A satellite tracking method, device, and storage medium for a vehicle-mounted mobile antenna.

Abstract

This application discloses a satellite tracking method, apparatus, and storage medium for a vehicle-mounted mobile antenna, comprising: determining first vehicle position information, vehicle attitude information, and first antenna angle information corresponding to the vehicle coordinate system at various acquisition times; determining the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time, and constructing a satellite trajectory model; determining the antenna pointing direction that needs to be adjusted to correspond with the satellite based on the satellite signal strength at the current time and a pre-determined signal strength threshold; predicting the satellite predicted position information corresponding to the current time based on the satellite trajectory model, and determining the desired angle of the first antenna corresponding to the vehicle coordinate system based on the satellite predicted position information and the second vehicle position information corresponding to the current time; and adjusting the antenna pointing direction corresponding to the current time based on the desired angle of the first antenna to ensure that the antenna pointing direction corresponds to the satellite.

Description

Technical Field

[0001] This application relates to the field of satellite communication technology, and in particular to a satellite tracking method, apparatus, and storage medium for a vehicle-mounted mobile antenna. Background Technology

[0002] With the continuous growth in demand for mobile satellite communication, vehicle-mounted mobile communication systems are widely used in scenarios such as emergency communication, live news broadcasting, military command, and network access in remote areas. Its core function is to keep the antenna always pointed at the satellite while the vehicle is in motion, so as to achieve uninterrupted communication services.

[0003] Because each beam of a low-Earth orbit satellite can only cover a limited area on the ground, vehicles will leave the coverage area of ​​the current beam while traveling and switch to the beam corresponding to the next target area—a process known as cross-beam switching. During cross-beam switching, the vehicle-mounted antenna needs to track the satellite to maintain alignment and achieve communication on the move. Existing vehicle-mounted communication systems mainly rely on closed-loop tracking of satellite beacon signals and pre-stored satellite ephemeris to achieve antenna alignment. That is, the theoretical position of the satellite is calculated using pre-stored ephemeris, and then servo closed-loop adjustment of the antenna is performed based on the satellite downlink beacon strength.

[0004] However, in practical applications, satellite beacon signals may experience brief interruptions during beam switching, causing the antenna to lose its alignment reference, resulting in loss of lock or even communication interruption. The system heavily relies on pre-stored ephemeris data; if the ephemeris information is incorrect, expired, or the vehicle enters an area without pre-stored ephemeris data (e.g., cross-border driving scenarios), satellite tracking becomes impossible. Complex attitude changes during vehicle movement (i.e., roll, pitch, and heading fluctuations) directly cause antenna pointing deviations. Therefore, existing technologies relying on pre-stored ephemeris suffer from tracking instability and communication discontinuity, making it difficult to meet the requirements for uninterrupted communication in highly dynamic environments.

[0005] There is currently no effective solution to the technical problem in the existing technology that the vehicle-mounted antenna tracking is unstable during cross-beam switching, making it difficult to meet the uninterrupted communication requirements in high-dynamic environments and thus causing satellite communication interruptions. Summary of the Invention

[0006] The embodiments of this disclosure provide a satellite tracking method, apparatus, and storage medium for a vehicle-mounted mobile antenna, to at least solve the technical problem in the prior art where the tracking of the vehicle-mounted antenna is unstable during cross-beam switching, making it difficult to meet the uninterrupted communication requirements in a high-dynamic environment, thus leading to satellite communication interruption.

[0007] According to one aspect of the present disclosure, a satellite tracking method for a vehicle-mounted mobile communication antenna is provided, comprising: determining first vehicle position information, vehicle attitude information, and first antenna angle information corresponding to the vehicle coordinate system at various acquisition times. The first antenna angle information represents the antenna pointing direction and the antenna angle corresponding to the satellite in the vehicle coordinate system with the corresponding vehicle as the origin; determining a satellite velocity vector and initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, vehicle attitude information, and first antenna angle information, and constructing a satellite trajectory model based on the satellite velocity vector and initial satellite position information; determining the antenna pointing direction that needs to be adjusted to correspond with the satellite based on the satellite signal strength at the current time and a pre-determined signal strength threshold; predicting the satellite predicted position information corresponding to the current time based on the satellite trajectory model, and determining a first antenna expected angle corresponding to the vehicle coordinate system based on the satellite predicted position information and second vehicle position information corresponding to the current time. The first antenna expected angle represents the antenna pointing direction and the antenna angle corresponding to the satellite at the current time; and adjusting the antenna pointing direction corresponding to the current time based on the first antenna expected angle to ensure that the antenna pointing direction corresponds to the satellite.

[0008] According to another aspect of the present disclosure, a storage medium is also provided, the storage medium including a stored program, wherein, when the program is executed, a processor performs any of the methods described above.

[0009] According to another aspect of the present disclosure, a satellite tracking device for a vehicle-mounted mobile antenna is also provided, comprising: an information acquisition module, configured to determine first vehicle position information, vehicle attitude information, and first antenna angle information corresponding to the vehicle coordinate system at various acquisition times. The first antenna angle information represents the antenna pointing direction relative to the satellite in the vehicle coordinate system with the corresponding vehicle as the origin; a satellite trajectory model construction module, configured to determine a satellite velocity vector and initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, vehicle attitude information, and first antenna angle information, and to construct a satellite trajectory model based on the satellite velocity vector and initial satellite position information; a judgment module, configured to determine, based on the satellite signal strength at the current time and a pre-determined signal strength threshold, that the antenna pointing direction needs to be adjusted to correspond to the satellite; and a prediction module, configured to predict the predicted satellite position information corresponding to the current time based on the satellite trajectory model, and to determine the desired first antenna angle corresponding to the vehicle coordinate system based on the predicted satellite position information and the second vehicle position information corresponding to the current time. The first antenna desired angle represents the antenna angle between the antenna's pointing direction and the satellite at the current moment; and the antenna adjustment module is used to adjust the antenna's pointing direction with respect to the current moment according to the first antenna desired angle, so as to ensure that the antenna's pointing direction corresponds to the satellite.

[0010] According to another aspect of the present disclosure, a satellite tracking device for a vehicle-mounted mobile antenna is also provided, comprising: a processor; and a memory connected to the processor, configured to provide the processor with instructions for processing the following steps: determining first vehicle position information, vehicle attitude information, and first antenna angle information corresponding to the vehicle coordinate system at various acquisition times. The first antenna angle information represents the antenna pointing direction relative to the satellite in the vehicle coordinate system with the corresponding vehicle as the origin; determining a satellite velocity vector and initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, vehicle attitude information, and first antenna angle information, and constructing a satellite trajectory model based on the satellite velocity vector and initial satellite position information; determining the antenna pointing direction that needs to be adjusted to correspond to the satellite based on the satellite signal strength at the current time and a predetermined signal strength threshold; predicting the predicted satellite position information corresponding to the current time based on the satellite trajectory model, and determining the desired first antenna angle corresponding to the vehicle coordinate system based on the predicted satellite position information and the second vehicle position information corresponding to the current time. The first antenna expected angle represents the antenna angle corresponding to the satellite's pointing direction at the current moment; and the antenna's pointing direction is adjusted according to the first antenna expected angle to ensure that the antenna's pointing direction corresponds to the satellite.

