Satellite alignment method, terminal device and computer-readable storage medium

Abstract

The present application relates to the technical field of satellite communications. Provided are a satellite alignment method, a terminal device and a computer-readable storage medium. In the present application, on the basis of ephemeris information, the positions, at different moments, of a satellite that needs to be aligned, and the phase differences between signals arriving at an antenna element of a terminal device at different moments can be obtained; and beams are generated by means of the phase differences between the signals arriving at the antenna element, so that the generated beams can point to the position of the satellite at different moments, and a radiation direction of the antenna element of the terminal device is automatically aligned with the satellite; thus, the alignment efficiency is improved, the alignment precision can also be improved, and effective communication between the terminal device and the satellite is enhanced.

Description

Satellite alignment method, terminal device, and computer-readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on August 28, 2023, with application number 202311095135.6 and application name “Satellite Alignment Method, Terminal Device and Computer-Readable Storage Medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of satellite communication technology, and in particular to a satellite alignment method, a terminal device, and a computer-readable storage medium. Background Art

[0003] Satellite communications have a wider coverage range than terrestrial cellular networks. They also have the advantages of long communication distance and low requirements for ground station deployment. They are not affected by geographical environment, natural disasters and climatic conditions. Therefore, they have been widely used in aerospace, maritime communications and other fields.

[0004] In satellite communication systems, due to the long distances between satellites and limited link budgets, the radiation direction of ground terminal antennas must be aligned with the satellites to maximize the antenna gain of the ground terminal's transmit and receive signals, making the communication connection between the ground terminal and the satellite more stable, reliable, and efficient. Most satellites used in existing satellite communications are in high-orbit orbits (LEOs), which are relatively fixed in position, and ground terminals can be manually aligned with the satellites. However, with the development of low-orbit satellite communications, ground terminals need to be aligned with LEO satellites for communication. Due to the relatively high speed of LEO satellites, the traditional manual alignment of ground terminals with satellites is inefficient.

[0005] Summary of the Invention

[0006] The present application provides a satellite alignment method, a terminal device, and a computer-readable storage medium, which can achieve the purpose of automatically aligning the radiation direction of the antenna element of the terminal device with the satellite, improve alignment efficiency, and enhance satellite communication performance.

[0007] To achieve the above objectives, this application adopts the following technical solutions:

[0008] In a first aspect, a satellite alignment method is provided, which is applied to a terminal device, and the method includes: obtaining satellite ephemeris information; obtaining a first position of a target satellite based on the satellite ephemeris information; obtaining a first phase difference based on the satellite ephemeris information; and generating a first beam based on the first phase difference, wherein the first beam points to the first position.

[0009] By adopting this solution, the terminal device can determine the phase difference used to generate the beam based on the satellite ephemeris information and complete automatic alignment, thereby improving the alignment efficiency and accuracy.

[0010] Exemplarily, the satellite ephemeris information includes the orbital inclination of the satellite's orbit, the eccentricity of the orbit, the right ascension of the satellite's ascending node in its orbit, the argument of periapsis, the mean anomaly, the average velocity, the first-order time derivative of the average velocity, and the second-order time derivative of the average velocity.

[0011] Exemplarily, the first position of the target satellite refers to the position of the target satellite in the earth coordinate system at a first moment.

[0012] Exemplarily, the position of each satellite in the Earth coordinate system at the first moment is associated with the semi-major axis of the satellite's orbit at the first moment, the eccentricity of the orbit, and the true anomaly of the satellite in its orbit at the first moment, the true anomaly of the satellite in its orbit at the first moment is associated with the mean anomaly of the satellite in its orbit at the first moment, the mean anomaly of the satellite in its orbit at the first moment is associated with the average speed of the satellite in its orbit at the first moment, the average speed of the satellite in its orbit at the first moment is associated with the semi-major axis of the satellite's orbit at the first moment, and the average speed of the satellite in its orbit at the first moment is obtained by correcting the average speed in the satellite's ephemeris information.

[0013] Illustratively, the target satellite refers to a satellite that needs to be aligned.

[0014] Exemplarily, the first phase difference refers to the phase difference of a signal arriving at an antenna element of a terminal device at a first moment. The signal may be a signal sent by the terminal device to a target satellite, or a signal sent by a target satellite to the terminal device.

[0015] The solution provided in the first aspect above can obtain the position of the target satellite and the phase difference of the signal reaching the antenna element based on the satellite ephemeris information, and generate a beam through the phase difference of the signal reaching the antenna element. The generated beam can be pointed to the position of the target satellite, and the radiation direction of the terminal antenna element can be automatically aligned with the satellite, thereby improving the alignment efficiency and alignment accuracy, and enhancing effective communication with the satellite.

[0016] As a possible implementation, obtaining a first phase difference based on satellite ephemeris information includes: obtaining the first phase difference based on the terminal device's position information and satellite ephemeris information; the first phase difference is associated with the beam pointing azimuth and beam pointing elevation required for the first beam; the beam pointing azimuth and beam pointing elevation required for the first beam are associated with the terminal device's position information and the first position. In this way, the first position of the target satellite is obtained through the satellite ephemeris information, the beam pointing azimuth and beam pointing elevation required for the first beam are obtained based on the terminal device's position information and the first position of the target satellite, and the first phase difference required for generating the first beam is obtained based on the beam pointing azimuth and beam pointing elevation required for the first beam. After the first phase difference is applied to the antenna element, the first beam generated by the antenna element can be directed to the first position of the target satellite, thereby improving alignment efficiency and accuracy.

[0017] As a possible implementation, the terminal device is configured with at least four antenna elements, and the at least four antenna elements are symmetrically arranged in a first direction and a second direction, and the first direction is perpendicular to the second direction; the first phase difference is associated with the beam pointing azimuth angle and the beam pointing elevation angle required for the first beam, including: the first phase offset of the signal arriving at the antenna element in the first direction is associated with the spacing between any two adjacent antenna elements in the first direction, the beam pointing azimuth angle and the wavelength of the signal; the second phase offset of the signal arriving at the antenna element in the second direction is associated with the spacing between any two adjacent antenna elements in the second direction, the beam pointing elevation angle and the wavelength of the signal; the first phase difference includes the first phase offset and the second phase offset.

[0018] Exemplarily, the first phase offset represents the phase difference of the signal reaching the antenna element in the first direction, and the second phase offset represents the phase difference of the signal reaching the antenna element in the second direction.

[0019] Exemplarily, in the first direction, the distance between two adjacent antenna elements is equal, and in the second direction, the distance between two adjacent antenna elements is equal.

[0020] Exemplarily, after obtaining the first and second phase offsets, the phase difference of the signal arriving at the antenna element in the first direction is adjusted to the first phase offset, thereby ensuring that the azimuth angle of the first beam generated by the antenna element is the desired beam pointing azimuth angle. The phase difference of the signal arriving at the antenna element in the second direction is adjusted to the second phase offset, thereby ensuring that the elevation angle of the first beam generated by the antenna element is the desired beam pointing elevation angle. When the azimuth angle of the first beam generated by the antenna element is the desired beam pointing azimuth angle, and the elevation angle is the desired beam pointing elevation angle, the first beam is directed toward the first position of the target satellite. In this manner, the phase difference of the signal arriving at the antenna element in the first direction and the phase difference of the signal arriving at the antenna element in the second direction are adjusted based on the desired beam pointing azimuth angle and beam pointing elevation angle, thereby ensuring that the first beam generated by the antenna element is directed toward the first position of the target satellite. This achieves the purpose of automatic alignment of the radiation direction of the antenna element of the terminal device, with high alignment accuracy and efficiency.

[0021] As a possible implementation, a terminal device is configured with at least two antenna elements, at least two antenna elements are located in a straight line, and a first phase difference is the phase difference of the signal reaching the antenna elements. The first phase difference is associated with the beam pointing azimuth angle and beam pointing elevation angle required for the first beam, including: the first phase difference is associated with the spacing between any two adjacent antenna elements, a first angle, and the wavelength of the signal, and the first angle is the beam pointing azimuth angle or the beam pointing elevation angle. In this way, by determining the phase difference of the signal reaching the antenna elements based on the required beam pointing azimuth angle or beam pointing elevation angle, and adjusting the phase difference of the signal reaching the antenna elements, the beam pointing angle is automatically adjusted, achieving high efficiency.

[0022] As a possible implementation, generating a first beam based on a first phase difference includes: generating an initial beam based on the first phase difference; notifying the user of a second angle, where the second angle is the beam pointing elevation angle when the first angle is the beam pointing azimuth, and the second angle is the beam pointing azimuth when the first angle is the beam pointing elevation angle; and receiving a user's adjustment of the initial beam pointing angle based on the second angle to obtain the first beam. In this way, by adjusting the phase difference of the signal reaching the antenna elements, the beam pointing angle is automatically adjusted. Furthermore, by prompting the user and combining the user's operation, the beam pointing angle is corrected, thereby improving alignment efficiency while ensuring alignment accuracy.

[0023] As a possible implementation method, the posture information of the terminal device includes the terminal position, azimuth angle and elevation angle of the terminal device; the beam pointing azimuth angle and beam pointing elevation angle required for the first beam are associated with the posture information of the terminal device and the first position, including: the relative position of the target satellite relative to the terminal device is associated with the terminal position of the terminal device and the first position of the target satellite; the relative azimuth angle and relative elevation angle of the target satellite relative to the terminal device have an angle conversion relationship with the relative position; the beam pointing azimuth angle is the difference between the relative azimuth angle and the azimuth angle of the terminal device, and the beam pointing elevation angle is the difference between the relative elevation angle and the elevation angle of the terminal device. In this way, the beam pointing azimuth angle and beam pointing tilt angle required for the first beam are obtained through the terminal position, azimuth angle and elevation angle of the terminal device and the first position of the target satellite. On the one hand, the beam pointing azimuth angle and beam pointing tilt angle required for the beam can be accurately obtained. On the other hand, the accuracy of the first phase difference determined according to the beam pointing azimuth angle and beam pointing tilt angle can be improved. After adjusting the phase difference of the signal reaching the antenna element according to the first phase difference, the beam generated by the antenna element can be pointed to the target satellite.

[0024] As a possible implementation, the satellite ephemeris information includes ephemeris information of a target satellite; the method further includes: obtaining motion information of the target satellite based on the ephemeris information of the target satellite; obtaining a second position of the target satellite at a second moment based on the ephemeris information of the target satellite, the second position being associated with the motion information of the target satellite, the second moment being any moment after the first moment, and the position of the target satellite at the first moment being the first position; obtaining a second phase difference at the second moment based on the ephemeris information of the target satellite; and generating a second beam based on the second phase difference, the second beam being directed toward the second position at the second moment. In this manner, the position of the target satellite at different moments can be obtained using the ephemeris information of the target satellite. Based on the position of the target satellite at different moments, the phase difference required for adjusting the signal arrival at the antenna element at different moments can be obtained. Based on the phase difference required for adjusting the signal arrival at the antenna element at different moments, the beam of the antenna element is adjusted so that the beam generated by the antenna element is always directed toward the target satellite, thereby achieving automatic tracking and alignment of the target satellite, improving alignment efficiency, and enhancing user experience while ensuring communication quality.

