Method for aligning electronic device with satellite and electronic device

Abstract

The present application provides a method for aligning an electronic device with a satellite and an electronic device. In the method, a user is guided to adjust the attitude of a device to complete satellite alignment, and displayed pitch angle difference information and azimuth angle difference information, or displayed roll angle difference information are used for representing the difference between a current attitude and a target attitude caused by the change in the attitude of an electronic device. When the difference is less than a preset difference value, the electronic device completes satellite alignment. By implementing the technical solution provided by the present application, the user experience in the satellite alignment process can be optimized.

Description

Method for aligning electronic equipment with satellite and electronic equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 15, 2023, with application number 202311525600.5 and application name “Method for aligning electronic equipment with satellites and electronic equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of terminals and satellite communications, and in particular to a method for aligning an electronic device with a satellite and an electronic device. Background Art

[0003] Currently, some electronic devices (such as mobile phones) can use satellite communication technology to communicate using satellites as relay stations. For example, the electronic device transmits a signal to a target satellite through its built-in antenna. Upon receiving the signal, the target satellite amplifies, processes, and frequency-converts the signal in space before forwarding it to the target device via a receiving station.

[0004] Satellite communication technology is particularly suitable for communicating in areas such as oceans, deserts, grasslands, and uninhabited areas where mobile communications are not available, cannot be reached, or where communication systems are disrupted. One method for ensuring communication quality via satellite involves aligning the antenna of an electronic device with the target satellite. This minimizes signal attenuation and interference during transmission, while also maximizing reception of signals transmitted by the target satellite.

[0005] How the electronics align the antenna's radiation direction toward the target satellite is worth discussing.

[0006] Summary of the Invention

[0007] This application provides a method and electronic device for aligning an electronic device with a satellite. The method guides a user to adjust the device's attitude to achieve satellite alignment, and displays a prompt indicating the difference between the current attitude and the target attitude caused by the change in the electronic device's attitude. When the difference is less than a preset difference value, the electronic device completes satellite alignment.

[0008] In a first aspect, the present application provides a method for aligning an electronic device with a satellite, the method comprising: displaying pitch angle difference information and azimuth angle difference information for guiding adjustment of the device attitude; wherein the pitch angle difference information is used to indicate: the pitch angle difference between the pitch angle of the target attitude of the electronic device and the pitch angle of the current attitude in a reference coordinate system, and the azimuth angle difference information is used to indicate: the azimuth angle difference between the azimuth angle of the target attitude and the azimuth angle of the current attitude in the reference coordinate system; the target attitude is the attitude when the radiation direction of the antenna in the electronic device is aligned with the target satellite; in response to an operation of adjusting the azimuth angle of the electronic device, changing the display state of the azimuth angle difference information; in response to an operation of adjusting the pitch angle of the electronic device, changing the display state of the pitch angle difference information; when the device attitude is adjusted by guiding the pitch angle difference information and the azimuth angle difference information, the electronic device determines that the radiation direction of the antenna is aligned with the target satellite when the azimuth angle difference information after the state change indicates that the azimuth angle difference is less than a first threshold and the pitch angle difference information after the state change indicates that the pitch angle difference is less than a second threshold.

[0009] In the above embodiment, the display state of the azimuth difference information changes only when the azimuth of the electronic device is adjusted, and the display state of the pitch difference information changes only when the pitch is adjusted. When the user adjusts the azimuth of the electronic device, the pitch difference information of the electronic device remains unchanged. When the pitch of the electronic device is adjusted, the azimuth difference information of the electronic device remains unchanged. That is, the user's adjustment of the electronic device and the display state of the difference information (including the pitch difference information, the azimuth difference information, etc.) change accordingly.

[0010] In combination with the first aspect, in some embodiments, the method also includes: displaying pitch angle difference information, azimuth angle difference information and roll angle difference information for guiding adjustment of the device posture; wherein the roll angle difference information is used to indicate: the roll angle difference between the roll angle of the target posture and the roll angle of the current posture in the reference coordinate system; in response to the operation of adjusting the roll angle of the electronic device, changing the display state of the roll angle difference information; when the pitch angle difference information, the azimuth angle difference information and the roll angle difference information are used to guide the adjustment of the device posture, the azimuth angle difference information after the state change indicates that the azimuth angle difference is less than the first threshold, the pitch angle difference information after the state change indicates that the pitch angle difference is less than the second threshold, and the pitch angle difference information after the state change indicates that the pitch angle difference is less than the third threshold, the electronic device determines that the radiation direction of the antenna is aligned with the target satellite.

[0011] In the above embodiment, the display state of the roll angle difference information changes only when the roll angle of the electronic device is adjusted. When the user adjusts the roll angle of the electronic device, the pitch angle difference information and azimuth angle difference information of the electronic device remain unchanged. Similarly, when the user adjusts the pitch angle of the electronic device, the azimuth angle difference information and roll angle difference information of the electronic device remain unchanged. In other words, the user's adjustment of the electronic device and the display state of the difference information (including the pitch angle difference information, the azimuth angle difference information, etc.) change accordingly.