[0011] To meet the requirements of uninterrupted satellite communication in highly dynamic environments, this application provides a satellite tracking method for a vehicle-mounted mobile communication antenna. By collecting vehicle and antenna data at multiple acquisition times, the satellite velocity vector and initial satellite position information are determined, and a satellite trajectory model is constructed. Then, based on the relationship between the satellite signal strength at the current time and a signal strength threshold, the antenna's pointing direction is adjusted. Furthermore, the satellite trajectory model is used to predict the satellite's predicted position information at the current time, and combined with the vehicle's position information at the current time, the desired angle of the first antenna is calculated, and the antenna pointing is adjusted to ensure that the antenna is always aligned with the satellite.

[0012] Compared to existing technologies that rely on pre-stored satellite ephemeris data, the method provided in this application is more flexible. It can instantly adjust the antenna's pointing direction to maintain alignment with the satellite during beam switching, and it can also instantly compensate for deviations in the antenna's pointing direction when the vehicle's attitude changes. Therefore, this application can ensure the stability of the antenna tracking the satellite and the continuity of satellite communication during vehicle movement. Furthermore, it solves the technical problem in existing technologies where unstable tracking of the vehicle-mounted antenna during beam switching makes it difficult to meet the uninterrupted communication requirements in high-dynamic environments, thus leading to satellite communication interruptions. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this application, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings: Figure 1 This is a schematic diagram illustrating the relationship between the vehicle and the coverage area during cross-beam switching according to Embodiment 1 of this disclosure; Figure 2 This is a schematic diagram illustrating the situation where the pointing direction of the antenna needs to be adjusted to correspond with the satellite, according to Embodiment 1 of this disclosure; Figure 3A This is a hardware structure block diagram of a satellite according to Embodiment 1 of this disclosure; Figure 3B This is a hardware structure block diagram of the vehicle system according to Embodiment 1 of this disclosure; Figure 4 This is a schematic flowchart of the satellite tracking method for a vehicle-mounted mobile antenna according to Embodiment 1 of this disclosure; Figure 5 This is a schematic diagram of a satellite tracking device for a vehicle-mounted mobile antenna according to Embodiment 2 of this disclosure; and Figure 6 This is a schematic diagram of a satellite tracking device for a vehicle-mounted mobile antenna according to Embodiment 3 of this disclosure. Detailed Implementation

[0014] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0015] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure 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 this disclosure 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 non-exclusive inclusion; for example, a process, method, system, product, or apparatus 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 apparatus.

[0016] Example 1

[0017] According to this embodiment, a method embodiment for satellite tracking using a vehicle-mounted mobile antenna is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0018] Figure 1 A schematic diagram illustrating the relationship between the vehicle and the coverage area during cross-beam switching according to this embodiment is shown. Figure 2 This diagram illustrates a situation where the pointing direction of the antenna according to this embodiment needs to be adjusted to correspond with the satellite. (Reference) Figure 1 and Figure 2 As shown, the beam of satellite 10 respectively with the coverage area Correspondingly, during communication, when vehicle 20 moves from the coverage area of ​​the original beam into the coverage area of ​​the new beam, antenna 30 needs to disconnect from the original beam, realign with satellite 10, and reconnect to the new beam. That is, the pointing direction of antenna 30 must always correspond to that of satellite 10. For example, located in the beam... Corresponding coverage area Vehicle 20 drove into the beam. Corresponding coverage area It is necessary to disconnect from the beam. The connection was re-aligned with satellite 10 and the beam. connect.

[0019] Furthermore, when vehicle 20 is traveling within the coverage area of ​​the same beam, it may experience bumps due to road conditions, causing the attitude of vehicle 20 to change. Therefore, it is necessary to adjust the angle of antenna 30 so that antenna 30 is always aligned with satellite 10 and connected to the beam.

[0020] The vehicle 20 includes an onboard system 210 for data acquisition, data processing, and antenna angle adjustment.

[0021] This enables the uninterrupted communication requirements in highly dynamic environments, avoiding satellite communication interruptions.

[0022] Figure 3A Further shown Figure 1 A schematic diagram of the hardware architecture of Zhongwei Satellite 10. (Reference) Figure 3A As shown, satellite 10 includes an integrated electronic system, which includes a processor, a memory, a bus management module, and a communication interface. The memory is connected to the processor, allowing the processor to access the memory, read program instructions stored in the memory, read data from the memory, or write data to the memory. The bus management module is connected to the processor and also to a bus such as a CAN bus. Thus, the processor can communicate with onboard peripherals connected to the bus through the bus managed by the bus management module. Furthermore, the processor also communicates with devices such as cameras, star sensors, telemetry and command transponders, and data transmission equipment via the communication interface. Those skilled in the art will understand that… Figure 3A The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, a satellite may also include components that are larger than... Figure 3A The more or fewer components shown, or having the same Figure 3A The different configurations shown.

[0023] It is worth noting that the aforementioned spaceborne peripherals connected to the CAN bus can be one or multiple. These spaceborne peripherals include, but are not limited to, GNSS modules, fiber optic gyroscopes, and high-torque flywheels. Further details will not be elaborated upon here.

[0024] Figure 3B Further shown Figure 1 A schematic diagram of the hardware architecture of the vehicle-mounted system 210. (Reference) Figure 3BAs shown, the vehicle-mounted system 210 may include one or more processors (processors may include, but are not limited to, microprocessors such as MCUs or programmable logic devices such as FPGAs), a memory for storing data, a transmission device for communication functions, and an input / output interface. The memory, transmission device, and input / output interface are connected to the processor via a bus. In addition, it may also include a display, keyboard, and cursor control device connected to the input / output interface. Those skilled in the art will understand that... Figure 3B The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, an in-vehicle system may also include... Figure 3B The more or fewer components shown, or having the same Figure 3B The different configurations shown.

[0025] It should be noted that, Figure 3A and Figure 3B One or more processors and / or other data processing circuits shown herein may generally be referred to as "data processing circuitry". This data processing circuitry may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other element in a computing device. As involved in embodiments of this disclosure, the data processing circuitry serves as processor control (e.g., selection of a variable resistor termination path connected to an interface).

[0026] Figure 3A and Figure 3B The memory shown can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the satellite tracking method of the vehicle-mounted mobile antenna in this embodiment of the present disclosure. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby implementing the above-mentioned application program for the satellite tracking method of the vehicle-mounted mobile antenna. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.