[0025] As a possible implementation manner, the satellite ephemeris information is sent by the target satellite to the terminal device via a non-ground network.

[0026] Exemplarily, after the target satellite establishes a communication connection with the terminal device, the terminal device may send an ephemeris information request to the target satellite according to a set time step to request satellite ephemeris information, which may be updated ephemeris information of the target satellite.

[0027] Exemplarily, after the target satellite establishes a communication connection with the terminal device, the target satellite may send indication information to the terminal device according to a set time step, where the indication information includes satellite ephemeris information, which may be updated ephemeris information of the target satellite.

[0028] In this way, the terminal device can correct the position of the target satellite and generate a beam by obtaining the updated ephemeris information sent by the target satellite during the process of tracking the target satellite, so that the beam generated by the terminal device during the communication with the satellite can always point to the target satellite, thereby improving the accuracy of satellite alignment, ensuring communication quality, and improving user experience.

[0029] As one possible implementation, the satellite ephemeris information includes ephemeris information for multiple satellites. Obtaining the first position of a target satellite based on the satellite ephemeris information includes: determining the target satellite and the first position of the target satellite from the multiple satellites based on the satellite ephemeris information; wherein the target satellite is a satellite among the multiple satellites that meets preset conditions, the preset conditions including one or more of the following: closest to the terminal device, strongest signal received by the terminal device, and a history of alignment with the terminal device. Thus, by determining the target satellite from the multiple satellites based on the preset conditions, the most suitable target satellite can be automatically determined for the terminal device without relying on external equipment, thereby improving the quality of satellite communications.

[0030] As one possible implementation, satellite ephemeris information is sent from the access network device to the terminal device via the terrestrial network. This allows the terminal device to automatically align its antenna with the satellite when it needs to align with the satellite. This improves alignment efficiency.

[0031] In a second aspect, a terminal device is provided, which is used to: obtain satellite ephemeris information; obtain a first position of a target satellite based on the satellite ephemeris information; obtain a first phase difference based on the satellite ephemeris information; generate a first beam based on the first phase difference, and the first beam points to the first position.

[0032] Exemplarily, the satellite ephemeris information includes the orbital inclination of the satellite's orbit, the eccentricity of the orbit, the right ascension of the satellite's ascending node in its orbit, the argument of periapsis, the mean anomaly, the average velocity, the first-order time derivative of the average velocity, and the second-order time derivative of the average velocity.

[0033] Exemplarily, the first position of the target satellite refers to the position of the target satellite in the earth coordinate system at a first moment.

[0034] Exemplarily, the position of each satellite in the Earth coordinate system at a first moment is associated with the semi-major axis of the satellite's orbit at the first moment, the eccentricity of the orbit, and the true anomaly of the satellite in its orbit at the first moment; the true anomaly of the satellite in its orbit at the first moment is associated with the mean anomaly of the satellite in its orbit at the first moment; the mean anomaly of the satellite in its orbit at the first moment is associated with the average velocity of the satellite in its orbit at the first moment; the average velocity of the satellite in its orbit at the first moment is associated with the semi-major axis of the satellite's orbit at the first moment; and the average velocity of the satellite in its orbit at the first moment is obtained by correcting the average velocity in the satellite's ephemeris information. Exemplarily, the target satellite refers to the satellite that needs to be aligned.

[0035] Exemplarily, the first phase difference refers to the phase difference of a signal arriving at an antenna element of a terminal device at a first moment. The signal may be a signal sent by the terminal device to a target satellite, or a signal sent by a target satellite to the terminal device.

[0036] The solution provided in the second aspect above can obtain the position of the target satellite and the phase difference of the signal reaching the antenna element based on the satellite ephemeris information, and generate a beam through the phase difference of the signal reaching the antenna element. The generated beam can be pointed to the position of the target satellite, thereby realizing automatic alignment of the radiation direction of the terminal antenna element with the satellite, improving the alignment efficiency and alignment accuracy, and enhancing effective communication with the satellite.

[0037] As a possible implementation, the terminal device is used to: obtain a first phase difference based on the terminal device's posture information and satellite ephemeris information; the first phase difference is associated with the beam pointing azimuth and beam pointing elevation required for the first beam; the beam pointing azimuth and beam pointing elevation required for the first beam are associated with the terminal device's posture information and the first position. In this way, the first position of the target satellite is obtained through the satellite ephemeris information, the beam pointing azimuth and beam pointing elevation required for the first beam are obtained based on the terminal device's posture information and the first position of the target satellite, and the first phase difference required for generating the first beam is obtained based on the beam pointing azimuth and beam pointing elevation required for the first beam. After the first phase difference is applied to the antenna element, the first beam generated by the antenna element can be directed to the first position of the target satellite, thereby improving alignment efficiency and accuracy.

[0038] As a possible implementation, the terminal device is configured with at least four antenna elements, and the at least four antenna elements are symmetrically arranged in a first direction and a second direction, and the first direction is perpendicular to the second direction; the first phase difference is associated with the beam pointing azimuth angle and the beam pointing elevation angle required for the first beam, including: the first phase offset of the signal arriving at the antenna element in the first direction is associated with the spacing between any two adjacent antenna elements in the first direction, the beam pointing azimuth angle and the wavelength of the signal; the second phase offset of the signal arriving at the antenna element in the second direction is associated with the spacing between any two adjacent antenna elements in the second direction, the beam pointing elevation angle and the wavelength of the signal; the first phase difference includes the first phase offset and the second phase offset.

[0039] Exemplarily, the first phase offset represents the phase difference of the signal reaching the antenna element in the first direction, and the second phase offset represents the phase difference of the signal reaching the antenna element in the second direction.

[0040] Exemplarily, in the first direction, the distance between two adjacent antenna elements is equal, and in the second direction, the distance between two adjacent antenna elements is equal.

[0041] Exemplarily, after obtaining the first and second phase offsets, the phase difference of the signal arriving at the antenna element in the first direction is adjusted to the first phase offset, thereby ensuring that the azimuth angle of the first beam generated by the antenna element is the desired beam pointing azimuth angle. The phase difference of the signal arriving at the antenna element in the second direction is adjusted to the second phase offset, thereby ensuring that the elevation angle of the first beam generated by the antenna element is the desired beam pointing elevation angle. When the azimuth angle of the first beam generated by the antenna element is the desired beam pointing azimuth angle, and the elevation angle is the desired beam pointing elevation angle, the first beam is directed toward the first position of the target satellite. In this manner, the phase difference of the signal arriving at the antenna element in the first direction and the phase difference of the signal arriving at the antenna element in the second direction are adjusted based on the desired beam pointing azimuth angle and beam pointing elevation angle, thereby ensuring that the first beam generated by the antenna element is directed toward the first position of the target satellite. This achieves the purpose of automatic alignment of the radiation direction of the antenna element of the terminal device, with high alignment accuracy and efficiency.

[0042] As a possible implementation, a terminal device is configured with at least two antenna elements, at least two antenna elements are located in a straight line, and a first phase difference is the phase difference of the signal reaching the antenna elements. The first phase difference is associated with the beam pointing azimuth angle and beam pointing elevation angle required for the first beam, including: the first phase difference is associated with the spacing between any two adjacent antenna elements, a first angle, and the wavelength of the signal, and the first angle is the beam pointing azimuth angle or the beam pointing elevation angle. In this way, by determining the phase difference of the signal reaching the antenna elements based on the required beam pointing azimuth angle or beam pointing elevation angle, and adjusting the phase difference of the signal reaching the antenna elements, the beam pointing angle is automatically adjusted, achieving high efficiency.

[0043] As a possible implementation, the terminal device is configured to: generate an initial beam based on a first phase difference; notify the user of a second angle, where the second angle is the beam pointing elevation angle when the first angle is the beam pointing azimuth, and the second angle is the beam pointing azimuth when the first angle is the beam pointing elevation angle; and receive a user's adjustment of the initial beam pointing angle based on the second angle to obtain the first beam. In this way, by adjusting the phase difference of the signal reaching the antenna element, the beam pointing angle is automatically adjusted. Furthermore, by prompting the user and combining the user's operation, the beam pointing angle is corrected, thereby improving alignment efficiency while ensuring alignment accuracy.

[0044] As a possible implementation method, the posture information of the terminal device includes the terminal position, azimuth angle and elevation angle of the terminal device; the beam pointing azimuth angle and beam pointing elevation angle required for the first beam are associated with the posture information of the terminal device and the first position, including: the relative position of the target satellite relative to the terminal device is associated with the terminal position of the terminal device and the first position of the target satellite; the relative azimuth angle and relative elevation angle of the target satellite relative to the terminal device have an angle conversion relationship with the relative position; the beam pointing azimuth angle is the difference between the relative azimuth angle and the azimuth angle of the terminal device, and the beam pointing elevation angle is the difference between the relative elevation angle and the elevation angle of the terminal device. In this way, the beam pointing azimuth angle and beam pointing tilt angle required for the first beam are obtained through the terminal position, azimuth angle and elevation angle of the terminal device and the first position of the target satellite. On the one hand, the beam pointing azimuth angle and beam pointing tilt angle required for the beam can be accurately obtained. On the other hand, the accuracy of the first phase difference determined according to the beam pointing azimuth angle and beam pointing tilt angle can be improved. After adjusting the phase difference of the signal reaching the antenna element according to the first phase difference, the beam generated by the antenna element can be pointed to the target satellite.

[0045] As a possible implementation, the satellite ephemeris information includes ephemeris information of a target satellite; the terminal device is further configured to: obtain motion information of the target satellite based on the ephemeris information of the target satellite; obtain a second position of the target satellite at a second moment based on the ephemeris information of the target satellite, the second position being associated with the motion information of the target satellite, the second moment being any moment after the first moment, and the position of the target satellite at the first moment being the first position; obtain a second phase difference at the second moment based on the ephemeris information of the target satellite; and generate a second beam based on the second phase difference, the second beam being directed toward the second position at the second moment. In this manner, the position of the target satellite at different moments can be obtained using the ephemeris information of the target satellite. Based on the position of the target satellite at different moments, the phase difference required for adjusting the signal arrival at the antenna element at different moments can be obtained. Based on the phase difference required for adjusting the signal arrival at the antenna element at different moments, the beam of the antenna element can be adjusted so that the beam generated by the antenna element is always directed toward the target satellite, thereby achieving automatic tracking and alignment of the target satellite, improving alignment efficiency, and enhancing user experience while ensuring communication quality.

[0046] As a possible implementation manner, the satellite ephemeris information is sent by the target satellite to the terminal device via a non-ground network.

[0047] Exemplarily, after the target satellite establishes a communication connection with the terminal device, the terminal device may send an ephemeris information request to the target satellite according to a set time step to request satellite ephemeris information, which may be updated ephemeris information of the target satellite.