[0012] In combination with the first aspect, in some embodiments, before displaying the pitch angle difference information and azimuth angle difference information used to guide the adjustment of the device posture, the method also includes: determining N1 rotation matrices used to rotate the second vector to coincide with the first vector, where N1 is an integer greater than or equal to 1; the first vector is a vector of the electronic device pointing to the target satellite in the initial posture, and the second vector is a vector in the radiation direction of the antenna in the initial posture; decomposing the N1 rotation matrices into angle parameters to obtain N1 angle parameters, where one angle parameter includes a pitch angle, an azimuth angle, and a roll angle; and selecting an angle parameter from the N1 angle parameters to represent the target posture.

[0013] In the above embodiment, the first vector is the vector in the following embodiment The second vector is the vector in the following embodiment

[0014] In combination with the first aspect, in some embodiments, when the device posture is adjusted by guiding the pitch angle difference information and the azimuth angle difference information but not the roll angle difference information, an angle parameter is selected from the N1 angle parameters to represent the target posture, specifically including: the electronic device determines that the first angle parameter among the N1 angle parameters represents the target posture; the pitch angle, azimuth angle and roll angle in the first angle parameter are the pitch angle, azimuth angle and roll angle of the target posture in the reference coordinate system, respectively; wherein the roll angle of the first angle parameter among the N1 angle parameters is closest to the roll angle of the current posture, and the pitch angle in the first angle parameter is greater than 0° but less than the preset angle value.

[0015] In the above embodiment, when the pitch angle of the target posture is greater than 0° but less than the preset angle value, the user can achieve an appropriate head tilt when viewing the electronic device. When the roll angle of the target posture is closest to the roll angle of the current posture, the user can reduce the need to adjust the roll angle, thereby minimizing the head tilt of the user in the current posture.

[0016] In combination with the first aspect, in some embodiments, selecting an angle parameter from the N1 angle parameters to represent the target posture specifically includes: the electronic device determining that a second angle parameter from the N1 angle parameters represents the target posture, the pitch angle, azimuth angle, and roll angle in the second angle parameter being the pitch angle, azimuth angle, and roll angle of the target posture in the reference coordinate system, respectively; wherein the roll angle of the second angle parameter among the N1 angle parameters is the smallest, and the pitch angle in the first angle parameter is greater than 0° but less than a preset angle value. In a case where the device posture is adjusted by guiding the pitch angle difference information and the azimuth angle difference information but not the roll angle difference information, the method further includes: the electronic device determining that the second roll angle is less than a preset angle value.

[0017] In the above embodiment, the roll angle of the target attitude is less than a preset value (e.g., 1° in the following embodiment), and the roll angle is 0° in the initial attitude. This indicates that no excessive roll adjustment is required from the initial attitude to the target attitude. The satellite is not at a position such as the zenith where roll adjustment is required for alignment. Therefore, accurate tracking can be achieved by adjusting only the roll and pitch angles of the electronic device.

[0018] In combination with the first aspect, in some embodiments, when adjusting the device posture by guiding the pitch angle difference information, azimuth angle difference information and roll angle difference information, the method also includes: the electronic device determines that the second roll angle is greater than or equal to the preset angle value.

[0019] In the above embodiment, the roll angle of the target attitude is greater than or equal to the preset angle value, and the roll angle in the initial attitude is 0°. This indicates that the roll angle needs to be adjusted from the initial attitude to the target attitude. If the satellite is at a position such as the zenith, where the roll angle adjustment is required for alignment, the roll angle, pitch angle, and yaw angle of the electronic device need to be adjusted to achieve accurate satellite alignment.

[0020] In combination with the first aspect, in some embodiments, when displaying pitch angle difference information and azimuth angle difference information for guiding adjustment of the device posture, the method also includes: displaying that the adjustment method corresponding to the pitch angle of the electronic device is: adjusting by rotating the electronic device by moving the arm up and down; displaying that the adjustment method corresponding to the azimuth angle of the electronic device is: adjusting by rotating the body to rotate the electronic device.

[0021] In the above embodiment, in the ground coordinate system, the body can be considered a celestial direction. Therefore, adjusting the azimuth of the electronic device can be guided by rotating the body, while moving the arm up and down can change the pitch angle of the electronic device. This allows the user to adjust the device's posture in a comfortable manner. After adjusting the electronic device from its current posture to the target posture, the posture of the electronic device can be maintained at a relatively comfortable level. Directly instructing the user on how to adjust the device can guide the user more quickly, expediting the completion of the alignment process.

[0022] In combination with the first aspect, in some embodiments, when displaying the roll angle information, the method further includes: displaying that the adjustment method corresponding to the roll angle of the electronic device is: adjusting by rotating the electronic device perpendicular to the screen.

[0023] In the above embodiment, directly telling the user to adjust the roll angle of the device can guide the user to adjust the device posture more quickly and speed up the completion of the alignment.

