of the three-dimensional coordinate system is the sub-satellite point, the satellite is located on the Z-axis, the satellite's movement direction is parallel to the X-axis, and the terminal device is located on the XY plane; Based on the positions of the satellite, the nadir point, and the terminal device in the three-dimensional coordinate system, as well as the first included angle, the Doppler shift, the carrier frequency, and the satellite's moving speed, the second included angle from the satellite's top-down view of the direction of satellite movement through the nadir point to the terminal device is calculated using trigonometric functions.

5. The apparatus of claim 4, wherein, Based on the positions of the satellite, the nadir point, and the terminal device in the three-dimensional coordinate system, and the first included angle, the Doppler shift, the carrier frequency, and the satellite's moving speed, the second included angle from the nadir point to the terminal device, as viewed from the satellite's top angle, is calculated using trigonometric functions. Calculate the candidate included angle using the following formula: Where, φ 01 φ is the first candidate included angle. 02 f is the second candidate angle. o For Doppler frequency shift, f c Here, c is the satellite carrier frequency, v is the satellite's moving speed, and θ0 is the first included angle. Based on the wave position information of the terminal device, the second included angle is determined from the first candidate included angle and the second candidate included angle.

6. The apparatus of claim 5, wherein, Based on the wave position information of the terminal device, the second included angle is determined from the first candidate included angle and the second candidate included angle, including: From the beam position information of the terminal device, determine the fourth included angle from the satellite's top-down view of the direction of satellite movement, passing through the nadir point to the beam center point; Calculate the differences between the first candidate angle, the second candidate angle and the fourth angle, respectively; Select the candidate angle corresponding to the smallest difference as the second angle.

7. The apparatus of claim 1, wherein, Also includes: The second processing unit is used to control the satellite network equipment to perform the following second operation: Based on the beam position information of the terminal device, determine the third included angle from the satellite to the sub-satellite point through the beam center; Calculate the difference between the first included angle and the third included angle; The validity of the location information of the terminal device is determined based on the difference.

8. The apparatus of claim 7, wherein, Determining the validity of the location information of the terminal device based on the difference includes: If the difference is greater than a preset value, the location information of the terminal device is determined to be invalid; or If the difference is less than or equal to the preset value, then the location information of the terminal device is determined to be valid.

9. The apparatus of claim 1, wherein, The transmission delay and Doppler shift reported by the receiving terminal device include: The receiving terminal device reports an information unit, the information unit including a first feature field, a second feature field, a third feature field and a fourth feature field, the first feature field including data with a first dimension, the second feature field including data with a second dimension, the third feature field including integer data of Doppler frequency shift, and the fourth feature field including fractional data of Doppler frequency shift; The estimated timing advance of the terminal device is determined based on the data in the first dimension and the data in the second dimension. The transmission delay is calculated based on the timing advance estimated by the terminal device.

10. The apparatus of claim 9, wherein, The precision of the first dimension is lower than that of the second dimension.

11. A user positioning method for low-Earth orbit satellite communication, wherein, Suitable for satellite network equipment, including: Receive the transmission delay and Doppler shift reported by the receiving terminal equipment; Based on the transmission delay and the satellite's orbital altitude, calculate the first included angle between the terminal device and the sub-satellite point via the satellite; Based on the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, calculate the second included angle from the satellite's top-view angle, the satellite's moving direction via the nadir point to the terminal device; The location information of the terminal device is determined based on the first included angle and the second included angle.

12. The method of claim 11, wherein, Based on the transmission delay and the satellite's orbital altitude, the calculation of the first included angle between the terminal device and the sub-satellite point via the satellite includes: The distance from the terminal device to the satellite is calculated based on the transmission delay; The first included angle is calculated using trigonometric functions based on the distance from the terminal device to the satellite and the orbital altitude of the satellite.

13. The method of claim 12, wherein, The first included angle is calculated using trigonometric functions based on the distance from the terminal device to the satellite and the orbital altitude of the satellite, including: Calculate the first included angle using the following formula: θ0 = arccos(SO / (τ0·c)); Where θ0 is the first included angle, SO is the orbital altitude of the satellite, τ0 is the transmission delay, c is the speed of light, and τ0·c is the distance from the terminal device to the satellite.