[0048] Exemplarily, after the target satellite establishes a communication connection with the terminal device, the target satellite may send indication information to the terminal device according to a set time step, where the indication information includes satellite ephemeris information, which may be updated ephemeris information of the target satellite.

[0049] In this way, the terminal device can correct the position of the target satellite and generate a beam by obtaining the updated ephemeris information sent by the target satellite during the process of tracking the target satellite, so that the beam generated by the terminal device during the communication with the satellite can always point to the target satellite, thereby improving the accuracy of satellite alignment, ensuring communication quality, and improving user experience.

[0050] As one possible implementation, the satellite ephemeris information includes ephemeris information for multiple satellites. The terminal device is configured to determine a target satellite and its first position from among the multiple satellites based on the satellite ephemeris information. The target satellite is the satellite that meets preset conditions, including one or more of the following: closest to the terminal device, strongest signal received by the terminal device, and a history of alignment with the terminal device. By determining the target satellite from among the multiple satellites based on the preset conditions, the terminal device can automatically determine the most suitable target satellite without relying on external equipment, thereby improving the quality of satellite communications.

[0051] As one possible implementation, satellite ephemeris information is sent from the access network device to the terminal device via the terrestrial network. This allows the terminal device to automatically align its antenna with the satellite when it needs to align with the satellite. This improves alignment efficiency.

[0052] In a third aspect, a terminal device is provided, comprising: a processor configured to execute computer program instructions to support the terminal device in implementing the method as described in any possible implementation of the first aspect. Optionally, the terminal device further comprises a communication interface configured to communicate with other electronic devices; and / or a memory configured to store the computer program instructions.

[0053] In a fourth aspect, an electronic device is provided, which includes: a communication interface for communicating with other electronic devices; a memory for storing computer program instructions; and a processor for executing computer program instructions to support the electronic device to implement the method described in any possible implementation method of the first aspect.

[0054] In a fifth aspect, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processing circuit, the method described in any possible implementation method of the first aspect is implemented.

[0055] In a sixth aspect, a computer program product comprising instructions is provided, which, when the computer program product is run on a computer, enables the computer to execute the method as described in any possible implementation manner of the first aspect.

[0056] In the seventh aspect, a chip system is provided, which includes a processing circuit and a storage medium, wherein the storage medium stores computer program instructions; when the computer program instructions are executed by the processing circuit, the method described in any possible implementation method of the first aspect is implemented.

[0057] In an eighth aspect, a terminal device is provided, comprising a device for executing the method described in any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] FIG1 is a schematic diagram of an architecture of a satellite communication system provided in an embodiment of the present application;

[0059] FIG2 is a schematic diagram of information interaction provided by an embodiment of the present application;

[0060] FIG3 is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application;

[0061] FIG4 is a schematic diagram of a flow chart of a satellite alignment method according to an embodiment of the present application;

[0062] FIG5 is a schematic diagram of an earth coordinate system provided in an embodiment of the present application;

[0063] FIG6 is a schematic diagram of a structure of an antenna element according to an embodiment of the present application;

[0064] FIG7 is a second structural diagram of an antenna element provided in an embodiment of the present application;

[0065] FIG8 is a third structural diagram of an antenna element provided in an embodiment of the present application;

[0066] FIG9 is a schematic diagram of a direction provided in an embodiment of the present application;

[0067] FIG10 is a second flow chart of the satellite alignment method provided in an embodiment of the present application;

[0068] FIG11 is a schematic diagram of a display interface according to an embodiment of the present application;

[0069] FIG12 is a second schematic diagram of a display interface provided in an embodiment of the present application;

[0070] FIG13 is a third flow chart of the satellite alignment method provided in an embodiment of the present application;

[0071] FIG14 is a fourth flow chart of the satellite alignment method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0073] The terms "including," "having," and any variations thereof mentioned in the description of the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or apparatus.

[0074] In the following, the terms "first," "second," etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the quantity of the technical features indicated. Therefore, a feature specified as "first," "second," etc. may explicitly or implicitly include one or more of the features.

[0075] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0076] In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more. "And / or" in this document is merely a description of the association relationship between associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone.

[0077] As described in the background technology, satellite communications have a wider coverage range than terrestrial cellular networks. They also have the advantages of long communication distance and low requirements for ground station deployment. They are not affected by geographical environment, natural disasters and climatic conditions. Therefore, they have been widely used in aerospace, maritime communications and other fields.

[0078] Satellite communication systems are typically categorized based on the altitude of their satellite orbits. They can be broadly divided into geostationary Earth orbit (GEO), medium Earth orbit (MEO), and low Earth orbit (LEO). The GEO satellite communication system has an orbital altitude of 35,786 kilometers. The direction of satellite motion is the same as the Earth's rotation, and the orbital plane coincides with the Earth's equatorial plane. From the ground, the satellite appears stationary. The LEO satellite communication system has satellites at altitudes between 500 and 2,000 kilometers above the ground. From the ground, the area covered by the satellites appears to be rapidly moving. The MEO satellite communication system has satellites at altitudes between 2,000 and 35,786 kilometers above the ground. From the ground, the area covered by the satellites appears to be moving. LEO and MEO systems can be collectively referred to as non-geostationary orbit communication systems.

[0079] In satellite communication scenarios, satellites operating in geostationary orbits can also be called high-orbit satellites. Correspondingly, satellites operating in low orbits can be called low-orbit satellites, and satellites operating in medium orbits can be called medium-orbit satellites.

[0080] In satellite communication systems, due to the long distances between satellites and limited link budgets, the radiation direction of ground terminal antennas must be aligned with the satellites to maximize the antenna gain of the ground terminal's transmit and receive signals, making the communication connection between the ground terminal and the satellite more stable, reliable, and efficient. Most satellites used in existing satellite communications are in high-orbit orbits. Since high-orbit satellites are relatively fixed in position, aligning the ground terminal with the satellite is relatively simple. Users are guided to manually align the ground terminal antenna with the high-orbit satellite based on the position of the high-orbit satellite and the ground terminal. This allows the ground terminal antenna to align with the satellite.

[0081] With the development of low-orbit satellite communications, ground terminals need to align with low-orbit satellites for communication. However, due to the relatively high movement speed of low-orbit satellites, manual alignment is often used, which can easily fail to follow the movement of the low-orbit satellites, resulting in poor alignment accuracy and low efficiency. In addition, when users are conducting satellite communications, in order to ensure communication quality, they need to adjust the alignment between the ground terminal and the satellite during the communication process. For users, the need to simultaneously communicate and align with the satellite is very inconvenient and the user experience is poor.

[0082] Based on the above problems, an embodiment of the present application provides a satellite alignment method, which can obtain the position of the satellite to be aligned and the phase difference of the signal reaching the antenna element according to the ephemeris information, and generate a beam through the phase difference of the signal reaching the antenna element. The generated beam can be pointed to the position of the satellite, thereby realizing automatic alignment of the radiation direction of the antenna element of the terminal device with the satellite, improving the alignment efficiency and alignment accuracy, enhancing satellite communication performance and improving user experience.

[0083] The satellite alignment method provided in the embodiment of the present application can be applied to a satellite communication system, which may be a GEO satellite communication system, a MEO satellite communication system, a LEO satellite communication system, etc.

[0084] Referring to Figure 1 , a satellite communication system includes a terminal device 100, a satellite 200, an access network device 300, and a satellite network device 400. Terminal device 100 can establish communication connections with satellite 200 and access network device 300, satellite 200 can establish communication connections with satellite network device 400, and satellite network device 400 can establish communication connections with access network device 300.

[0085] Among them, after establishing a communication connection, the terminal device 100 can exchange information with the satellite 200 through a non-terrestrial network (NTN), after establishing a communication connection, the terminal device 100 can exchange information with the access network device 300 through a terrestrial network (TN), after establishing a communication connection, the satellite can exchange information with the satellite network device 400 through a non-terrestrial network, and after establishing a communication connection, the satellite network device 400 can exchange information with the access network device 300 through a terrestrial network. For example, the terrestrial network can be a cellular network.

[0086] Referring to Figure 2 , a terminal device 100 includes a terminal device 100a and a terminal device 100b, and a satellite includes a satellite 200a and a satellite 200b. As shown in (a) of Figure 2 , when terminal devices 100a and 100b need to communicate, if both terminal devices 100a and 100b are in a terrestrial cellular network, terminal device 100a can send information to access network device 300, which then forwards the information to terminal device 100b. Correspondingly, terminal device 100b can also send information to access network device 300, which then forwards the information to terminal device 100a, thereby enabling communication between terminal devices 100a and 100b.

[0087] As shown in FIG2(b), if terminal device 100a is not in a terrestrial cellular network and terminal device 100b is in a terrestrial cellular network, assuming that terminal device 100a is in communication with satellite 200a and terminal device 100b is in communication with access network device 300, terminal device 100a can send information to satellite 200a, satellite 200a can send the information to satellite network device 400, and after receiving the information, satellite network device 400 sends the information to access network device 300, so that the information is sent to terminal device 100b via access network device 300. Correspondingly, terminal device 100b can also send information to access network device 300, which forwards the information to satellite network management device 400 via access network device 300. Satellite network management device 400 sends the information to satellite 200a, and satellite 200a sends the information to terminal device 100a, thereby achieving communication between terminal devices 100a and 100b.

[0088] As shown in (c) of FIG2 , if neither terminal device 100a nor terminal device 100b is in a terrestrial cellular network, terminal device 100a is in communication with satellite 200a, and terminal device 100b is in communication with satellite 200b. Terminal device 100a can send information to satellite 200a, and satellite 200a can send the information to satellite network device 400. After receiving the information, satellite network device 400 sends the information to satellite 200b. After receiving the information, satellite 200b sends the information to terminal device 100b. Correspondingly, the same process is performed for terminal device 100b, which will not be described in detail here.

[0089] In some embodiments, terminal device 100a and terminal device 100b may also communicate via satellite. For example, terminal device 100a may send information to satellite 200a, which is already in communication with terminal device 100b. Satellite 200a may then send the information to satellite 200b, which is also in communication with terminal device 100b. Satellite 200b, upon receiving the information, may then send the information back to terminal device 100b.

[0090] The embodiments of the present application do not specifically limit the communication mode of the satellite communication system and can be set according to actual conditions.

[0091] In an embodiment of the present application, the above-mentioned satellite may be a low-orbit satellite, a medium-orbit satellite or a high-orbit satellite.

[0092] The access network device 300 may be a device with wireless transceiver functions or a chip or chip system that may be provided in the device. The access network device includes but is not limited to various types of base stations, Node B (NB), base station controller (BSC), base transceiver station (BTS), home base station (for example, home evolved NodeB, or home Node B, HNB), baseband unit (BBU), wireless relay node, wireless backhaul node, transmission point (TRP or TP), etc. It may also be 5G, such as a gNB in ​​a new radio (NR) system, or a transmission point (TRP or TP), one or a group (including multiple antenna panels) of antenna panels of a base station in a 5G system, or a network node constituting a gNB or a transmission point, such as a baseband unit (BBU), or a distributed unit (DU), a road side unit (RSU) with base station functions, etc.