[0027] It should be noted here that, in some optional embodiments, the above... Figure 3A and Figure 3B The device shown may include hardware elements (including circuitry), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. It should be noted that... Figure 3A and Figure 3B This is only one instance of a specific particular instance, and is intended to illustrate the types of components that may exist in the aforementioned devices.

[0028] Under the aforementioned operating environment, according to the first aspect of this embodiment, a satellite tracking method for a vehicle-mounted mobile antenna is provided. This method comprises... Figure 3B The vehicle system 210 shown is implemented. Figure 4 A flowchart illustrating the method is shown below. (Refer to...) Figure 4 As shown, the method includes: S402: Determine the first vehicle position information, vehicle attitude information, and the first antenna angle information corresponding to the vehicle coordinate system at each acquisition time. The first antenna angle information represents the antenna pointing direction relative to the satellite's antenna angle in the vehicle coordinate system with the corresponding vehicle as the origin. S404: Based on the first vehicle position information, vehicle attitude information, and first antenna angle information, determine the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time, and construct a satellite trajectory model based on the satellite velocity vector and the initial satellite position information; S406: Based on the satellite signal strength at the current moment and a predetermined signal strength threshold, determine the antenna pointing direction that needs to be adjusted to correspond to the satellite. S408: Based on the satellite trajectory model, predict the satellite's predicted position information at the current moment, and based on the satellite's predicted position information and the second vehicle position information corresponding to the current moment, determine the expected angle of the first antenna in the vehicle coordinate system. The expected angle of the first antenna represents the antenna's pointing direction relative to the satellite's antenna angle at the current moment; and S410: Based on the desired angle of the first antenna, adjust the pointing direction of the antenna corresponding to the current moment to ensure that the pointing direction of the antenna corresponds to the satellite.

[0029] Specifically, this application uses three coordinate systems, including: a geocentric coordinate system. Navigation coordinate system and vehicle coordinate system Among them, the geocentric coordinate system Fixed to the Earth, with the Earth's center as the origin, the X-axis points to the intersection of the Prime Meridian and the Equator, the Y-axis points east of the Equator, and the Z-axis points to the North Pole; navigation coordinate system As the position of vehicle 20 changes, with vehicle 20 as the origin, the X-axis points to local due north, the Y-axis points to local due east, and the Z-axis points towards the local geocenter; vehicle coordinate system. With vehicle 20 as the origin, the X-axis points to the front of the vehicle, the Y-axis points to the right side of the vehicle, and the Z-axis points to the top of the vehicle.

[0030] The vehicle-mounted system 210 installed on vehicle 20 includes a GPS positioning unit, a vehicle attitude sensor, and an antenna angle sensor. First, the vehicle-mounted system 210 is initialized, and the GPS positioning unit, vehicle attitude sensor, and antenna angle sensor are activated to complete initial calibration. At this time, antenna 30 is aligned with satellite 10 and captures satellite signals, and the vehicle-mounted system 210 enters signal closed-loop tracking mode.

[0031] The vehicle-mounted system 210 collects data in real time, for example, it could collect a set of data every 1 second or every 2 seconds. The data includes: the time of data collection. First vehicle location information Vehicle attitude information and first antenna angle information (Corresponding to step S402). Among them, the first vehicle location information... Vehicle attitude information is collected by the GPS positioning unit, vehicle attitude information is collected by the vehicle attitude sensor, and first antenna angle information. Data was collected by an antenna angle sensor.

[0032] Among them, with the navigation coordinate system The corresponding vehicle attitude information includes: roll angle Pitch angle and heading angle .in, Indicates the relationship with the first Each data collection time corresponds to one of the data collection times. .

[0033] Furthermore, the location information of the first vehicle is consistent with the geocentric coordinate system. The corresponding terms are as follows: .

[0034] in, Indicates the time of data collection The geocentric coordinates of vehicle 20 (i.e., the position information of the first vehicle). Indicates the time of data collection Below, vehicle 20 in the geocentric coordinate system The coordinates on the X-axis, Indicates the time of data collection Below, vehicle 20 in the geocentric coordinate system The coordinates on the Y-axis, Indicates the time of data collection Below, vehicle 20 in the geocentric coordinate system The coordinates on the Z-axis.

[0035] The vehicle system 210 also includes an antenna axial angle sensor for acquiring the azimuth angle of the antenna 30 relative to the vehicle 20. and pitch angle Furthermore, the first antenna angle information With vehicle coordinate system The corresponding terms are as follows: .

[0036] in, Indicates the time of data collection Below the vehicle coordinate system The corresponding first antenna angle information, This indicates the azimuth angle of antenna 30 relative to vehicle 20. This indicates the elevation angle of antenna 30 relative to vehicle 20. It is important to note the first antenna angle information. From the azimuth angle relative to the vehicle 20 itself With pitch angle The decision is unrelated to vehicle attitude information.

[0037] Then, the vehicle system 210 uses the first vehicle location information Vehicle attitude information and first antenna angle information Determine the satellite velocity vector and initial acquisition time Corresponding satellite initial position information Furthermore, according to the satellite velocity vector... and satellite initial position information Then, construct the satellite trajectory model (corresponding to step S404). The above will be explained in detail later, and will not be repeated here.

[0038] Furthermore, the vehicle system 210, based on the current moment... (in, That is, based on the signal strength of satellite 10 at the current time (after the acquisition time) and a predetermined signal strength threshold, the pointing direction of antenna 30 needs to be adjusted to correspond with satellite 10. That is, the case where antenna 30 is not aligned with satellite 10 (corresponding to step S406). At this time, the vehicle-mounted system 210 enters predictive tracking mode. The signal strength threshold is set according to the actual communication scenario, for example, it could be -80dBm.

[0039] After determining that the pointing direction of antenna 30 needs to be adjusted to correspond with satellite 10, the vehicle-mounted system 210 predicts the current time based on the satellite trajectory model. Corresponding satellite predicted location information Furthermore, based on satellite-predicted location information... and the current moment Corresponding second vehicle location information Determine the coordinate system relative to the vehicle. The corresponding desired angle of the first antenna Among them, the desired angle of the first antenna. Indicates the current moment The pointing direction of the lower antenna 30 corresponds to the antenna angle of the satellite 10 (corresponding to step S408). The above will be explained in detail later and will not be repeated here.

[0040] Finally, based on the desired angle of the first antenna Regarding antenna 30 and the current time The corresponding pointing direction is adjusted to ensure that the pointing direction of antenna 30 corresponds to that of satellite 10 (corresponding to step S410).

[0041] Therefore, the method provided in this application can determine the satellite velocity vector and initial satellite position information based on the data corresponding to the vehicle and antenna at each acquisition time, thereby constructing a satellite trajectory model. Furthermore, at the current time, based on the second vehicle position information and the predicted satellite position information predicted by the satellite trajectory model, the desired angle of the first antenna can be calculated, enabling the antenna to be adjusted in real time to align with the satellite. This satisfies the requirement for uninterrupted communication in highly dynamic environments and avoids satellite communication interruptions.