[0024] In combination with the first aspect, in some embodiments, when displaying pitch angle difference information, azimuth angle difference information and roll angle difference information for guiding the adjustment of the device posture, the method also includes: the electronic device displays the adjustment method corresponding to the first rotation angle; after the adjustment of the first rotation angle is completed, the electronic device displays the adjustment method corresponding to the second rotation angle; after the adjustment of the second rotation angle is completed, the electronic device displays the adjustment method corresponding to the third rotation angle; wherein the first rotation angle, the second rotation angle and the third rotation angle are one of the azimuth angle, the pitch angle and the roll angle of the electronic device.

[0025] In the above embodiment, the electronic device can sequentially display the adjustment prompt information corresponding to each rotation angle (pitch, azimuth, and roll) at a time. After completing the adjustment of one rotation angle, the electronic device will sequentially display the adjustment prompt information corresponding to the next rotation angle. Based on the displayed adjustment prompt information corresponding to each rotation angle, the user is guided to adjust the device posture, thereby accelerating the completion of the alignment process.

[0026] In combination with the first aspect, in some embodiments, the reference coordinate system is a ground coordinate system established with celestial, north, and east as three axes, and the initial posture is: the electronic device is parallel to the plane formed by the north and the east, and the top of the electronic device points to the north, then the N1 rotation matrices are each decomposed into angle parameters, specifically including: the electronic device decomposes the N1 rotation matrices into the Euler angles of the inward rotation ZXZ mode as angle parameters; the Euler angles of the ZXZ mode include: the angle of first rotating around the Z axis of the electronic device, then the angle of rotating around the X axis of the electronic device, and the angle of rotating around the Z axis again.

[0027] In a second aspect, an embodiment of the present application provides an electronic device, comprising: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the electronic device to execute the method implemented in the first aspect.

[0028] In a third aspect, an embodiment of the present application provides a computer-readable storage medium comprising instructions, which, when executed on an electronic device, causes the electronic device to execute the method implemented in the first aspect.

[0029] In a fourth aspect, an embodiment of the present application provides a chip system, which is applied to an electronic device. The chip system includes one or more processors, which are used to call computer instructions to enable the electronic device to execute the method implemented in the first aspect.

[0030] In a fifth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on an electronic device, enables the electronic device to execute the method implemented in the first aspect.

[0031] It is understandable that the electronic device provided in the second aspect, the computer storage medium provided in the third aspect, the chip system provided in the fourth aspect, and the computer program product provided in the fifth aspect are all used to perform the methods provided in the embodiments of the present application. Therefore, other beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG1 is a schematic diagram showing the radiation direction and the transmission link direction;

[0033] FIG2 shows an exemplary scenario involving prompt information and user adjustment of device posture;

[0034] FIG3 shows an exemplary reference coordinate system;

[0035] FIG4A is a schematic diagram showing the relationship between the pitch angle of an electronic device and the posture of a user viewing a screen;

[0036] FIG4B shows a schematic diagram showing the relationship between the roll angle of an electronic device and the screen viewing posture of a user;

[0037] FIG5A shows an exemplary scenario involving guiding the user to adjust the device posture based on the star-pointing prompt information 11;

[0038] FIG5B shows another exemplary star-pointing prompt information 11;

[0039] 6A-6D illustrate an exemplary scenario involving guiding the user to adjust the device posture based on the star-pointing prompt information 12;

[0040] FIG7 shows an exemplary scenario involved in guiding a user to adjust a device posture in a sequential manner;

[0041] FIG8 shows an exemplary flow chart of adjusting the device attitude to complete satellite alignment in Example 1;

[0042] FIG9 is a schematic diagram showing an electronic device decomposing a rotation matrix according to a ZXZ pattern;

[0043] FIG10 shows an exemplary flow chart of adjusting the device attitude to complete satellite alignment in Example 2;

[0044] FIG11 shows an exemplary flow chart of adjusting the device attitude to complete satellite alignment in Example 3;

[0045] FIG12 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In one solution, to align the radiation direction of a satellite antenna with a target satellite, an electronic device can perform alignment using the elevation and azimuth differences between the radiation direction (of the satellite antenna) and the transmission link direction. When the elevation and azimuth differences are less than a preset difference, the electronic device can determine that the radiation direction coincides with the transmission link direction, indicating that the radiation direction of the satellite antenna is aligned with the target satellite. Referring to FIG1 , when the elevation and azimuth differences are greater than or equal to a preset difference, the electronic device can determine that the radiation direction does not coincide with the transmission link direction. In this case, the electronic device determines the pitch angle (not equal to 0) and azimuth (not equal to 0) that need to be adjusted based on the elevation and azimuth differences. The electronic device can then prompt the user to adjust the device's posture so that the radiation direction coincides with the transmission link direction. Adjusting the device's posture involves adjusting the pitch and azimuth of the electronic device in a reference coordinate system according to the elevation and azimuth differences that need to be adjusted. It should be noted that if the magnitude of the pitch angle to be adjusted is equal to 0 or the magnitude of the azimuth angle is equal to 0, the electronic device does not need to adjust the pitch angle or azimuth angle of the electronic device in the reference coordinate system.