[0093] The satellite network management device 400 may include a gateway station. The gateway station is used to connect the satellite and the ground network, including a radio frequency subsystem, a baseband subsystem, etc.

[0094] The terminal device is a terminal that accesses the satellite communication system and has a wireless transceiver function or a chip or chip system that can be set in the terminal. The terminal device can also be called an access terminal, a user unit, a user station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent or a user device. The terminal device in the embodiment of the present application can be a mobile phone, a tablet computer, a computer with a wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical care, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, a vehicle-mounted terminal, an RSU with terminal function, etc. The terminal device of the present application can also be a vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit built into the vehicle as one or more components or units. The vehicle can implement the satellite alignment method provided by the present application through the built-in vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit.

[0095] For ease of understanding, the structure of the terminal device provided in the embodiment of the present application is specifically described by taking the terminal device as an example of a mobile phone. Please refer to Figure 3, which is a schematic diagram of the structure of the terminal device provided in the embodiment of the present application. As shown in Figure 3, the terminal device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc. The functions and working principles of each sensor can refer to conventional technologies and will not be elaborated here.

[0096] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors.

[0097] The controller can generate operation control signals according to the instruction operation code and timing signal to complete the control of instruction fetching and execution.

[0098] Processor 110 may also include a memory for storing instructions and data. In some embodiments, the memory in processor 110 is a cache memory. This memory can store instructions or data that have just been used or are being recycled by processor 110. If processor 110 needs to use the same instruction or data again, it can directly access the memory. This avoids duplicate accesses, reduces processor 110 latency, and thus improves system efficiency.

[0099] In some embodiments, the processor 110 may include one or more interfaces. The interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface.

[0100] The I2C interface is a bidirectional synchronous serial bus that includes a serial data line (SDA) and a serial clock line (SCL). In some embodiments, the processor 110 may include multiple I2C busses. The processor 110 can be coupled to the touch sensor 180K, the charger, the flash, the camera 193, and the like via different I2C bus interfaces. For example, the processor 110 can be coupled to the touch sensor 180K via the I2C interface, enabling communication between the processor 110 and the touch sensor 180K via the I2C bus interface, thereby implementing the touch function of the terminal device.

[0101] The MIPI interface can be used to connect the processor 110 to peripheral devices such as the display screen 194 and the camera 193. MIPI interfaces include the camera serial interface (CSI) and the display serial interface (DSI). In some embodiments, the processor 110 and the display screen 194 communicate via the DSI interface to implement the display function of the terminal device 100.

[0102] It is understood that the interface connection relationship between the modules illustrated in the embodiments of the present application is merely an illustrative illustration and does not constitute a structural limitation on the terminal device 100. In other embodiments of the present application, the terminal device 100 may also adopt a different interface connection method from the above embodiments, or a combination of multiple interface connection methods.

[0103] The charging management module 140 is configured to receive charging input from a charger. The power management module 141 is configured to connect the battery 142, the charging management module 140, and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140 to power the processor 110, the internal memory 121, the display 194, the camera 193, and the wireless communication module 160.

[0104] The terminal device 100 implements display functions through a GPU, a display screen 194 , and an application processor. The display screen 194 is used to display images, videos, etc. In some embodiments, the terminal device 100 may include one or N display screens 194 , where N is a positive integer greater than one.

[0105] The terminal device 100 can realize the shooting function through the ISP, camera 193, video codec, GPU, display screen 194 and application processor.

[0106] The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the terminal device 100. The external memory card communicates with the processor 110 via the external memory interface 120 to implement data storage functions. For example, files such as music and videos can be stored on the external memory card.

[0107] The internal memory 121 can be used to store computer executable program code, which includes instructions. The internal memory 121 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area can store data created during the use of the terminal device 100 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc. The processor 110 executes various functional applications and data processing of the terminal device 100 by running instructions stored in the internal memory 121 and / or instructions stored in a memory provided in the processor.

[0108] The terminal device 100 can implement audio functions such as music playback and recording through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone jack 170D, and the application processor.

[0109] The audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signals. The audio module 170 can also be used to encode and decode audio signals. In some embodiments, the audio module 170 can be provided in the processor 110, or some functional modules of the audio module 170 can be provided in the processor 110.

[0110] The speaker 170A, also called a "speaker", is used to convert audio electrical signals into sound signals. The headphone jack 170D is used to connect a wired headphone.

[0111] The SIM card interface 195 is used to connect a SIM card. The SIM card can be connected to and disconnected from the terminal device 100 by inserting or removing it from the SIM card interface 195. The terminal device 100 can support one or N SIM card interfaces, where N is a positive integer greater than one. The SIM card interface 195 can support Nano SIM cards, Micro SIM cards, SIM cards, and the like. Multiple cards can be inserted into the same SIM card interface 195 simultaneously. The multiple cards can be of the same or different types. The SIM card interface 195 is also compatible with different types of SIM cards. The SIM card interface 195 is also compatible with external memory cards. The terminal device 100 can interact with access network devices through the SIM card to implement functions such as calls and data communications. In some embodiments, the terminal device 100 uses an eSIM, or embedded SIM card. The eSIM card can be embedded in the terminal device 100 and cannot be separated from the terminal device 100.

[0112] In addition, for the introduction of hardware such as the button 190, the motor 191, and the indicator 192, reference can be made to conventional technology, and the embodiments of this application will not be repeated.

[0113] In the embodiment of the present application, the wireless communication function of the terminal device 100 can be implemented through an antenna element, a mobile communication module 150, a wireless communication module 160, a modem processor, and a baseband processor.

[0114] The antenna elements include antenna 1 and antenna 2. There can be multiple antennas 1 and antenna 2, and the number can be set according to actual needs.

[0115] In an embodiment of the present application, antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals, wherein antenna 1 of terminal device 100 is coupled to mobile communication module 150, and antenna 2 is coupled to wireless communication module 160, so that terminal device 100 can communicate with a network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology. The GNSS may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS) and / or a satellite based augmentation system (SBAS).

[0116] When the antenna 1 and the mobile communication module 150 are coupled, the mobile communication module 150 can provide wireless communication solutions including 2G / 3G / 4G / 5G, etc., applied to the terminal device 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, filter, amplify, and process the received electromagnetic waves, and transmit them to the modem processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modem processor and convert it into electromagnetic waves for radiation through the antenna 1.

[0117] For example, the mobile communication module 150 can receive electromagnetic wave signals sent by the access network device via antenna 1, filter and amplify the received electromagnetic waves, and transmit the processed electromagnetic wave signals to the modem processor for demodulation. Accordingly, the mobile communication module 150 can amplify the signal modulated by the modem processor and convert it into an electromagnetic wave signal through antenna 1 for radiation to the access network device. In this way, the terminal device can achieve information exchange with the access network device.

[0118] In some embodiments, at least some functional modules of the mobile communication module 150 may be provided in the processor 110. In some embodiments, at least some functional modules of the mobile communication module 150 may be provided in the same device as at least some functional modules of the processor 110.

[0119] The modem processor may include a modulator and a demodulator. The modulator is used to modulate the low-frequency baseband signal to be transmitted into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After being processed by the baseband processor, the low-frequency baseband signal is passed to the application processor. The application processor outputs a sound signal through an audio device (not limited to the speaker 170A, the receiver 170B, etc.) or displays an image or video through the display screen 194. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 110 and be set in the same device as the mobile communication module 150 or other functional modules.

[0120] When the antenna 2 is coupled to the wireless communication module 160, the wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., which are applied to the terminal device 100. The wireless communication module 160 can be one or more devices that integrate at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, frequency modulate it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0121] For example, the wireless communication module 160 can receive electromagnetic wave signals sent by the satellite through the antenna 2, frequency-modulate and filter the electromagnetic wave signals, and send the processed signals to the processor 110. Correspondingly, the wireless communication module 160 can also receive signals to be sent from the processor 110, frequency-modulate and amplify them, and convert them into electromagnetic waves for radiation through the antenna 2 to be sent to the satellite. In this way, the terminal device can achieve information exchange with the satellite.

[0122] It should be understood that the structures illustrated in the embodiments of the present application do not constitute a specific limitation on the terminal device 100. In other embodiments of the present application, the terminal device 100 may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0123] Based on the architectures of Figures 1, 2, and 3, the satellite alignment method provided in this embodiment of the present application is described in detail. Please refer to Figure 4, which is a schematic flow chart of a satellite alignment method provided in this embodiment of the present application. The satellite alignment method provided in this embodiment of the present application is applied to the satellite communication system shown in Figure 1 and is executed by a terminal device in the satellite communication system. As shown in Figure 4, the satellite alignment method provided in this embodiment of the present application includes steps S401 to S403.

[0124] S401: When performing initial alignment, determine the first position of the target satellite according to the satellite ephemeris information sent by the access network device.

[0125] Among them, the satellite ephemeris information can be used to describe the position and motion information of the satellite in space. Therefore, when the satellite enters space, the motion information and position of the satellite can be determined based on the satellite ephemeris information.

[0126] In an embodiment of the present application, the access network device may send satellite ephemeris information to the terminal device according to a first set period, such as sending satellite ephemeris information every 4 hours. After receiving the satellite ephemeris information sent by the access network device, the terminal device may store the satellite ephemeris information. When there is a need to align with a satellite, the terminal device may obtain the latest satellite ephemeris information from the stored satellite ephemeris information and perform satellite alignment based on the latest satellite ephemeris information.

[0127] In some embodiments, the terminal device may also initiate a request to the access network device for satellite ephemeris information at a first predetermined duration. Upon receiving the request, the access network device may send the satellite ephemeris information to the terminal device in accordance with the request. After receiving the satellite ephemeris information, the terminal device may store the satellite ephemeris information. When satellite alignment is required, the terminal device may obtain the latest satellite ephemeris information from the stored satellite ephemeris information and perform satellite alignment based on the latest satellite ephemeris information.

[0128] It is understandable that when there is a need to align with a satellite, if the terminal device and the access network device can exchange information, the terminal device can also initiate a request to the access network device to request to obtain satellite ephemeris information.

[0129] It is understandable that the access network device can send the satellite ephemeris to the terminal device through the ground network.

[0130] It should be noted that the access network device can obtain satellite ephemeris information from the satellite network management device. Once a satellite enters orbit, it can send a data packet containing orbit information to the satellite network management device in real time or at a second predetermined interval. Upon receiving the data packet, the satellite network management device decodes the data packet to obtain satellite ephemeris information. After obtaining the satellite ephemeris information, the satellite network management device can send the satellite ephemeris information to the access network device, or it can send the satellite ephemeris information to the access network device upon receiving a request from the access network device.

[0131] The access network device may initiate a request to the satellite network management device according to the first set duration, or may initiate a request to the satellite network management device after receiving a request from the terminal device.

[0132] It should be noted that the specific durations of the first set duration and the second set duration can be set according to actual needs, and are not limited in the embodiments of the present application.