[0042] As described in the background section, with the continuous growth in demand for mobile satellite communication, vehicle-mounted mobile communication systems are widely used in scenarios such as emergency communication, live news broadcasting, military command, and network access in remote areas. Their core function is to keep the antenna always pointed at the satellite while the vehicle is in motion, so as to achieve uninterrupted communication services.

[0043] Because each beam of a low-Earth orbit satellite can only cover a limited area on the ground, vehicles will leave the coverage area of ​​the current beam while traveling and switch to the beam corresponding to the next target area—a process known as cross-beam switching. During cross-beam switching, the vehicle-mounted antenna needs to track the satellite to maintain alignment and achieve communication on the move. Existing vehicle-mounted communication systems mainly rely on closed-loop tracking of satellite beacon signals and pre-stored satellite ephemeris to achieve antenna alignment. That is, the theoretical position of the satellite is calculated using pre-stored ephemeris, and then servo closed-loop adjustment of the antenna is performed based on the satellite downlink beacon strength.

[0044] However, in practical applications, satellite beacon signals may experience brief interruptions during beam switching, causing the antenna to lose its alignment reference, resulting in loss of lock or even communication interruption. The system heavily relies on pre-stored ephemeris data; if the ephemeris information is incorrect, expired, or the vehicle enters an area without pre-stored ephemeris data (e.g., cross-border driving scenarios), satellite tracking becomes impossible. Complex attitude changes during vehicle movement (i.e., roll, pitch, and heading fluctuations) directly cause antenna pointing deviations. Therefore, existing technologies relying on pre-stored ephemeris suffer from tracking instability and communication discontinuity, making it difficult to meet the requirements for uninterrupted communication in highly dynamic environments.

[0045] In view of this, this application provides a satellite tracking method for a vehicle-mounted mobile communication antenna. By collecting vehicle data and antenna data at multiple acquisition times, the satellite velocity vector and initial satellite position information are determined, and a satellite trajectory model is constructed. Then, based on the relationship between the satellite signal strength at the current time and a signal strength threshold, the antenna's pointing direction is adjusted. Furthermore, the satellite trajectory model is used to predict the satellite's predicted position information at the current time, and combined with the vehicle's position information at the current time, the desired angle of the first antenna is calculated, and the antenna pointing is adjusted to ensure that the antenna is always aligned with the satellite.

[0046] Compared to existing technologies that rely on pre-stored satellite ephemeris data, the method provided in this application is more flexible. It can instantly adjust the antenna's pointing direction to maintain alignment with the satellite during beam switching, and it can also instantly compensate for deviations in the antenna's pointing direction when the vehicle's attitude changes. Therefore, this application can ensure the stability of the antenna tracking the satellite and the continuity of satellite communication during vehicle movement. Furthermore, it solves the technical problem in existing technologies where unstable tracking of the vehicle-mounted antenna during beam switching makes it difficult to meet the uninterrupted communication requirements in high-dynamic environments, thus leading to satellite communication interruptions.

[0047] Optionally, the operations prior to determining the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, vehicle attitude information, and first antenna angle information include: determining a first transformation matrix from the vehicle coordinate system to the navigation coordinate system based on the vehicle attitude information; determining a second transformation matrix from the navigation coordinate system to the geocentric coordinate system; and determining the second antenna angle information corresponding to the geocentric coordinate system at each acquisition time based on the first antenna angle information, the first transformation matrix, and the second transformation matrix.

[0048] Specifically, firstly, based on the time of collection The corresponding vehicle attitude information is determined in the navigation coordinate system. The rotation matrix below.

[0049] Wherein, the rotation matrix about the X-axis Used to represent the vehicle's orbit around the navigation coordinate system. The roll motion along the X-axis corresponds to the roll angle. The matrix form is shown below: .

[0050] in, Represents the navigation coordinate system The rotation matrix along the X-axis. Indicates the time of data collection Vehicle 20 in the navigation coordinate system The roll angle is below.

[0051] Rotation matrix around the Y-axis Used to represent the vehicle's orbit around the navigation coordinate system. The pitch motion along the Y-axis corresponds to the pitch angle. The matrix form is shown below: .

[0052] in, Represents the navigation coordinate system The rotation matrix along the Y-axis. Indicates the time of data collection Vehicle 20 in the navigation coordinate system The pitch angle.

[0053] Rotation matrix around the Z-axis Used to represent the vehicle's orbit around the navigation coordinate system. The pitch motion along the Z-axis corresponds to the yaw angle. The matrix form is shown below: .

[0054] in, Represents the navigation coordinate system The rotation matrix along the Z-axis, Indicates the time of data collection Vehicle 20 in the navigation coordinate system The heading angle below.

[0055] The rotation sequence is set to ZYX to eliminate the influence of vehicle 20 attitude changes on the pointing direction of antenna 30. That is, first rotate around the Z-axis, then around the Y-axis, and finally around the X-axis. At this time, the navigation coordinate system... To vehicle coordinate system The first transformation matrix The calculation formula is as follows: .

[0056] in, Indicates the navigation coordinate system To vehicle coordinate system The first transformation matrix, Represents the navigation coordinate system The rotation matrix along the Z-axis, Represents the navigation coordinate system The rotation matrix along the Y-axis. Represents the navigation coordinate system The rotation matrix along the X-axis.

[0057] Therefore, from the vehicle coordinate system To navigation coordinate system The third transformation matrix , is the first transformation matrix The transpose of is represented as follows: .

[0058] in, Indicates the vehicle coordinate system To navigation coordinate system The third transformation matrix, Indicates the navigation coordinate system To vehicle coordinate system The first transformation matrix, Represents the navigation coordinate system The rotation matrix along the Z-axis, Represents the navigation coordinate system The rotation matrix along the Y-axis. Represents the navigation coordinate system The rotation matrix along the X-axis.

[0059] Then, the vehicle system 210, based on the data collection time... Below, the latitude corresponding to vehicle 20 collected by GPS unit. and longitude Determine the navigation coordinate system to the geocentric coordinate system The second transformation matrix The calculation formula is as follows: .

[0060] in, Indicates the navigation coordinate system to the geocentric coordinate system The second transformation matrix, Indicates the time of data collection The latitude corresponding to vehicle 20. Indicates the time of data collection The longitude corresponding to vehicle 20.

[0061] Furthermore, the vehicle system 210, based on the third conversion matrix... It will be in conjunction with the vehicle coordinate system Corresponding first antenna angle information Convert to navigation coordinate system Corresponding third antenna angle information This is used to eliminate the attitude effects of vehicle 20. Third antenna angle information. The calculation formula is as follows: .

[0062] in, Indicates the time of data collection Below the navigation coordinate system The corresponding third antenna angle information, Indicates the vehicle coordinate system To navigation coordinate system The third transformation matrix, Indicates the time of data collection Below the vehicle coordinate system The corresponding first antenna angle information.