14. The method of claim 11, wherein, Based on the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, the second included angle from the satellite's top-view angle, through the nadir point, to the terminal device includes: Establish a three-dimensional coordinate system (X,Y,Z), where the origin of the three-dimensional coordinate system is the sub-satellite point, the satellite's position is located on the Z-axis, and the satellite's direction of movement is parallel to the X-axis; Based on the positions of the satellite, the nadir point, and the terminal device in the three-dimensional coordinate system, as well as the first included angle, the Doppler shift, the carrier frequency, and the satellite's moving speed, the second included angle from the satellite's top-down view of the direction of satellite movement through the nadir point to the terminal device is calculated using trigonometric functions.

15. The method of claim 14, wherein, Based on the positions of the satellite, the nadir point, and the terminal device in the three-dimensional coordinate system, and the first included angle, the Doppler shift, the carrier frequency, and the satellite's moving speed, the second included angle from the nadir point to the terminal device, as viewed from the satellite's top angle, is calculated using trigonometric functions. Calculate the candidate included angle using the following formula: Where, φ 01 φ is the first candidate included angle. 02 f is the second candidate angle. o For Doppler frequency shift, f c Here, c is the satellite carrier frequency, v is the satellite's moving speed, and θ0 is the first included angle. Based on the wave position information of the terminal device, the second included angle is determined from the first candidate included angle and the second candidate included angle.

16. The method of claim 15, wherein, Based on the wave position information of the terminal device, the second included angle is determined from the first candidate included angle and the second candidate included angle, including: From the beam position information of the terminal device, determine the fourth included angle from the satellite's top-down view of the direction of satellite movement, passing through the nadir point to the beam center point; Calculate the differences between the first candidate angle, the second candidate angle and the fourth angle, respectively; Select the candidate angle corresponding to the smallest difference as the second angle.

17. The method of claim 11, wherein, Also includes: Based on the beam position information of the terminal device, determine the third included angle from the satellite to the sub-satellite point through the beam center; Calculate the difference between the first included angle and the third included angle; The validity of the location information of the terminal device is determined based on the difference.

18. The method of claim 17, wherein, Determining the validity of the location information of the terminal device based on the difference includes: If the difference is greater than a preset value, the location information of the terminal device is determined to be invalid; or If the difference is less than or equal to the preset value, then the location information of the terminal device is determined to be valid.

19. The method of claim 11, wherein, The transmission delay and Doppler shift reported by the receiving terminal device include: The receiving terminal device reports an information unit, the information unit including a first feature field, a second feature field, a third feature field and a fourth feature field, the first feature field including data with a first dimension, the second feature field including data with a second dimension, the third feature field including integer data of Doppler frequency shift, and the fourth feature field including fractional data of Doppler frequency shift; The estimated timing advance of the terminal device is determined based on the data in the first dimension and the data in the second dimension. The transmission delay is calculated based on the timing advance estimated by the terminal device.

20. The method of claim 19, wherein, The precision of the first dimension is lower than that of the second dimension.

21. A satellite network device, wherein, include: The receiving unit is used to receive the transmission delay and Doppler shift reported by the terminal device; The first processing unit is configured to control the satellite network equipment to perform the following first operation: Based on the transmission delay and the satellite's orbital altitude, calculate the first included angle between the terminal device and the sub-satellite point via the satellite; Based on the first included angle, the Doppler frequency shift, the carrier frequency, and the satellite's moving speed, calculate the second included angle from the satellite's top-view angle, the satellite's moving direction via the nadir point to the terminal device; The beam pointing information of the terminal device is determined based on the first included angle and the second included angle.

22. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, When the processor executes the computer program, it implements the method according to any one of claims 11 to 20.

23. A computer-readable storage medium storing a computer program, wherein, When the computer program is executed by the processor of a computer device, it implements the method of any one of claims 11 to 20.

24. A computer program product, the computer program product comprising a computer program, wherein, When the computer program is executed by the processor of a computer device, it implements the method of any one of claims 11 to 20.

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