[0133] It can be understood that in the embodiment of the present application, when there are multiple satellites in the space orbit, the satellite ephemeris information may include the ephemeris information of multiple satellites.

[0134] Since there are multiple satellites in the space orbit, when performing satellite alignment for the first time, the satellite to be aligned, ie, the target satellite, can be determined from the multiple satellites, and then the alignment process with the target satellite can be performed.

[0135] Considering that the satellite ephemeris information includes the ephemeris information of multiple satellites, in an embodiment of the present application, the positions of multiple satellites can be calculated based on the ephemeris information of multiple satellites, and the target satellite and the first position of the target satellite can be determined from the multiple satellites based on the positions of the multiple satellites.

[0136] In the embodiment of the present application, the position of the satellite to be calculated refers to the position of the satellite in the earth coordinate system at the first moment.

[0137] As shown in Figure 5, the Earth coordinate system is a coordinate system established with the center of the Earth as the origin, the straight line from the center of the Earth pointing to 0 degrees longitude on the equator as the x-axis, the straight line from the center of the Earth pointing to 90 degrees longitude east on the equator as the y-axis, and the straight line from the center of the Earth pointing to the North Pole as the z-axis.

[0138] The first moment may be the current moment, i.e., the moment when the satellite ephemeris information is obtained. In some embodiments, the first moment may also be any future moment when the satellite alignment is required.

[0139] In an embodiment of the present application, the acquired satellite ephemeris information may include the ephemeris information of each satellite, and the ephemeris information of each satellite includes the orbital inclination of the satellite's orbit, the eccentricity of the orbit, the right ascension of the ascending node on the orbit, the argument of the perigee, the mean anomaly, the average motion speed, the first-order time derivative of the average motion speed, and the second-order time derivative of the average motion speed.

[0140] In an embodiment of the present application, for each satellite, the position of the satellite in the Earth coordinate system at a first moment is associated with the semi-major axis of the satellite's orbit at the first moment, the eccentricity of the orbit, and the true anomaly of the satellite in its orbit at the first moment; the true anomaly of the satellite in its orbit at the first moment is associated with the mean anomaly of the satellite in its orbit at the first moment; the mean anomaly of the satellite in its orbit at the first moment is associated with the average velocity of the satellite in its orbit at the first moment; and the average velocity of the satellite in its orbit at the first moment is associated with the semi-major axis of the satellite's orbit at the first moment. For each satellite, the average velocity of the satellite in its orbit at the first moment can be obtained by correcting the average velocity in the satellite's ephemeris information.

[0141] Therefore, for each satellite, when determining the position of the satellite in the Earth coordinate system at the first moment, the average motion speed of the satellite in its orbit at the first moment can be obtained based on the satellite's ephemeris information, the mean anomaly of the satellite in its orbit at the first moment and the semi-major axis of its orbit at the first moment can be obtained based on the average motion speed of the satellite in its orbit at the first moment, the true anomaly of the satellite in its orbit at the first moment can be obtained based on the mean anomaly of the satellite in its orbit at the first moment, and then the position of the satellite in the Earth coordinate system at the first moment can be obtained based on the true anomaly of the satellite in its orbit at the first moment, the semi-major axis of its orbit at the first moment, and the eccentricity of its orbit.

[0142] In the embodiment of the present application, the average speed of each satellite in its orbit at the first moment satisfies the first relationship, which can be formula (1). n(t)=n+n dot *Δt+n ddot *Δt 2 Formula (1)

[0143] Among them, t is the first moment, n(t) is the average speed of the satellite in the orbit at the first moment, n is the average speed in the satellite's ephemeris information, and n dot is the first-order time derivative of the average velocity in the ephemeris information, n ddot is the second-order time derivative of the average motion speed in the ephemeris information, Δt is the time difference between the first moment and the reference moment of the ephemeris information, Δt=t-t0, t0 is the reference moment of the ephemeris information, and the reference moment of the ephemeris information may be the generation moment of the ephemeris information.

[0144] In an embodiment of the present application, the semi-major axis of the orbit of each satellite at the first moment and the average speed of the satellite on the orbit at the first moment satisfy a second relationship, and the second relationship can be expressed by formula (2).

[0145] Where a(t) is the semi-major axis of the satellite's orbit at the first moment, G is the gravitational constant, and M is the gravitational constant. e is the mass of the Earth, and n(t) is the average speed of the satellite in its orbit at the first moment.

[0146] In the embodiment of the present application, the mean anomaly angle of each satellite on its orbit at the first moment and the average velocity of the satellite on its orbit at the first moment satisfy a third relationship, which can be expressed as formula (3). M(t) = M + n(t) * Δt Formula (3)

[0147] Wherein, M(t) is the mean anomaly of the satellite in its orbit at the first moment, M is the mean anomaly in the satellite's ephemeris information, and n(t) is the average velocity of the satellite in its orbit at the first moment.

[0148] In an embodiment of the present application, the true anomaly of each satellite on its orbit at the first moment and the mean anomaly of the satellite on its orbit at the first moment satisfy a fourth relationship, and the fourth relationship can be formula (4).

[0149] Wherein, ν(t) is the true anomaly of the satellite in its orbit at the first moment, E(t) is an intermediate parameter, E(t)-e*sin(E(t))=M(t), e is the eccentricity in the satellite's ephemeris information, that is, the eccentricity of the satellite's orbit, and M(t) is the mean anomaly of the satellite in its orbit at the first moment.

[0150] In an embodiment of the present application, the position of each satellite in the Earth coordinate system at the first moment satisfies the fifth relationship with the eccentricity of the satellite's orbit, the semi-major axis of the orbit at the first moment, and the true anomaly of the satellite on the orbit at the first moment. The fifth relationship can be formula (5).

[0151] Among them, x s (t) is the coordinate of the satellite on the x-axis in the Earth coordinate system, y s (t) is the coordinate of the satellite on the y-axis in the Earth coordinate system, z s (t) is the coordinate of the satellite on the z-axis in the Earth coordinate system. The position of the satellite in the Earth coordinate system can be expressed as (x s (t), y s (t), z s (t)), Ω is the right ascension of the ascending node in the satellite's ephemeris information, that is, the right ascension of the ascending node of the satellite in its orbit, i is the orbital inclination of the orbit in the satellite's ephemeris information, ω is the argument of periapsis in the satellite's ephemeris information, that is, the argument of periapsis in the satellite's orbit, ν(t) is the true anomaly of the satellite in its orbit at the first moment, a(t) is the semi-major axis of the satellite's orbit at the first moment, and e is the eccentricity in the satellite's ephemeris information, that is, the eccentricity of the satellite's orbit.

[0152] The position of each satellite in the Earth coordinate system can be obtained by using formulas (1) to (5). After obtaining the position of each satellite in the Earth coordinate system, the satellite closest to the terminal device can be selected as the target satellite based on the position of each satellite in the Earth coordinate system.

[0153] For example, the terminal position of the terminal device in the earth coordinate system can be determined first, and then the distance between the terminal device and each satellite can be determined based on the terminal position of the terminal device in the earth coordinate system and the position of each satellite in the earth coordinate system, so as to obtain the nearest satellite as the target satellite.

[0154] The geographical coordinates of the terminal device may be converted to obtain the terminal position of the terminal device in the earth coordinate system. The geographical coordinates of the terminal device may be obtained through a positioning system.

[0155] In the embodiment of the present application, the geographical coordinates of the terminal device can be expressed as in, represents the longitude information of the terminal device at the first moment, and θ(t) represents the latitude information of the terminal device at the first moment.

[0156] The terminal position of the terminal device in the earth coordinate system and the geographical coordinates may satisfy a sixth relationship, which may be formula (6).

[0157] Among them, x u (t) is the coordinate of the terminal device on the x-axis in the earth coordinate system, y u (t) is the coordinate of the terminal device on the y-axis in the earth coordinate system, z u (t) is the coordinate of the terminal device on the z-axis in the earth coordinate system. The terminal position of the terminal device in the earth coordinate system can be expressed as (x u (t), y u (t), z u (t)), r is the radius of the Earth.

[0158] For each satellite, the distance between the terminal device and the satellite satisfies the seventh relationship, which can be formula (7).

[0159] Where d is the distance between the terminal device and the satellite.

[0160] After obtaining the distance between the terminal device and each satellite, the distance between the terminal device and each satellite can be compared, and the satellite with the smallest distance can be selected as the target satellite.

[0161] It should be noted that determining the target satellite based on the distance is only one implementation method listed in this application and is not a limitation of the method of determining the target satellite in this application. The specific setting can be based on actual needs.

[0162] Exemplarily, when the terminal device can obtain the signal strength of a satellite, the target satellite may also be a satellite with the strongest signal received by the terminal device among multiple satellites.

[0163] For example, when the terminal device stores an alignment history, the target satellite can be determined based on the stored alignment history. Specifically, the target satellite can be a satellite among multiple satellites that has an alignment history with the terminal device. For example, if the multiple satellites include satellite A, satellite B, and satellite C, and the alignment history indicates that the terminal device has an alignment history with satellite A, but not with satellites B and C, satellite A can be selected as the target satellite.

[0164] For example, the terminal device may also notify the user of multiple satellites in the satellite ephemeris information, allowing the user to indicate the satellite to be aligned. Upon receiving the user-indicated satellite, the terminal device uses the user-indicated satellite as the target satellite. For example, the terminal device may display multiple satellites on a terminal interface, allowing the user to select any satellite on the terminal interface. The terminal device responds to the user's operation, obtains the user-indicated satellite, and identifies the user-indicated satellite as the target satellite. For another example, the terminal device may announce the satellites in the satellite ephemeris information via voice broadcast, allowing the user to select the satellite to be aligned based on the broadcast, and then input the desired satellite into the terminal device. The terminal device then obtains the user-indicated satellite and identifies the user-indicated satellite as the target satellite.

[0165] It can be understood that the position of the target satellite at the first moment is the first position. For ease of understanding, the first position of the target satellite can be expressed as

[0166] In an embodiment of the present application, after obtaining the target satellite and the first position of the target satellite, the beam generated by the antenna element of the terminal device can be directed toward the first position of the target satellite, thereby achieving alignment between the target satellite and the radiation direction of the antenna element of the terminal device. It can be understood that when the beam generated by the antenna element of the terminal device is directed toward the first position of the target satellite, the radiation direction of the antenna element of the terminal device is aligned with the target satellite.

[0167] Among them, the direction of the beam of the antenna element refers to the beam shape formed by the phase difference superposition of the signal reaching the antenna element of the terminal device. Therefore, in an embodiment of the present application, the phase difference of the signal reaching the antenna element of the terminal device can be adjusted so that the beam generated by the antenna element of the terminal device points to (aligns with) the first position of the target satellite.

[0168] S402: Obtain a first phase difference according to satellite ephemeris information.

[0169] The first phase difference refers to the phase difference of the signal reaching the antenna element of the terminal device at the first moment. The signal may be a signal sent by the terminal device to the target satellite, or a signal sent by the target satellite to the terminal device.