[0063] Then, the vehicle system 210 uses the second transformation matrix. It will be in conjunction with the navigation coordinate system Corresponding third antenna angle information Convert to geocentric coordinate system Corresponding second-day antenna angle information The calculation formula is as follows: .

[0064] in, Indicates the time of data collection Below the geocentric coordinate system The corresponding second-day horizon angle information, Indicates the navigation coordinate system to the geocentric coordinate system The second transformation matrix, Indicates the time of data collection Below the navigation coordinate system The corresponding third antenna angle information.

[0065] This allows for the subsequent determination of the satellite velocity vector. and initial acquisition time Corresponding satellite initial position information This provides the foundation for operation.

[0066] Optionally, the operation of determining the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, vehicle attitude information, and first antenna angle information includes: pre-determining the satellite motion model and calculating multiple time differences between each acquisition time and the initial acquisition time; and determining the satellite velocity vector, the initial satellite position information, and the distance between the satellite and the vehicle at each acquisition time based on the first vehicle position information, the second antenna angle information, and multiple time differences.

[0067] Specifically, since the method provided in this application is applicable to low-Earth orbit satellites, the motion of satellite 10 is set as short-duration uniform linear motion. Therefore, the specific representation of the satellite motion model is as follows: .

[0068] in, Indicates the time of data collection The actual location of satellite 10 Indicates the time from the initial acquisition. The corresponding initial position information of the satellite, Represents the satellite velocity vector. Indicates the first Each data collection moment, Indicates the initial acquisition time. Indicates the time of data collection With the initial acquisition time The time difference.

[0069] Then, the vehicle-mounted system 210 calculates the time of data acquisition based on geometric relationships. The actual location of satellite 10 Location information of the first vehicle The relationship is specifically represented as follows: .

[0070] in, Indicates the time of data collection The actual location of satellite 10 Indicates the time of data collection Below the geocentric coordinate system The corresponding first vehicle location information, Indicates the time of data collection The distance between satellite 10 and vehicle 20 Indicates the time of data collection Below the geocentric coordinate system The corresponding second-day horizon angle information.

[0071] Due to satellite velocity vector and at the time of collection Distance between satellite 10 and vehicle 20 Since all these are unknowns, a system of simultaneous equations is needed to solve them. The system of equations is as follows: .

[0072] in, Indicates the initial acquisition time Below, Satellite 10 in the geocentric coordinate system The coordinates on the X-axis; Indicates the initial acquisition time Below, Satellite 10 in the geocentric coordinate system The coordinates on the Y-axis; Indicates the initial acquisition time Below, Satellite 10 in the geocentric coordinate system The coordinates on the Z-axis; Represents the satellite velocity vector Geocentric coordinate system The components corresponding to the X-axis; Represents the satellite velocity vector Geocentric coordinate system The component corresponding to the Y-axis; Represents the satellite velocity vector Geocentric coordinate system The component corresponding to the Z-axis; Indicates the time of data collection With the initial acquisition time Time difference; Indicates the time of data collection Below, vehicle 20 in the geocentric coordinate system The coordinates on the X-axis; Indicates the time of data collection Below, vehicle 20 in the geocentric coordinate system The coordinates on the Y-axis; Indicates the time of data collection Below, vehicle 20 in the geocentric coordinate system The coordinates on the Z-axis; Indicates the time of data collection The distance between satellite 10 and vehicle 20; Indicates the time of data collection Below, the second day's horizon angle information Geocentric coordinate system The components corresponding to the X-axis; Indicates the time of data collection Below, the second day's horizon angle information Geocentric coordinate system The component corresponding to the Y-axis; Indicates the time of data collection Below, the second day's horizon angle information Geocentric coordinate system The component corresponding to the Z-axis.

[0073] in, , as well as with satellite initial position information correspond, , as well as With satellite velocity vector correspond, , as well as Location information of the first vehicle correspond, , as well as Information on the second day's horizon angle correspond.

[0074] Due to the satellite's initial position information Satellite velocity vector and at the time of collection Distance between satellite 10 and vehicle 20 All of these are unknowns, therefore the above system of equations (13) contains... There are several unknowns. Among them, Indicates the acquisition time corresponding to the system of equations (13) The number (i.e., the number of times data is collected) also indicates the number of times data is collected at multiple collection moments. Distance between satellite 10 and vehicle 20 The quantity.

[0075] Therefore, the solution condition for the above system of equations (13) is that the number of samplings is greater than or equal to 4. That is, .

[0076] For example, the vehicle system 210 collects data at four different times (e.g., , , as well as The data below includes: the time of data collection. Corresponding first vehicle location information Second antenna angle information The amount , as well as Collection time Corresponding first vehicle location information Second antenna angle information The amount , as well as Collection time Corresponding first vehicle location information Second antenna angle information The amount , as well as Collection time Corresponding first vehicle location information Second antenna angle information The amount , as well as .

[0077] Substituting the above data into the system of equations (13), we obtain 12 equations. The number of unknowns is... At this point, the number of equations exceeds the number of unknowns, satisfying the solution conditions for the overdetermined system of equations, and the satellite trajectory parameters (including initial satellite position information) can be calculated. and satellite velocity vector The unique solution to this problem is found by calculating the fixed initial satellite position information. and satellite velocity vector The satellite trajectory model is derived by reversing the equation as shown in formula (11).

[0078] Preferably, the least squares method is used to find the optimal solution, thereby improving the accuracy of the back-calculation. Furthermore, the more data collections and the more data sets, the higher the accuracy of the satellite trajectory model's back-calculation.

[0079] Optionally, the operation of determining the expected angle of the first antenna corresponding to the vehicle coordinate system based on the satellite predicted position information and the second vehicle position information corresponding to the current time includes: determining the expected angle of the second antenna corresponding to the geocentric coordinate system based on the satellite predicted position information and the second vehicle position information, wherein the expected angle of the second antenna represents the antenna angle between the antenna pointing direction and the satellite in the geocentric coordinate system; and determining the expected angle of the first antenna based on the expected angle of the second antenna, the first transformation matrix, and the second transformation matrix.

[0080] Specifically, firstly, based on the satellite trajectory model, it is predicted that at the current moment... Next satellite predicted location information Specifically, it is expressed as follows: .

[0081] in, Indicates the current moment Next, satellite predicted location information, Indicates the time from the initial acquisition. The corresponding initial position information of the satellite, Represents the satellite velocity vector. Indicates the current moment. Indicates the initial acquisition time. Indicates the current time With the initial acquisition time The time difference.

[0082] Then, the vehicle system 210 collects data at the current moment. The second vehicle location information And based on satellite predicted location information Second vehicle location information Calculation with geocentric coordinate system The corresponding expected angle of the second day line The calculation formula is as follows: .