[0047] Among them, the satellite antenna refers to the antenna used in the electronic device to communicate with the target satellite. As shown in Figure 1, the radiation direction of the satellite antenna refers to the radiation direction (optimal radiation direction) corresponding to the main lobe of the satellite antenna (not shown in the figure), that is, the direction of maximum gain of the signal when the satellite antenna transmits the signal, and the signal strength in this radiation direction is the greatest. The target satellite can be a satellite determined by the electronic device from at least one satellite (for example, a geosynchronous orbit (GEO)) according to the star selection rules. The process of the electronic device determining the target satellite is also called star selection. The star selection rules include but are not limited to: determining the satellite with the strongest signal among at least one satellite as the target satellite. Alternatively, determining the satellite with the beam center closest to the electronic device among at least one satellite as the target satellite.

[0048] Referring again to FIG. 1 , the transmission link direction refers to the direction from the electronic device to the target satellite.

[0049] The elevation angle difference between the radiation direction and the transmission link direction refers to the difference between the elevation angle of the satellite antenna's radiation direction and the elevation angle of the transmission link direction in the reference coordinate system. The azimuth angle difference between the radiation direction and the transmission link direction refers to the difference between the azimuth angle of the satellite antenna's radiation direction and the azimuth angle of the transmission link direction in the reference coordinate system.

[0050] In some possible cases, the reference coordinate system involved here may be a ground coordinate system. For the relevant description of the ground coordinate system, please refer to the description of FIG3 below, which will not be repeated here.

[0051] It should be understood that the electronic device aligning the radiation direction of the satellite antenna with the target satellite can be understood as the electronic device aligning the satellite. The process of the electronic device aligning the radiation direction of the satellite antenna with the target satellite can be simply referred to as pointing the satellite.

[0052] For the convenience of description, the pitch angle and azimuth angle of the electronic device in the reference coordinate system may be referred to as the pitch angle of the electronic device and the azimuth angle of the electronic device, respectively, in the following text.

[0053] Generally speaking, when an electronic device guides a user to adjust the electronic device's pitch and azimuth angles based on the elevation and azimuth angle differences between the radiation direction and the transmission link direction to achieve alignment, the electronic device can guide the user to adjust the electronic device's pitch and azimuth angles to complete alignment. After detecting the user's adjustment of the device's posture, the electronic device recalculates the elevation and azimuth angle differences to determine whether alignment is complete. If not, the electronic device continues to guide the user to adjust the device's posture. This process repeats until alignment is complete.

[0054] When guiding the user to adjust the device's posture, the electronic device displays prompts A and B. Prompt A guides the user to adjust the electronic device's pitch angle, and the state of prompt A changes when the pitch angle difference changes. When the pitch angle difference is less than a preset difference, prompt A may indicate that the pitch angle adjustment is complete. Prompt B guides the user to adjust the electronic device's azimuth angle, and the state of prompt B changes when the azimuth angle difference changes. When the azimuth angle difference is less than a preset difference, prompt B may indicate that the azimuth angle adjustment is complete. This can also be understood as follows: when the user adjusts the pitch angle in response to prompt A, the change in the pitch angle difference is fed back to prompt A, continuing to guide the user to adjust the pitch angle until the pitch angle difference is less than the preset difference. Furthermore, when the user adjusts the azimuth angle in response to prompt B, the change in the azimuth angle difference is fed back to prompt B, continuing to guide the user to adjust the azimuth angle until the azimuth angle difference is less than the preset difference.

[0055] Based on the foregoing, generally speaking, changes in the pitch angle of an electronic device correspond to adjusting the pitch angle difference, and changes in the azimuth angle of an electronic device correspond to adjusting the azimuth angle difference, which is reasonable. However, when the radiation direction is not parallel to the plane where the screen of the electronic device is located, when the user adjusts the pitch angle of the electronic device based on prompt information A without changing the azimuth angle of the electronic device, in addition to the pitch angle of the radiation direction changing with the change in the pitch angle of the electronic device, the azimuth angle of the radiation direction will also change, thereby causing the azimuth angle difference to change. This causes the status of prompt information A and prompt information B to change at the same time when the user adjusts the pitch angle of the electronic device. There will be a situation where the changes in the prompt information (prompt information A and prompt information B) used to guide the user to adjust the posture of the device are inconsistent with the actual operation of the user, causing the user to misunderstand.

[0056] Referring to Figure 2, Figure 2 shows an exemplary scenario involving prompt information (prompt information A and prompt information B) and the user adjusting the posture of the device. In Figure 2, an exemplary prompt information A includes a "black circle" icon and a "white circle" icon. When the user adjusts the electronic device up and down to change the pitch angle of the electronic device, the "white circle" can move to indicate that the pitch angle difference is changing. When the center of the "white circle" coincides with the center of the "black circle", it indicates that the pitch angle difference is less than the preset difference. An exemplary prompt information B includes a top black area and a satellite icon. When the user rotates the electronic device to change the azimuth angle of the electronic device, the satellite icon can move to indicate that the azimuth angle difference is changing. When the satellite icon is aligned with the top black area, it indicates that the azimuth angle difference is less than the preset difference.