[0170] In an embodiment of the present application, a first phase difference can be obtained based on the position information of the terminal device and the satellite ephemeris information. Specifically, the first phase difference is associated with the beam pointing azimuth angle and the beam pointing elevation angle required for the first beam. The beam pointing azimuth angle and the beam pointing elevation angle required for the first beam are associated with the position information of the terminal device and the first position of the target satellite. The first position of the target satellite can be calculated based on the satellite ephemeris information.

[0171] Wherein, obtaining the first position of the target satellite according to the satellite ephemeris information can refer to S401, which will not be described in detail here.

[0172] In an embodiment of the present application, the first beam refers to the beam generated by the antenna element of the terminal device at the first moment, the beam pointing azimuth angle refers to the azimuth angle to which the beam generated by the terminal device at the first moment needs to point, and the beam pointing elevation angle refers to the elevation angle to which the beam generated by the terminal device at the first moment needs to point.

[0173] In an embodiment of the present application, the posture information of the terminal device includes the terminal position of the terminal device in the earth coordinate system, the azimuth angle and the tilt angle of the terminal device.

[0174] The beam pointing azimuth angle required for the first beam is the difference between the relative azimuth angle of the target satellite relative to the terminal device and the azimuth angle of the terminal device. The beam pointing elevation angle required for the first beam is the difference between the relative elevation angle of the target satellite relative to the terminal device and the elevation angle of the terminal device.

[0175] Among them, the relative tilt angle and relative azimuth angle of the target satellite relative to the terminal device have an angle conversion relationship with the relative position of the target satellite relative to the terminal device, and the relative position of the target satellite relative to the terminal device is associated with the terminal position of the terminal device in the earth coordinate system and the first position of the target satellite in the earth coordinate system.

[0176] In an embodiment of the present application, the relative position of the target satellite relative to the terminal device, the terminal position of the terminal device, and the first position of the target satellite satisfy an eighth relationship, and the eighth relationship can be formula (8).

[0177] Among them, when determining the relative position of the target satellite with respect to the terminal device, the terminal position of the terminal device can be used as the origin, the straight line pointing to 0 degrees longitude on the equator at the terminal device location as the x-axis, the straight line pointing to 90 degrees longitude east on the equator at the terminal device location as the y-axis, and the straight line pointing to the North Pole at the terminal device location as the z-axis to establish a terminal coordinate system, and the coordinates of the terminal device and the target satellite in the earth coordinate system are converted to the terminal coordinate system. After the terminal position of the terminal device is converted to the terminal coordinate system, the terminal position of the terminal device is (x u (t), y u (t), z u (t)) becomes (0, 0, 0), and the relative position of the target satellite relative to the terminal device is

[0178] After obtaining the relative position of the target position relative to the terminal device, the relative position is converted into polar coordinates to obtain the relative tilt angle and relative azimuth angle of the target satellite relative to the terminal device, that is, in, is the distance from the target satellite to the terminal device, is the relative tilt angle of the target satellite relative to the terminal device, is the relative azimuth angle of the target satellite relative to the terminal device.

[0179] In the embodiment of the present application, the beam pointing azimuth angle required for the first beam is the difference between the relative azimuth angle and the azimuth angle of the terminal device, that is, the beam pointing azimuth angle required for the first beam is Wherein, a(t) is the azimuth angle of the terminal device, and the azimuth angle of the terminal device can be obtained from the geomagnetic data of the terminal device itself.

[0180] In the embodiment of the present application, the beam pointing tilt angle required for the first beam is the difference between the relative tilt angle and the tilt angle of the terminal device, that is, the beam pointing tilt angle required for the first beam is Wherein b(t) is the tilt angle of the terminal device, and the tilt angle of the terminal device can be obtained from the posture data of the terminal device itself.

[0181] After the beam pointing elevation angle and the beam pointing azimuth angle required for the first beam are obtained, the first phase difference may be determined according to the beam pointing elevation angle and the beam pointing azimuth angle required for the first beam.

[0182] Considering that the antenna elements configured on the terminal device have various structures, when the structures of the antenna elements configured on the terminal device are different, the first phase difference determined based on the required beam pointing elevation angle and beam pointing azimuth angle is also different. Therefore, in an embodiment of the present application, the first phase difference can be determined based on the structure of the antenna elements configured on the terminal device and the required beam pointing elevation angle and beam pointing azimuth angle.

[0183] In an embodiment of the present application, the antenna elements configured on the terminal device can have two structures. One is that the terminal device is configured with at least 4 antenna elements, and the at least 4 antenna elements are symmetrically arranged in the first direction and the second direction, and the first direction is perpendicular to the second direction. For example, when there are 4 antenna elements, the layout can be as shown in (a) and (b) in Figure 6, so that the 4 antenna elements can be symmetrically arranged in the first direction and the second direction. When there are 5 antenna elements, the layout can be as shown in (c) in Figure 6, so that the 5 antenna elements can be symmetrically arranged in the first direction and the second direction. When there are 6 antenna elements, the layout can be as shown in (d) and (e) in Figure 6, so that the 6 antenna elements can be symmetrically arranged in the first direction and the second direction.

[0184] It should be understood that Figure 6 is merely an example of the structure of antenna elements in the embodiments of the present application and does not constitute a limitation thereof. The specific configuration can be tailored to actual circumstances, as long as the antenna elements are symmetrically arranged in the first and second directions. For example, if there are nine antenna elements, a layout such as Figure 7 can be used, so that the nine antenna elements are symmetrically arranged in the first and second directions.

[0185] In an embodiment of the present application, another structure is that the terminal device is configured with at least two antenna elements, and the at least two antenna elements are located in the same straight line. For example, as shown in Figure 8 (a), the at least two antenna elements can be arranged along a straight line in a first direction, and as shown in Figure 8 (b), the at least two antenna elements can also be arranged along a straight line in a second direction, and the first direction and the second direction are perpendicular to each other.

[0186] In the embodiment of the present application, the first direction and the second direction can be set according to actual conditions and are not specifically limited. For example, as shown in FIG9 (a), the first direction can be the direction of the long side of the terminal device, and the second direction can be the direction of the short side of the terminal device. For another example, as shown in FIG9 (b), the first direction can be the direction of the short side of the terminal device, and the second direction can be the direction of the long side of the terminal device.

[0187] In an embodiment of the present application, for the first structure, that is, the terminal device is configured with at least 4 antenna elements, and the at least 4 antenna elements are symmetrically arranged in the first direction and the second direction. The azimuth angle and elevation angle of the beam generated by the antenna element can be adjusted by adjusting the phase difference of the signal reaching the antenna element in the first direction and the phase difference of the signal reaching the antenna element in the second direction, so that the beam generated by the antenna element points to the first position of the target satellite.

[0188] In an embodiment of the present application, for ease of understanding, the phase difference of the signal reaching the antenna element in the first direction can be expressed by a first phase offset, and the phase difference of the signal reaching the antenna element in the second direction can be expressed by a second phase offset, that is, in an embodiment of the present application, the first phase difference can include the first phase offset and the second phase offset.

[0189] The first phase offset of the signal arriving at the antenna element in the first direction is associated with the spacing between any two adjacent antenna elements in the first direction, the beam pointing azimuth angle, and the wavelength of the signal. The second phase offset of the signal arriving at the antenna element in the second direction is associated with the spacing between any two adjacent antenna elements in the second direction, the beam pointing elevation angle, and the wavelength of the signal.

[0190] In an embodiment of the present application, the first phase offset of the signal reaching the antenna element in the first direction and the spacing between any two adjacent antenna elements in the first direction, the beam pointing azimuth angle and the wavelength of the signal satisfy a ninth relationship, which can be formula (9).

[0191] in, is the first phase offset, d1 is the distance between any two adjacent antenna elements in the first direction, is the beam pointing azimuth angle, and λ is the wavelength of the signal. It should be noted that, in the embodiment of the present application, in the first direction, the spacing between two adjacent antenna elements is equal.

[0192] In an embodiment of the present application, the second phase offset of the signal reaching the antenna element in the second direction satisfies the tenth relationship with the spacing between any two adjacent antenna elements in the second direction, the beam pointing tilt angle, and the wavelength of the signal. The tenth relationship can be formula (10).

[0193] in, is the second phase offset, d2 is the distance between any two adjacent antenna elements in the second direction, is the beam pointing elevation angle, and λ is the wavelength of the signal. It should be noted that, in the embodiment of the present application, in the second direction, the spacing between two adjacent antenna elements is equal.

[0194] In an embodiment of the present application, for the second structure, that is, the terminal device is configured with at least two antenna elements, and the at least two antenna elements are located in the same straight line. The azimuth or elevation angle of the beam generated by the antenna element can be adjusted by adjusting the phase difference of the signal reaching the antenna element.

[0195] The phase difference between the signals reaching the antenna elements is the first phase difference, and the first phase difference is associated with the distance between any two adjacent antenna elements, the first angle, and the wavelength of the signal.

[0196] In the embodiment of the present application, the first phase difference is associated with the distance between any two adjacent antenna elements, the first angle, and the wavelength of the signal to satisfy the eleventh relationship, which can be formula (11).

[0197] in, is the first phase difference, d is the distance between any two adjacent antenna elements, ψ is the first angle, and λ is the wavelength of the signal. It should be noted that in the embodiment of the present application, when at least two antenna elements are located in the same straight line, the distances between the two adjacent antenna elements are equal.

[0198] In an embodiment of the present application, when the terminal device is perpendicular to the ground, the first angle is the beam pointing elevation angle; when the terminal device is parallel to the ground, the first angle is the beam pointing azimuth angle.

[0199] S403: Generate a first beam according to the first phase difference.

[0200] After obtaining the first phase difference, the first phase difference can be applied to the antenna element so that the phase difference of the signal reaching the antenna element becomes the first phase difference, so that the first beam generated by the antenna element can point to the first position of the target satellite.

[0201] For example, in the first configuration, after obtaining the first and second phase offsets, the phase difference of the signal reaching the antenna element in the first direction is adjusted to the first phase offset, so that the azimuth angle of the first beam generated by the antenna element is the desired beam pointing azimuth angle. The phase difference of the signal reaching the antenna element in the second direction is adjusted to the second phase offset, so that the elevation angle of the first beam generated by the antenna element is the desired beam pointing elevation angle. When the azimuth angle of the first beam generated by the antenna element is the desired beam pointing azimuth angle, and the elevation angle is the desired beam pointing elevation angle, the first beam is directed to the first position of the target satellite.

[0202] For example, for the second configuration, when the first angle is the beam pointing azimuth angle, after obtaining the first phase difference, the phase difference of the signal reaching the antenna element is adjusted to the first phase difference, so that the azimuth angle of the first beam generated by the antenna element can be the desired beam pointing azimuth angle. When the first angle is the beam pointing elevation angle, after obtaining the first phase difference, the phase difference of the signal reaching the antenna element is adjusted to the first phase difference, so that the elevation angle of the first beam generated by the antenna element can be the desired beam pointing elevation angle.