[0083] in, Represents the geocentric coordinate system The corresponding expected angle of the second day's line, Indicates the current moment Next, satellite predicted location information, Indicates the current moment Below the geocentric coordinate system Corresponding second vehicle location information .

[0084] Then, according to the navigation coordinate system to the geocentric coordinate system The second transformation matrix Transpose to obtain the coordinates from the geocentric coordinate system To navigation coordinate system The fourth transformation matrix Specifically, it is expressed as follows: .

[0085] in, Indicated by the geocentric coordinate system To navigation coordinate system The fourth transformation matrix, Indicates the navigation coordinate system to the geocentric coordinate system The second transformation matrix.

[0086] Furthermore, the vehicle system 210, according to the fourth conversion matrix Second antenna desired angle Calculation and navigation coordinate system The corresponding desired angle of the third antenna Specifically, it is expressed as follows: .

[0087] in, Representation of navigation coordinate system The corresponding desired angle of the third antenna, Indicated by the geocentric coordinate system To navigation coordinate system The fourth transformation matrix, Represents the geocentric coordinate system The corresponding expected angle of the second day's horizon.

[0088] Subsequently, the vehicle system 210, based on the first transformation matrix... and the desired angle of the third antenna Calculation with vehicle coordinate system The corresponding desired angle of the first antenna Specifically, it is expressed as follows: .

[0089] in, Represents the vehicle coordinate system The corresponding desired angle of the first antenna, Indicates the navigation coordinate system To vehicle coordinate system The first transformation matrix, Representation of navigation coordinate system The corresponding desired angle of the third antenna.

[0090] Finally, the vehicle system 210 determines the desired angle based on the first antenna. The solution is found at the current time. The azimuth angle that needs to be adjusted for the lower antenna 30 and pitch angle The calculation formula is as follows: ; ; .

[0091] in, Represents the vehicle coordinate system The corresponding desired angle of the first antenna; Indicates the current moment Below, the desired angle of the first antenna With vehicle coordinate system The components corresponding to the X-axis; Indicates the current moment Below, the desired angle of the first antenna With vehicle coordinate system The component corresponding to the Y-axis; Indicates the current moment Below, the desired angle of the first antenna With vehicle coordinate system The component corresponding to the Z-axis; Indicates the current moment The azimuth angle that needs to be adjusted for the lower antenna 30; Indicates the current moment The elevation angle of the lower antenna 30 needs to be adjusted.

[0092] Furthermore, the vehicle system 210 also includes an antenna driving unit for receiving angle commands and adjusting the pointing direction of the antenna 30. Therefore, the vehicle system 210 adjusts the pointing direction of the antenna 30 according to the current time... The azimuth angle that needs to be adjusted for the lower antenna 30 and pitch angle The antenna 30 can be adjusted to point directly at satellite 10. During this adjustment, the antenna 30's pointing direction must be smoothly transitioned to avoid abrupt changes in angle. This ensures uninterrupted communication in highly dynamic environments and prevents satellite communication interruptions.

[0093] The above steps are the process by which the vehicle system 210 switches from signal closed-loop tracking mode to predictive tracking mode.

[0094] When the vehicle-mounted system 210 detects that the signal strength of satellite 10 has recovered to above the signal strength threshold, it terminates the predictive tracking mode and switches to the signal closed-loop tracking mode. The specific process is as follows: The first step is signal strength determination: The vehicle system 210 determines whether the antenna 30 is aligned with the satellite 10 based on the signal strength threshold. When the signal from the satellite 10 is stable (i.e., the signal lasts for 3 to 5 seconds without interruption), it is determined that the antenna 30 is aligned with the satellite 10.

[0095] The second step is mode switching: the vehicle system 210 terminates the predictive tracking mode and enables the signal closed-loop tracking mode. Then, based on the coverage area where the vehicle 20 is located, the antenna 30 re-tracks the beam corresponding to the current coverage area and aligns it with the satellite 10.

[0096] Step 3: Satellite trajectory reset: The new initial acquisition time is set at the moment when antenna 30 is re-aligned with satellite 10. and from the initial acquisition time We begin to reacquire all data. Then, we solve for the new initial satellite position using equation (13). and satellite velocity vector The new satellite trajectory model is reverse-engineered and continuously updated.

[0097] In summary, when the vehicle-mounted system 210 detects that the signal strength of satellite 10 is not lower than the signal strength threshold, it is in signal closed-loop tracking mode, continuously collecting data and updating the satellite trajectory model; when the vehicle-mounted system 210 detects that the signal strength of satellite 10 is lower than the signal strength threshold, it switches from signal closed-loop tracking mode to predictive tracking mode, predicting the desired angle of the first antenna based on the satellite trajectory model. Adjust the pointing direction of antenna 30 so that antenna 30 is re-aligned with satellite 10; when the vehicle system 210 detects that the signal strength of satellite 10 has recovered to the signal strength threshold without interruption, it switches from predictive tracking mode to signal closed-loop tracking mode, re-collects data, and continuously updates the satellite trajectory model.

[0098] This enables smooth switching between closed-loop tracking mode and predictive tracking mode, achieving seamless beam tracking of Satellite 10. Furthermore, it meets the requirements for uninterrupted communication in highly dynamic environments, preventing satellite communication interruptions.

[0099] Furthermore, during the driving of vehicle 20, the above steps need to be repeated so that when cross-beam switching and changes in vehicle attitude occur, antenna 30 can be adjusted to be aligned with satellite 10 in real time, thereby enabling uninterrupted communication between vehicle 20 and satellite 10.

[0100] Therefore, according to the first aspect of this embodiment, the satellite velocity vector and initial satellite position information can be determined based on the data corresponding to the vehicle and antenna at each acquisition time, thereby constructing a satellite trajectory model. Furthermore, at the current time, based on the second vehicle position information and the predicted satellite position information predicted by the satellite trajectory model, the desired angle of the first antenna can be calculated, enabling the antenna to be adjusted in real time to align with the satellite. This satisfies the requirement for uninterrupted communication in highly dynamic environments and avoids satellite communication interruptions.

[0101] In addition, refer to Figure 1 As shown, according to a second aspect of this embodiment, a storage medium is provided. The storage medium includes a stored program, wherein, when the program is executed, a processor performs any of the methods described above.

[0102] Therefore, according to this embodiment, the satellite velocity vector and initial satellite position information can be determined based on the data corresponding to the vehicle and antenna at each acquisition time, thus enabling the construction of a satellite trajectory model. Furthermore, at the current time, based on the second vehicle position information and the predicted satellite position information predicted by the satellite trajectory model, the desired angle of the first antenna can be calculated, allowing the antenna to be adjusted in real time to align with the satellite. This satisfies the requirement for uninterrupted communication in highly dynamic environments and avoids satellite communication interruptions.