[0057] Taking the content in Figure 2 as an example, the changes in the prompt information (prompt information A and prompt information B) guiding the user to adjust the device posture in the aforementioned content are inconsistent with the user's actual operations. The situation may include: when the user adjusts the pitch angle of the electronic device, the "white circle" icon and the satellite icon are changing, but the prompt information prompts the user to adjust the angle of the mobile phone up and down (that is, adjust the pitch angle of the electronic device) in order to make the two circles overlap, and the satellite icon will move only when the mobile phone is rotated (that is, the azimuth angle of the electronic device).

[0058] What should be understood here is that the reason why the changes in the prompt information (prompt information A and prompt information B) that cause the user to adjust the device posture are inconsistent with the user's actual operation is that the user adjusts the posture of the electronic device, but the prompt information actually displayed in the interface is used to indicate the alignment of the radiation direction and the satellite, and there is no corresponding relationship between the change in the posture of the electronic device and the alignment of the radiation direction and the satellite.

[0059] To address the aforementioned issue of the discrepancy between the changes in prompt information guiding the user to adjust the device's posture and the user's actual actions, a method for aligning an electronic device with a satellite is provided. This method completes satellite alignment by guiding the user to adjust the device's posture. A displayed prompt indicates the difference between the current posture and the target posture caused by the change in the electronic device's posture. When this difference is less than a preset value, the electronic device completes satellite alignment.

[0060] The target attitude refers to the attitude of the electronic device when the radiation direction is aligned with the satellite. The current attitude includes: the real-time attitude of the electronic device obtained after selecting the target satellite and before responding to the input of adjusting the device attitude.

[0061] The difference between the current posture and the target posture includes: the difference between the pitch angle in the current posture of the electronic device and the pitch angle in the target posture (recorded as the pitch angle difference), and the difference between the azimuth angle in the current posture and the azimuth angle in the target posture (recorded as the azimuth angle difference). In some possible cases, in addition to the pitch angle difference and the azimuth angle difference, a roll angle difference may also be included. The roll angle difference refers to the difference between the roll angle in the current posture of the electronic device and the roll angle in the target posture (recorded as the roll angle difference).

[0062] Therefore, the current posture can be understood as the real-time posture of the electronic device determined by calculating the pitch angle difference information and the azimuth angle difference information.

[0063] The pitch angle difference, azimuth angle difference and roll angle difference respectively describe the pitch angle, azimuth angle and roll angle that need to be adjusted for the electronic device in the reference coordinate. Here, the reference coordinate system is taken as the ground coordinate system as an example for explanation. Referring to Figure 3, the ground coordinate system can be a three-dimensional coordinate system established with celestial direction, north direction and east direction as three axes. Among them, the north direction is the direction of the geographic North Pole (the direction of gravity) or the direction parallel to the direction of the geographic North Pole, and the east direction is the east perpendicular to the north direction. The plane formed by the north and the east direction can be a horizontal plane or parallel to the horizontal plane, and the celestial direction is the direction perpendicular to the plane formed by the north and the east direction, that is, the direction pointing to the sky.

[0064] The pitch angle, azimuth angle, and roll angle of the electronic device involved in the above content can be respectively expressed as rotating the electronic device around the sky, rotating the electronic device around the east direction, and rotating the electronic device around the Z axis in a reference coordinate system (such as a ground coordinate system). Generally speaking, when the user holds the electronic device in his hand, and the electronic device is parallel to the plane formed by the north and east directions, and the top points to the north direction. The direction in which the user stands can be regarded as a sky direction, the X axis of the electronic device can be regarded as an east direction, and the Z axis of the electronic device can be regarded as a north direction. Among them, the X axis of the electronic device is the horizontal axis of the electronic device, and the Z axis of the electronic device is the vertical axis of the mobile phone (the axis perpendicular to the screen of the electronic device).

[0065] Based on this, the electronic device can set the pitch angle, azimuth angle and roll angle adjustment method to conform to the user's habit of using the electronic device: refer to the adjustment of the pitch angle (θ) in Figure 3. By adjusting the pitch angle of the electronic device in the reference coordinate system to eliminate the pitch angle difference, the user can be guided to move his arm up and down to rotate the electronic device around the X axis to achieve the pitch angle adjustment. In the process of adjusting the azimuth angle of the electronic device in the reference coordinate system to eliminate the azimuth angle difference, the user can be guided to rotate the electronic device to adjust the azimuth angle. This process includes guiding the user to rotate the body with the direction of the body as the axis, but the relative orientation of the electronic device and the body does not change. Referring to the adjustment of the roll angle (ω) in Figure 3, in the process of adjusting the roll angle of the electronic device in the reference coordinate system to eliminate the roll angle difference, the user can be guided to rotate the electronic device around the Z axis of the electronic device to adjust the roll angle.

[0066] It should be noted that the difference between the attitude of the electronic device and the target attitude measured before the start of the alignment is the initialization gap. Subsequent adjustment of the attitude of the electronic device can change the initialization gap until the gap is smaller than the preset gap value.