[0203] In an embodiment of the present application, for a structure configured with at least four antenna elements, and at least four antenna elements are symmetrically arranged in a first direction and a second direction, the phase difference of the signal arriving at the antenna element in the first direction and the phase difference of the signal arriving at the antenna element in the second direction are adjusted according to the required beam pointing azimuth angle and beam pointing elevation angle, so that the first beam generated by the antenna element can be aligned with the first position of the target satellite, thereby achieving the purpose of automatic satellite alignment in the radiation direction of the antenna element of the terminal device, with high alignment accuracy and high alignment efficiency.

[0204] Since only the azimuth or elevation angle can be adjusted for the second configuration, i.e., a configuration in which the antenna elements are located in a straight line, in order to improve the accuracy of satellite tracking and direct the first beam generated by the antenna elements toward the first position of the target satellite, in this embodiment of the application, the user can also manually correct the direction of the first beam generated by the antenna elements. Based on this, please refer to Figure 10. In this embodiment of the application, the step of generating the first beam based on the first phase difference can also include S4031 to S4033.

[0205] S4031: Generate an initial beam according to the first phase difference.

[0206] The initial beam refers to the beam generated by the antenna element after obtaining the first phase difference and adjusting the phase difference of the signal reaching the antenna element to the first phase difference. It can be understood that the initial beam is only aimed at the target satellite in azimuth or elevation.

[0207] S4032: Notify the user of the second angle.

[0208] In the embodiment of the present application, when the first angle is the beam pointing azimuth angle, the second angle is the beam pointing elevation angle; when the first angle is the beam pointing elevation angle, the second angle is the beam pointing azimuth angle.

[0209] In an embodiment of the present application, a terminal device may provide a user with a display interface that displays a prompt message on the display interface to inform the user of the second angle, wherein the prompt message includes the second angle. For example, when the first angle is the beam pointing azimuth angle and the second angle is the beam pointing elevation angle, as shown in FIG11 , the display interface may display a prompt message such as "Beam pointing elevation angle is A, current elevation angle is B." In this way, the user sees the prompt message displayed on the terminal device and can adjust the beam elevation angle accordingly.

[0210] In an embodiment of the present application, the terminal device can also play a prompt message to the user via voice announcement to inform the user of the second angle. For example, when the first angle is the beam pointing azimuth angle and the second angle is the beam pointing elevation angle, the terminal device can play a prompt message to the user stating "Beam pointing elevation angle is A, current elevation angle is B." Upon receiving the prompt message played on the terminal device, the user can adjust the beam elevation angle accordingly.

[0211] S4033: Receive adjustment of the pointing angle of the initial beam by the user according to the second angle, and obtain a first beam.

[0212] Among them, when the second angle is the beam pointing elevation angle, the pointing angle of the initial beam is adjusted, that is, the elevation angle of the initial beam is adjusted; when the second angle is the beam pointing azimuth angle, the pointing angle of the initial beam is adjusted, that is, the azimuth angle of the initial beam is adjusted.

[0213] In an embodiment of the present application, after the user notifies the second angle, the user can adjust the pointing angle of the initial beam according to the second angle, and the terminal device responds to the user's adjustment operation to obtain the first beam.

[0214] It can be understood that since the beam is generated by the antenna element of the terminal device, the angle of the beam can be adjusted by adjusting the angle (azimuth or elevation) of the terminal device. Taking the first angle as the azimuth angle of the beam pointing and the second angle as the elevation angle of the beam pointing as an example, after the terminal device notifies the user of the second angle, the user can adjust the elevation angle of the terminal device to the second angle. When the elevation angle of the terminal device is adjusted to the second angle, the elevation angle of the initial beam generated by the antenna element of the terminal device is also the second angle.

[0215] In an embodiment of the present application, when the user adjusts the angle of the terminal device, the terminal device responds to the user's adjustment operation and obtains the tilt angle after the initial beam adjustment. When the tilt angle after the initial beam adjustment is the second angle, the first beam is obtained.

[0216] To facilitate user adjustment, in an embodiment of the present application, the user's adjustment results can also be displayed. Taking the first angle as the beam pointing azimuth angle and the second angle as the beam pointing elevation angle as an example, when the user adjusts the elevation angle of the terminal device, the terminal device can prompt the user of the adjustment result, that is, the adjusted elevation angle of the terminal device. In this way, the user can quickly adjust the elevation angle of the terminal device to the second angle based on the prompted adjustment result.

[0217] Taking into account the limitations of technical level when users adjust the pointing angle of the initial beam, in order to facilitate user operation and improve user experience, in some embodiments, the terminal device can also detect the angle (azimuth or elevation) of the terminal device, and when the difference between the angle of the terminal device and the second angle is within a preset range, send an instruction message to the user to end the adjustment.

[0218] Taking the first angle as the beam pointing azimuth angle and the second angle as the beam pointing elevation angle as an example, when the user adjusts the elevation angle of the terminal device, the terminal device can monitor the elevation angle, and when it is detected that the difference between the elevation angle of the terminal device and the second angle is within the preset range, a prompt message to end the adjustment is sent to the user. For example, as shown in Figure 12, when it is detected that the difference between the elevation angle of the terminal device and the second angle is within the preset range, a prompt message "The current elevation has been in line with the preset range, end adjustment" can be displayed on the display interface. It can be understood that the preset range can be set according to actual needs, and the embodiments of the present application do not impose specific restrictions.

[0219] For a structure configured with at least two antenna elements, with at least two antenna elements located in the same straight line, the embodiment of the present application realizes automatic adjustment of the beam pointing angle by adjusting the phase difference of the signal reaching the antenna elements, and corrects the beam pointing angle by prompting the user and combining the user's operation, thereby improving the alignment efficiency while ensuring the alignment accuracy.

[0220] It can be understood that after the first beam is directed to the target satellite, that is, after the radiation direction of the antenna element of the terminal device is aligned with the target satellite, the terminal device can establish a communication connection with the target satellite, thereby sending information to the target satellite and realizing satellite communication.

[0221] Taking into account that when the target satellite is a low-orbit satellite, the target satellite moves relatively fast, in order to ensure the quality of satellite communication, in an embodiment of the present application, the movement of the target satellite can be continuously aligned, so that the beam generated by the antenna element of the terminal device can always be aligned with the target satellite during the communication process.

[0222] In an embodiment of the present application, the motion trajectory of the target satellite in the future time period can be obtained based on the motion information of the target satellite at the first moment, and the target satellite can be continuously aligned based on the motion trajectory of the target satellite in the future time period.

[0223] Please refer to FIG. 13 . The continuous alignment process of the target satellite in the embodiment of the present application can be achieved through steps S501 to S504 .

[0224] S501: Obtaining the motion information of the target satellite according to the ephemeris information of the target satellite.

[0225] The motion information of the target satellite is used to characterize the motion speed of the target satellite in the earth coordinate system.

[0226] In an embodiment of the present application, the movement speed of the target satellite in the earth coordinate system at the first moment is associated with the semi-major axis of the orbit of the target satellite at the first moment, the eccentricity of the orbit, the orbital inclination of the orbit, the right ascension of the ascending node of the target satellite in the orbit at the first moment, the argument of perigee, and the true anomaly angle of the target satellite in the orbit at the first moment.

[0227] Exemplarily, the speed of the target satellite in the earth coordinate system at the first moment and the semi-major axis of the orbit of the target satellite at the first moment, the eccentricity of the orbit, the orbital inclination of the orbit, the right ascension of the ascending node of the target satellite in the orbit at the first moment, the argument of periapsis, and the true anomaly of the target satellite in the orbit at the first moment satisfy the twelfth relationship, and the twelfth relationship can be formula (12).

[0228] Among them, Vx s (t) is the velocity component of the target satellite on the x-axis in the Earth coordinate system, Vy s (t) is the velocity component of the target satellite on the y-axis in the Earth coordinate system, Vz s (t) is the velocity component of the target satellite on the z-axis in the Earth coordinate system. The velocity of the target satellite in the Earth coordinate system at the first moment can be expressed as (Vx s (t), Vy s (t), Vz s (t)), Ω is the right ascension of the ascending node in the target satellite's ephemeris information, that is, the right ascension of the ascending node of the satellite in its orbit, i is the orbital inclination of the orbit in the target satellite's ephemeris information, ω is the argument of periapsis in the target satellite's ephemeris information, that is, the argument of periapsis in its orbit, ν(t) is the true anomaly of the target satellite in its orbit at the first moment, a(t) is the semi-major axis of the target satellite's orbit at the first moment, and e is the eccentricity in the satellite's ephemeris information, that is, the eccentricity of the satellite's orbit.

[0229] It can be understood that the true anomaly of the target satellite in its orbit at the first moment and the semi-major axis of the orbit of the target satellite at the first moment can refer to the description of the above formulas (1) to (4), and will not be repeated here.

[0230] S502: Obtain a second position of the target satellite at a second moment according to the ephemeris information of the target satellite.

[0231] The second moment refers to any moment after the first moment, and the position of the target position at the first moment is the first position.

[0232] In an embodiment of the present application, the second position at the second moment can be used to indicate the position of the target satellite in the earth coordinate system at any moment in the future.

[0233] In an embodiment of the present application, the second position of the target satellite at the second moment is associated with the motion information of the target satellite. Therefore, the motion information of the target satellite can be obtained based on the ephemeris information of the target satellite, and then the second position of the target satellite at the second moment can be obtained based on the motion information of the target satellite.

[0234] In an embodiment of the present application, the second position of the target satellite at the second moment and the motion information of the target satellite satisfy a thirteenth relationship, and the thirteenth relationship can be formula (13).

[0235] Where t is the first moment, t+T is the second moment, and T is the time difference between the first moment and the second moment. is the coordinate of the target satellite on the x-axis of the earth coordinate system at the second moment, is the coordinate of the target satellite on the y-axis of the earth coordinate system at the second moment, is the coordinate of the target satellite on the z-axis of the earth coordinate system at the second moment, is the coordinate of the target satellite on the x-axis of the earth coordinate system at the first moment, is the coordinate of the target satellite on the y-axis of the earth coordinate system at the first moment, is the coordinate of the target satellite on the z-axis of the earth coordinate system at the first moment.

[0236] S503: Obtain a second phase difference at a second moment according to the ephemeris information of the target satellite.

[0237] Among them, the second phase difference at the second moment is associated with the beam pointing azimuth angle and beam pointing elevation angle required for the second beam generated at the second moment, and the beam pointing azimuth angle and beam pointing elevation angle required for the second beam generated at the second moment are associated with the posture information of the terminal device at the second moment and the second position of the target satellite at the second moment.

[0238] Therefore, in an embodiment of the present application, the motion information of the target satellite can be obtained based on the ephemeris information of the target satellite, and then the second position of the target satellite at the second moment can be obtained based on the motion information of the target satellite. Then, the beam pointing azimuth and beam pointing elevation required for the second beam can be obtained based on the posture information of the terminal device at the second moment and the second position of the target satellite at the second moment. The second phase difference at the second moment can be obtained based on the beam pointing azimuth and beam pointing elevation required for the second beam. The specific process can refer to step S402, that is, the process of obtaining the first phase difference based on the satellite ephemeris information, which will not be repeated here.