[0103] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0104] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0105] Example 2

[0106] Figure 5 A satellite tracking device for a vehicle-mounted mobile antenna according to the first aspect of this embodiment is shown, which corresponds to the method described according to the first aspect of Embodiment 1. Reference Figure 5As shown, the device includes: an information acquisition module 510, used to determine the first vehicle position information, vehicle attitude information, and the first antenna angle information corresponding to the vehicle coordinate system at each acquisition time. The first antenna angle information represents the antenna pointing direction and the antenna angle corresponding to the satellite in the vehicle coordinate system with the corresponding vehicle as the origin; a satellite trajectory model construction module 520, used to determine the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, vehicle attitude information, and first antenna angle information, and to construct a satellite trajectory model based on the satellite velocity vector and the initial satellite position information; a judgment module 530, used to determine whether the antenna pointing direction needs to be adjusted to correspond to the satellite based on the satellite signal strength at the current time and a pre-determined signal strength threshold; and a prediction module 540, used to predict the predicted satellite position information corresponding to the current time based on the satellite trajectory model, and to determine the expected angle of the first antenna corresponding to the vehicle coordinate system based on the predicted satellite position information and the second vehicle position information corresponding to the current time. The first antenna desired angle represents the antenna angle between the antenna's pointing direction and the satellite at the current moment; and the antenna adjustment module 550 is used to adjust the antenna's pointing direction with respect to the current moment according to the first antenna desired angle to ensure that the antenna's pointing direction corresponds to the satellite.

[0107] Optionally, the satellite trajectory model construction module 520 includes: a first transformation matrix determination submodule, used to determine a first transformation matrix from the vehicle coordinate system to the navigation coordinate system based on vehicle attitude information; a second transformation matrix determination submodule, used to determine a second transformation matrix from the navigation coordinate system to the geocentric coordinate system; and a second antenna angle information determination submodule, used to determine the second antenna angle information corresponding to the geocentric coordinate system at each acquisition time based on the first antenna angle information, the first transformation matrix, and the second transformation matrix.

[0108] Optionally, the satellite trajectory model construction module 520 includes: a satellite motion model determination submodule, which predetermines the satellite motion model and calculates multiple time differences between each acquisition time and the initial acquisition time; and a calculation submodule, which determines the satellite velocity vector, the satellite initial position information, and the distance between the satellite and the vehicle at each acquisition time based on the first vehicle position information, the second antenna angle information, and multiple time differences.

[0109] Optionally, the prediction module 540 includes: a second antenna expected angle determination submodule, used to determine the second antenna expected angle corresponding to the geocentric coordinate system based on the satellite predicted position information and the second vehicle position information, wherein the second antenna expected angle represents the antenna angle between the antenna pointing direction and the satellite in the geocentric coordinate system; and a first antenna expected angle determination submodule, used to determine the first antenna expected angle based on the second antenna expected angle, a first transformation matrix, and a second transformation matrix.

[0110] Therefore, according to this embodiment, the satellite velocity vector and initial satellite position information can be determined based on the data corresponding to the vehicle and antenna at each acquisition time, thus enabling the construction of a satellite trajectory model. Furthermore, at the current time, based on the second vehicle position information and the predicted satellite position information predicted by the satellite trajectory model, the desired angle of the first antenna can be calculated, allowing the antenna to be adjusted in real time to align with the satellite. This satisfies the requirement for uninterrupted communication in highly dynamic environments and avoids satellite communication interruptions.

[0111] Example 3

[0112] Figure 6 A satellite tracking device for a vehicle-mounted mobile antenna according to the first aspect of this embodiment is shown, which corresponds to the method described according to the first aspect of Embodiment 1. Reference Figure 6 As shown, the device includes: a processor 610; and a memory 620 connected to the processor 610, used to provide the processor 610 with instructions to process the following steps: determining the first vehicle position information, vehicle attitude information, and the first antenna angle information corresponding to the vehicle coordinate system at each acquisition time. The first antenna angle information represents the antenna pointing direction and the antenna angle corresponding to the satellite in the vehicle coordinate system with the corresponding vehicle as the origin; determining the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, vehicle attitude information, and first antenna angle information, and constructing a satellite trajectory model based on the satellite velocity vector and the initial satellite position information; determining the antenna pointing direction that needs to be adjusted to correspond to the satellite based on the satellite signal strength at the current time and a pre-determined signal strength threshold; predicting the predicted satellite position information corresponding to the current time based on the satellite trajectory model, and determining the desired angle of the first antenna corresponding to the vehicle coordinate system based on the predicted satellite position information and the second vehicle position information corresponding to the current time. The first antenna expected angle represents the antenna angle corresponding to the satellite's pointing direction at the current moment; and the antenna's pointing direction is adjusted according to the first antenna expected angle to ensure that the antenna's pointing direction corresponds to the satellite.

[0113] Optionally, the operations prior to determining the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, vehicle attitude information, and first antenna angle information include: determining a first transformation matrix from the vehicle coordinate system to the navigation coordinate system based on the vehicle attitude information; determining a second transformation matrix from the navigation coordinate system to the geocentric coordinate system; and determining the second antenna angle information corresponding to the geocentric coordinate system at each acquisition time based on the first antenna angle information, the first transformation matrix, and the second transformation matrix.

[0114] Optionally, the operation of determining the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, vehicle attitude information, and first antenna angle information includes: pre-determining the satellite motion model and calculating multiple time differences between each acquisition time and the initial acquisition time; and determining the satellite velocity vector, the initial satellite position information, and the distance between the satellite and the vehicle at each acquisition time based on the first vehicle position information, the second antenna angle information, and multiple time differences.

[0115] Optionally, the operation of determining the expected angle of the first antenna corresponding to the vehicle coordinate system based on the satellite predicted position information and the second vehicle position information corresponding to the current time includes: determining the expected angle of the second antenna corresponding to the geocentric coordinate system based on the satellite predicted position information and the second vehicle position information, wherein the expected angle of the second antenna represents the antenna angle between the antenna pointing direction and the satellite in the geocentric coordinate system; and determining the expected angle of the first antenna based on the expected angle of the second antenna, the first transformation matrix, and the second transformation matrix.

[0116] Therefore, according to this embodiment, the satellite velocity vector and initial satellite position information can be determined based on the data corresponding to the vehicle and antenna at each acquisition time, thus enabling the construction of a satellite trajectory model. Furthermore, at the current time, based on the second vehicle position information and the predicted satellite position information predicted by the satellite trajectory model, the desired angle of the first antenna can be calculated, allowing the antenna to be adjusted in real time to align with the satellite. This satisfies the requirement for uninterrupted communication in highly dynamic environments and avoids satellite communication interruptions.

[0117] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0118] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0119] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device 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. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0120] 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.

[0121] 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.