[0067] In the foregoing, the process of determining the difference between the current posture and the target posture includes: first, taking the initial posture of the electronic device in the reference coordinate system as a reference. Then, determining the angle parameter A (e.g., pitch angle A, azimuth angle A, and roll angle A) that the electronic device needs to rotate from the initial posture to the target posture in the reference coordinate system, and determining the angle parameter B (e.g., pitch angle B, azimuth angle B, and roll angle B) that the electronic device needs to rotate from the initial posture to the current posture. Then, using the difference between angle A and angle B, the difference between the current posture and the target posture is determined. In the difference between the current posture and the target posture, the pitch angle difference is equal to pitch angle A minus pitch angle B, the azimuth angle difference is equal to azimuth angle A minus azimuth angle B, and the roll angle difference is equal to roll angle A minus roll angle B. In the initial posture, the pitch angle, azimuth angle, and rotation angle of the electronic device are all 0°.

[0068] In some possible cases, the electronic device may detect the pitch angle, azimuth angle, and roll angle of the current posture of the electronic device in the reference coordinate system as the angle parameter B through built-in sensors (for example, a gyroscope sensor, an acceleration sensor, etc.).

[0069] In some possible cases, the method of determining the angle A includes: first determining the vector of the electronic device pointing to the satellite in the initial attitude And the vector of the radiation direction of the antenna of the electronic device in the initial posture Vector For reference, calculate the vector that can be made when rotating the electronic device from the initial posture With vector The number of overlapping rotation matrices is not unique and is denoted as N1, where N1 is an integer greater than or equal to 1. Each of the N1 rotation matrices can be decomposed into a pitch angle, an azimuth angle, and a roll angle, that is, the N1 rotation matrices can determine N1 angle parameters.

[0070] It should be noted here that rotating the electronic device according to the N1 angle parameters can rotate the electronic device from an initial posture to a target posture. It can also be understood that an angle parameter includes a pitch angle, an azimuth angle, and a roll angle corresponding to a target posture to be screened. Then the N1 angle parameters can obtain N1 target postures to be screened, although the radiation direction of the electronic device under the N1 target postures to be screened is aimed at the target satellite. However, among the N1 target postures to be screened, there are target postures that will make the user uncomfortable. When watching the screen of the electronic device, the user will feel "very awkward", which is not in line with the user's habit of watching the screen. Among them, N1 is a positive number greater than or equal to 1.

[0071] Therefore, the electronic device can filter an angle parameter (denoted as angle parameter A) corresponding to the target posture that conforms to the user's screen viewing habits from N1 angle parameters based on preset rules. The difference between angle parameter A and angle parameter B is then used to generate a prompt message to prompt the user to adjust the posture of the electronic device. After the electronic device detects the user's operation of adjusting the device posture, the adjusted posture is used as the current posture, and the pitch angle, azimuth angle and roll angle of the current posture in the reference coordinate system are recalculated as angle parameter B (updated). The difference between angle parameter A and the updated angle parameter B is then calculated. When the difference is less than the threshold, the electronic device determines that the star alignment is completed. When the difference is greater than or equal to the threshold, the difference between angle parameter A and angle parameter B is again used to generate a prompt message to prompt the user to adjust the posture of the electronic device. The process is repeated until the star alignment is completed.

[0072] In different embodiments, the electronic device may determine an angle parameter that meets the conditions from the N1 angle parameters based on different rules as the angle parameter A. For details, please refer to the following description of Embodiments 1 to 3.

[0073] Example 1: To simplify the process of adjusting the device's attitude, the roll angle of the electronic device is not adjusted by default. Only the pitch angle and azimuth angle of the electronic device in the reference coordinate system are adjusted to reduce the difference between the current attitude and the target attitude, thus completing the alignment.

[0074] In Example 1, the electronic device can determine, from among the N1 angle parameters, the angle parameter with the smallest roll angle difference from roll angle B and a pitch angle greater than 0° and less than a preset value 11 as angle parameter A (denoted as angle parameter A1). The electronic device can then determine the pitch angle difference and the azimuth angle difference based on angle parameter A1 and angle parameter B. The pitch angle difference and azimuth angle difference are then used to generate a pointing prompt 11 to guide the user in adjusting the device's posture.

[0075] The reason why the pitch angle in the angle parameter A1 is greater than 0° and less than the preset value 11 is that: referring to Figures 3 and 4A, the pitch angle of the electronic device (equivalent to θ) affects the angle at which the user looks up or down when viewing the screen of the electronic device. Moreover, when adjusting the pitch angle of the electronic device by the arm, the pitch angle of the electronic device also affects the degree of arm elevation. Therefore, the pitch angle of the electronic device in the angle parameter A1 needs to be determined within a suitable range so that the user's head is at a more suitable distance from the electronic device. For example, a range greater than 0° and less than the preset value 11 (for example, an angle between 10° and 90°) can be considered a suitable range. Referring to (1) in Figure 4A, when θ is suitable, the viewing posture is suitable: when the pitch angle of the electronic device is suitable, the degree of head tilt when the user views the electronic device is suitable. In addition, the height of the arm is also suitable, so that the user does not feel awkward when viewing the screen of the electronic device.