[0239] S504: Generate a second beam according to the second phase difference.

[0240] The second beam points to a second position of the target satellite at a second moment.

[0241] After obtaining the second phase difference, the second phase difference can be applied to the antenna element so that the phase difference of the signal reaching the antenna element becomes the second phase difference. In this way, the second beam generated by the antenna element at the second moment can point to the second position of the target satellite. For details, please refer to step S403 and will not be repeated here.

[0242] The embodiment of the present application can obtain the position of the target satellite at different times through the ephemeris information of the target satellite, and obtain the phase difference to be adjusted when the signal reaches the antenna element at different times based on the position of the target satellite at different times. Therefore, the beam of the antenna element is adjusted according to the phase difference to be adjusted when the signal reaches the antenna element at different times, so that the beam generated by the antenna element can always point to the target satellite, thereby realizing automatic alignment and tracking of the target satellite, improving alignment efficiency, and improving user experience while ensuring communication quality.

[0243] To improve the accuracy of satellite tracking and further ensure communication quality, in an embodiment of the present application, the position of the target satellite can be regularly updated during the tracking process to reduce the alignment error caused by the position error of the target satellite. Referring to FIG. 14 , the satellite tracking method provided in an embodiment of the present application can also include:

[0244] S601: Acquire updated ephemeris information sent by a target satellite via a non-terrestrial network.

[0245] After the target satellite establishes a communication connection with the terminal device, the target satellite can directly exchange information with the terminal device, so the terminal device can directly receive the ephemeris information sent by the satellite.

[0246] In an embodiment of the present application, after the target satellite establishes a communication connection with the terminal device, during the process of the terminal device tracking the target satellite, the terminal device can send an ephemeris information request to the target satellite according to a set time step to request updated ephemeris information. After receiving the ephemeris information request sent by the terminal device, the target satellite responds to the ephemeris information request and sends the updated ephemeris information to the terminal device through the non-ground network. In this way, the terminal device can obtain the updated ephemeris information of the target satellite.

[0247] In an embodiment of the present application, the target satellite may also send an indication message to the terminal device according to a set time step, and the indication message includes the updated ephemeris information of the target satellite. The target satellite may send the prompt message to the terminal device by broadcasting or by sending a dedicated instruction. For example, the dedicated instruction may be a radio resource control (RRC) instruction or a MAC control element (MAC CE) instruction, which is not limited to a specific instruction and can be set according to actual needs.

[0248] S602: Obtain a third position of the target satellite according to the updated ephemeris information sent by the target satellite.

[0249] After receiving the updated ephemeris information of the target satellite, the position of the target satellite, ie, the third position of the target satellite, can be re-determined according to the updated ephemeris information.

[0250] In the embodiment of the present application, the third position of the target satellite refers to the latest position determined by updating the ephemeris information during the process of tracking and communicating between the terminal device and the target satellite.

[0251] It can be understood that obtaining the third position of the target satellite according to the updated ephemeris information sent by the target satellite can refer to step S401, which will not be described in detail here.

[0252] S603: Obtain a third phase difference according to the updated ephemeris information sent by the target satellite.

[0253] Accordingly, in an embodiment of the present application, the third position of the target satellite can also be obtained based on the updated ephemeris information, and then the beam pointing azimuth angle and beam pointing elevation angle required for the third beam can be obtained based on the position information of the terminal device at the current moment and the third position of the target satellite. The third phase difference can be obtained based on the beam pointing azimuth angle and beam pointing elevation angle required for the third beam. The specific process can be referred to step S402 and will not be repeated here.

[0254] It can be understood that the third beam refers to a beam regenerated based on updated ephemeris information.

[0255] S604: Generate a third beam according to the third phase difference.

[0256] The third beam points to the third position.

[0257] After obtaining the third phase difference, the third phase difference can be applied to the antenna element so that the phase difference of the signal reaching the antenna element becomes the third phase difference. In this way, the third beam generated by the antenna element after receiving the updated ephemeris information can point to the third position of the target satellite. For details, please refer to step S403, which will not be repeated here.

[0258] After establishing a communication connection with the target satellite, the embodiment of the present application obtains updated ephemeris information sent by the target satellite during the process of tracking the target satellite, and corrects the position of the target satellite and the generated beam. This allows the terminal device to always point to the target satellite during the process of communicating with the satellite, thereby improving the accuracy of satellite alignment, ensuring communication quality, and enhancing user experience.

[0259] Based on the same concept, an embodiment of the present application provides an electronic device, which may be the terminal device described in the above embodiment. The electronic device may specifically include a communication interface, a memory, a processor, and one or more computer programs. The communication interface, memory, and processor may be connected via one or more communication buses. The one or more computer programs are stored in the memory and configured to be executed by the processor. When executed by the processor, the one or more computer programs implement the functions or steps of the above-described satellite alignment method.

[0260] An embodiment of the present application further provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processing circuit, the functions or steps in the above-mentioned satellite alignment method are implemented.

[0261] In addition, an embodiment of the present application can also provide a chip system, which includes a processing circuit and a storage medium, wherein the storage medium stores computer program instructions. When the computer program instructions are executed by the processing circuit, the functions or steps in the above-mentioned satellite alignment method are implemented.

[0262] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and conciseness of description, the specific working processes of the chip system, electronic device and computer-readable storage medium described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0263] It is understandable that the steps of the method or algorithm described in conjunction with the embodiments of the present application can be implemented in a hardware manner, or can be implemented by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a read-only optical disc, or any other form of storage medium. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). In addition, the ASIC can be located in an electronic device. Of course, the processor and the storage medium can also be present in an electronic device as discrete components.

[0264] In an optional manner, when software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is implemented in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disk (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)).

[0265] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A satellite alignment method, characterized in that: Applied to a terminal device, the method comprises: Get satellite ephemeris information; Obtaining a first position of a target satellite according to the satellite ephemeris information; Obtaining a first phase difference according to the satellite ephemeris information; A first beam is generated according to the first phase difference, and the first beam is directed to the first position.

2. The method for pointing a star according to claim 1, characterized in that: The obtaining a first phase difference according to the satellite ephemeris information includes: Obtaining a first phase difference according to the posture information of the terminal device and the satellite ephemeris information; The first phase difference is associated with a beam pointing azimuth angle and a beam pointing elevation angle required for the first beam; The beam pointing azimuth angle and beam pointing elevation angle required for the first beam are associated with the posture information of the terminal device and the first position.

3. The method for pointing a star according to claim 2, characterized in that: The terminal device is configured with at least four antenna elements, and the at least four antenna elements are symmetrically arranged in a first direction and a second direction, and the first direction is perpendicular to the second direction; The first phase difference is associated with a beam pointing azimuth angle and a beam pointing elevation angle required for the first beam, including: A first phase offset of a signal arriving at the antenna element in the first direction is associated with a distance between any two adjacent antenna elements in the first direction, the beam pointing azimuth, and a wavelength of the signal; The second phase offset of the signal reaching the antenna element in the second direction is associated with the distance between any two adjacent antenna elements in the second direction, the beam pointing tilt angle, and the wavelength of the signal; The first phase difference includes the first phase offset and the second phase offset.

4. The method for pointing a star according to claim 2, characterized in that: The terminal device is configured with at least two antenna elements, the at least two antenna elements are located in the same straight line, and the first phase difference is the phase difference of the signal reaching the antenna elements; The first phase difference is associated with a beam pointing azimuth angle and a beam pointing elevation angle required for the first beam, including: The first phase difference is associated with the distance between any two adjacent antenna elements, a first angle, and a wavelength of a signal, wherein the first angle is the beam pointing azimuth angle or the beam pointing elevation angle.

5. The method for pointing a star according to claim 4, characterized in that: The generating a first beam according to the first phase difference comprises: generating an initial beam according to the first phase difference; Notify the user of a second angle, where when the first angle is the beam pointing azimuth angle, the second angle is the beam pointing tilt angle, and when the first angle is the beam pointing tilt angle, the second angle is the beam pointing azimuth angle; An adjustment of the pointing angle of the initial beam by the user according to the second angle is received to obtain the first beam.

6. The satellite alignment method according to any one of claims 2 to 5, characterized in that: The position information of the terminal device includes the terminal position, azimuth angle and elevation angle of the terminal device; The beam pointing azimuth angle and the beam pointing elevation angle required by the first beam are associated with the posture information of the terminal device and the first position, including: The relative position of the target satellite with respect to the terminal device is associated with the terminal position of the terminal device and the first position of the target satellite; The relative azimuth angle and relative elevation angle of the target satellite relative to the terminal device have an angle conversion relationship with the relative position; The beam pointing azimuth angle is the difference between the relative azimuth angle and the azimuth angle of the terminal device, and the beam pointing elevation angle is the difference between the relative elevation angle and the elevation angle of the terminal device.

7. The satellite alignment method according to any one of claims 1 to 6, characterized in that: The satellite ephemeris information includes the ephemeris information of the target satellite; the method further includes: Obtaining motion information of the target satellite according to the ephemeris information of the target satellite; According to the ephemeris information of the target satellite, a second position of the target satellite at a second moment is obtained, wherein the second position is associated with the motion information of the target satellite, the second moment is any moment after the first moment, and the position of the target satellite at the first moment is the first position; Obtaining a second phase difference at the second moment according to the ephemeris information of the target satellite; A second beam is generated according to the second phase difference, and the second beam points to the second position at the second moment.

8. The satellite alignment method according to any one of claims 1 to 7, characterized in that: The satellite ephemeris information is sent by the target satellite to the terminal device via a non-terrestrial network.

9. The satellite alignment method according to any one of claims 1 to 7, characterized in that: The satellite ephemeris information includes ephemeris information of a plurality of satellites, and obtaining a first position of a target satellite according to the satellite ephemeris information includes: Determine the target satellite and a first position of the target satellite from the plurality of satellites according to the satellite ephemeris information; The target satellite is a satellite among the multiple satellites that meets preset conditions, and the preset conditions include one or more of the following conditions: the target satellite is the closest to the terminal device, the target satellite has the strongest signal received by the terminal device, and the target satellite has an alignment history with the terminal device.

10. The satellite alignment method according to claim 9, characterized in that: The satellite ephemeris information is sent by the access network device to the terminal device via the ground network.

11. A terminal device, characterized in that: The terminal device comprises: A processor, configured to execute computer program instructions to support the terminal device to implement the method as described in any one of claims 1-10.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processing circuit, the method according to any one of claims 1 to 10 is implemented.

13. A computer program product comprising instructions, characterized in that When the computer program product is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 10.

14. A chip system, characterized in that: The chip system includes a processing circuit and a storage medium, wherein the storage medium stores computer program instructions; when the computer program instructions are executed by the processing circuit, the method as described in any one of claims 1 to 10 is implemented.

15. A terminal device, characterized in that: The terminal device comprises a unit or a module for implementing the method according to any one of claims 1 to 10.

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