[0122] 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, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0123] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A satellite tracking method for a vehicle-mounted mobile antenna, characterized in that, include: The first vehicle position information, vehicle attitude information, and first antenna angle information corresponding to the vehicle coordinate system are determined at each acquisition time. The first antenna angle information represents the antenna pointing direction and the antenna angle corresponding to the satellite in the vehicle coordinate system with the corresponding vehicle as the origin. Based on the first vehicle position information, the vehicle attitude information, and the first antenna angle information, the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time are determined, and a satellite trajectory model is constructed based on the satellite velocity vector and the initial satellite position information. Based on the satellite signal strength at the current moment and a predetermined signal strength threshold, determine the antenna pointing direction that needs to be adjusted to correspond to the satellite. Based on the satellite trajectory model, the predicted satellite position information corresponding to the current moment is predicted, and based on the predicted satellite position information and the second vehicle position information corresponding to the current moment, the expected angle of the first antenna corresponding to the vehicle coordinate system is determined, wherein the expected angle of the first antenna represents the antenna angle between the pointing direction of the antenna and the antenna corresponding to the satellite at the current moment; as well as Based on the desired angle of the first antenna, the pointing direction of the antenna corresponding to the current time is adjusted to ensure that the pointing direction of the antenna corresponds to the satellite.

2. The method according to claim 1, characterized in that, The operations performed before determining the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, the vehicle attitude information, and the first antenna angle information include: Based on the vehicle attitude information, determine the first transformation matrix from the vehicle coordinate system to the navigation coordinate system; Determine the second transformation matrix from the navigation coordinate system to the geocentric coordinate system; and Based on the first antenna angle information, the first transformation matrix, and the second transformation matrix, the second antenna angle information corresponding to the geocentric coordinate system at each acquisition time is determined.

3. The method according to claim 2, characterized in that, The operation of determining the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, the vehicle attitude information, and the first antenna angle information includes: A satellite motion model is predetermined, and multiple time differences between each acquisition time and the initial acquisition time are calculated; and Based on the first vehicle location information, the second antenna angle information, and the multiple time differences, the satellite velocity vector, the satellite initial position information, and the distance between the satellite and the vehicle at each acquisition time are determined.

4. The method according to claim 2, characterized in that, The operation of determining the desired angle of the first antenna corresponding to the vehicle coordinate system based on the satellite predicted position information and the second vehicle position information corresponding to the current time includes: Based on the satellite predicted position information and the second vehicle position information, determine the expected angle of the second antenna corresponding to the geocentric coordinate system, wherein the expected angle of the second antenna represents the angle between the pointing direction of the antenna and the antenna corresponding to the satellite in the geocentric coordinate system; and The desired angle of the first antenna is determined based on the desired angle of the second antenna, the first transformation matrix, and the second transformation matrix.

5. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, the method described in any one of claims 1 to 4 is performed by a processor.

6. A satellite tracking device with a vehicle-mounted mobile antenna, characterized in that, include: The information acquisition module is used to determine the first vehicle position information, vehicle attitude information, and first antenna angle information corresponding to the vehicle coordinate system at each acquisition time. The first antenna angle information represents the antenna pointing direction and the antenna angle corresponding to the satellite in the vehicle coordinate system with the corresponding vehicle as the origin. The satellite trajectory model construction module is used to determine the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time based on the first vehicle position information, the vehicle attitude information and the first antenna angle information, and to construct a satellite trajectory model based on the satellite velocity vector and the initial satellite position information; The judgment module is used to determine, based on the satellite signal strength at the current moment and a predetermined signal strength threshold, whether the pointing direction of the antenna needs to be adjusted to correspond to the satellite. The prediction module is used to predict the satellite's predicted position information corresponding to the current time based on the satellite trajectory model, and to determine the first antenna expected angle corresponding to the vehicle coordinate system based on the satellite's predicted position information and the second vehicle position information corresponding to the current time, wherein the first antenna expected angle represents the antenna's pointing direction and the antenna angle corresponding to the satellite at the current time. as well as The antenna adjustment module is used to adjust the pointing direction of the antenna corresponding to the current time according to the desired angle of the first antenna, so as to ensure that the pointing direction of the antenna corresponds to the satellite.

7. The apparatus according to claim 6, characterized in that, The satellite trajectory model construction module includes: The first transformation matrix determination submodule is used to determine the first transformation matrix from the vehicle coordinate system to the navigation coordinate system based on the vehicle attitude information. The second transformation matrix determination submodule is used to determine the second transformation matrix from the navigation coordinate system to the geocentric coordinate system; and The second antenna angle information determination submodule is used to determine the second antenna angle information corresponding to the geocentric coordinate system at each acquisition time based on the first antenna angle information, the first transformation matrix, and the second transformation matrix.

8. The apparatus according to claim 7, characterized in that, The satellite trajectory model construction module includes: The satellite motion model determination submodule predetermines the satellite motion model and calculates multiple time differences between each acquisition time and the initial acquisition time; and The calculation submodule determines the satellite velocity vector, the satellite initial position information, and the distance between the satellite and the vehicle at each acquisition time based on the first vehicle position information, the second antenna angle information, and the multiple time differences.

9. The apparatus according to claim 7, characterized in that, The prediction module includes: The second antenna expected angle determination submodule is used to determine the expected angle of the second antenna corresponding to the geocentric coordinate system based on the satellite predicted position information and the second vehicle position information, wherein the expected angle of the second antenna represents the antenna angle between the pointing direction of the antenna and the satellite in the geocentric coordinate system; and The first antenna desired angle determination submodule is used to determine the first antenna desired angle based on the second antenna desired angle, the first transformation matrix, and the second transformation matrix.

10. A satellite tracking device with a vehicle-mounted mobile antenna, characterized in that, include: processor; as well as A memory, connected to the processor, for providing the processor with instructions to perform the following processing steps: The first vehicle position information, vehicle attitude information, and first antenna angle information corresponding to the vehicle coordinate system are determined at each acquisition time. The first antenna angle information represents the antenna pointing direction and the antenna angle corresponding to the satellite in the vehicle coordinate system with the corresponding vehicle as the origin. Based on the first vehicle position information, the vehicle attitude information, and the first antenna angle information, the satellite velocity vector and the initial satellite position information corresponding to the initial acquisition time are determined, and a satellite trajectory model is constructed based on the satellite velocity vector and the initial satellite position information. Based on the satellite signal strength at the current moment and a predetermined signal strength threshold, determine the antenna pointing direction that needs to be adjusted to correspond to the satellite. Based on the satellite trajectory model, the predicted satellite position information corresponding to the current moment is predicted, and based on the predicted satellite position information and the second vehicle position information corresponding to the current moment, the expected angle of the first antenna corresponding to the vehicle coordinate system is determined, wherein the expected angle of the first antenna represents the antenna angle between the pointing direction of the antenna and the antenna corresponding to the satellite at the current moment; as well as Based on the desired angle of the first antenna, the pointing direction of the antenna corresponding to the current time is adjusted to ensure that the pointing direction of the antenna corresponds to the satellite.

Images