[0076] Referring again to (2) in FIG4A , θ is too large, resulting in an uncomfortable viewing posture: the pitch angle of the electronic device is too large, and the user tilts their head high when viewing the electronic device. In addition, their arms are usually raised high, and the user feels "awkward" when viewing the electronic device screen. Referring again to (3) in FIG4A , θ is less than 0, resulting in an uncomfortable viewing posture: the pitch angle of the electronic device is too small, and the user lowers their head when viewing the electronic device. The user feels "awkward" when viewing the electronic device screen.

[0077] The reason why the roll angle requirement in angle parameter A1 is minimally different from roll angle B is that, referring to Figures 3 and 4B , the roll angle (equivalent to ω) is the angle of rotation about the Z axis, which affects the degree to which a user tilts their head when viewing an electronic device. Adjusting roll angle B can cause the screen to tilt relative to the user. Generally speaking, at the current roll angle of the electronic device (roll angle B), the user's head tilt is already at a level they find comfortable. Therefore, the requirement that the roll angle in angle parameter A1 be minimally different from roll angle B minimizes significant changes in the roll angle, keeping the user facing the screen straight without tilting their head as much as possible. For example, referring to Figure 4B , users tend to view the electronic device screen straight on, without tilting their head. If the roll angle (equivalent to ω) of the electronic device is adjusted excessively, the user will tilt their head significantly to maintain a straight view of the screen, causing discomfort. If the user does not tilt their head, the screen will appear "tilted" relative to the user, affecting the viewing experience of the electronic device screen.

[0078] For details of Example 1, please refer to the following description of FIG8 , which will not be repeated here.

[0079] Example 2: When a satellite is at the zenith, simply adjusting the electronic device's pitch and azimuth angles will not align the radiation direction with the satellite, as there will be some deviation in the direction of the roll angle. Therefore, to achieve more accurate tracking, in addition to adjusting the electronic device's pitch and azimuth angles in the reference coordinate system, the roll angle of the electronic device in the reference coordinate system must also be adjusted.

[0080] In Example 2, the electronic device can determine, from the N1 angle parameters, the angle parameter with the smallest roll angle and a pitch angle greater than 0° and less than a preset value 11 as angle parameter A (denoted as angle parameter A2). The electronic device can then determine the pitch angle difference, azimuth angle difference, and roll angle difference based on angle parameter A2 and angle parameter B. The electronic device can then generate a tracking prompt 12 based on the pitch angle difference, azimuth angle difference, and roll angle difference to guide the user in adjusting the positioning.

[0081] The reason why the roll angle in the angle parameter A1 is required to be the minimum roll angle among the N1 angle parameters is that: referring to Figures 3 and 4B, the roll angle (equivalent to ω) is the angle of rotation around the Z axis, which affects the degree to which the user tilts his head when viewing the electronic device. If the roll angle is equal to 0, the side of the electronic device is perpendicular to the Z axis. Generally speaking, the user does not tilt his head at this time, but the adjustment of the roll angle B will cause the screen to "skew" relative to the user's head: the larger the roll angle, the greater the degree of "skewness". Therefore, it is necessary to select the smallest roll angle to reduce the degree to which the screen is "skewed" relative to the user's head, or to minimize the degree of head tilt when the user's head is facing the screen of the electronic device.

[0082] For details of Example 2, please refer to the following description of FIG8 , which will not be repeated here.

[0083] Example 3: To achieve more accurate alignment and reduce user operations, the electronic device can first determine whether the roll angle in angle parameter A2 is less than 1°. If the roll angle is greater than or equal to 1°, the user is guided to adjust the roll, pitch, and azimuth angles of the electronic device in the reference coordinate system. This process includes: determining the pitch angle difference, azimuth angle difference, and roll angle difference based on angle parameter A2 and angle parameter B. Then, using the pitch angle difference, azimuth angle difference, and roll angle difference, alignment prompt information 12 is generated to guide the user to adjust the posture. If the roll angle is less than 1°, the user is guided only to adjust the pitch angle and azimuth angle of the electronic device in the reference coordinate system. This process includes: determining the pitch angle difference and azimuth angle difference based on angle parameter A2 and angle parameter A. Then, using the pitch angle difference and azimuth angle difference, alignment prompt information 11 is generated to guide the user to adjust the posture.

[0084] Here, 1° is an example, indicating that the roll angle in the angle parameter A2 is very small, close to 0°. It can actually be other values, such as 0.5, 2°, etc., and this embodiment of the present application does not limit this.

[0085] It should be understood here that a roll angle in the angle parameter A2 close to 0° indicates that alignment can be completed from the initial attitude to the target attitude without adjusting the roll angle. The current attitude may be an intermediate attitude between the initial attitude and the target attitude, so the roll angle of the electronic device can also be adjusted from the current attitude to the target attitude.

[0086] The method for determining the angle parameter A2 in Example 3 is the same as the method for determining the angle parameter A2 in Example 2. Please refer to the description of the relevant content and will not be repeated here.

[0087] For details of Example 3, please refer to the following description of FIG9 , which will not be repeated here.

[0088] The alignment prompt information 11 mentioned in the aforementioned Examples 1 to 3 refers to prompt information used to guide the user in adjusting the device's posture when adjusting the pitch and azimuth angles of the electronic device but not the roll angle. The alignment prompt information 12 refers to prompt information used to guide the user in adjusting the device's posture when adjusting the pitch, azimuth, and roll angles of the electronic device.

[0089] The pointing prompt information 11 includes pitch angle difference information and azimuth angle difference information. The pitch angle difference information is used to display the pitch angle difference and guide the user to adjust the pitch angle of the electronic device. After detecting the user's adjustment of the pitch angle of the electronic device, the change in the pitch angle difference (increase, decrease, or remain unchanged) is also fed back to the display state of the pitch angle difference information to continue to guide the user to adjust the pitch angle of the electronic device.

[0090] The pitch angle difference information is used to guide the user to adjust the pitch angle of the electronic device. The pitch angle difference information may include one or more prompt contents such as text prompts and graphic prompts.

[0091] The azimuth difference information is used to guide the user to adjust the azimuth of the electronic device. For the description of the azimuth difference information, please refer to the description of the pitch difference information above, and the pitch angle can be changed to the azimuth angle. This embodiment of the application will not be repeated here.

[0092] The pointing prompt information 12 includes pitch angle difference information, azimuth angle difference information, and roll angle difference information. The roll angle difference information is used to guide the user in adjusting the roll angle of the electronic device. The descriptions of the pitch angle difference information and the azimuth angle difference information are the same as those described above. For the description of the roll angle difference information, refer to the description of the pitch angle difference information above, replacing the pitch angle with the roll angle. This embodiment of the present application will not be further described.

[0093] The following describes the star-pointing prompt information 11. For a scenario in which the electronic device guides the user to adjust the device posture through the star-pointing prompt information 11 (including the pitch angle difference information and the azimuth angle difference information), please refer to FIG. 5A below.

[0094] As shown in (1) of FIG5A , the user interface 21 is an exemplary desktop of an electronic device, and the user interface 21 includes a satellite communication application icon 211 (referred to as icon 211 ), etc. Among them, the icon 211 can be used to trigger the electronic device to turn on the satellite communication function. The electronic device can send a data packet including the message content input by the user to other electronic devices through the satellite communication application. Referring to (2) of FIG5A , the user interface 22 is a message content editing interface provided by the satellite communication application. The user interface 22 also includes a send control 221. The send control 221 can be used to trigger the electronic device to display the satellite alignment prompt information 11 to guide the user to adjust the device posture to complete the satellite alignment.

[0095] 5A (3), the user interface 23 is an exemplary star alignment interface including the star alignment prompt information 11. At this time, the star alignment prompt information 11 may include pitch angle difference information 231 and azimuth angle difference information 232.

[0096] The pitch angle difference information 231 may include a "black circle" icon, a "white circle" icon, and a dashed arrow icon. The pitch angle difference information 231 may indicate that rotating the device up or down (up or down) adjusts the pitch angle. The direction of the dashed arrow icon indicates whether the user is adjusting the device's pitch angle upward or downward.

[0097] In pitch angle difference information 231, the distance between the centers of the two circles (the "black circle" and the "white circle") represents the magnitude of the pitch angle difference. The greater the distance between the centers of the two circles, the greater the pitch angle difference. As the user adjusts the pitch angle of the electronic device, the "white circle" moves to indicate that the pitch angle difference is changing. When the centers of the two circles coincide, indicating that the pitch angle difference is less than a preset threshold, the dotted arrow icon may not be displayed.

[0098] In some cases, in order to adjust the pitch angle in accordance with the user's habits when using the electronic device, in addition to the "black circle" icon, the "white circle" icon, and the dotted arrow icon, the pitch angle difference information 231 also includes a text prompt: "Please adjust the device by moving your arms up and down until the centers of the two circles coincide."

[0099] Azimuth angle difference information 232 may include a black area at the top, a satellite icon, and a solid arrow icon. Pitch angle difference information 232 may indicate that rotating the device clockwise or counterclockwise adjusts the azimuth angle. The direction of the solid arrow icon indicates whether the user is adjusting the device's azimuth angle clockwise or counterclockwise.

[0100] In azimuth angle difference information 232, the distance between the black top area and the satellite icon can indicate the magnitude of the azimuth angle difference. The greater the distance between the black top area and the satellite icon, the greater the elevation angle difference. When the user adjusts the electronic device clockwise or counterclockwise to change the azimuth angle of the electronic device, the satellite icon can move to indicate that the azimuth angle difference is changing. When the black top area and the satellite icon are aligned, the azimuth angle difference is less than a preset threshold, and the solid arrow icon may not be displayed.

[0101] In some cases, in order to adjust the azimuth angle in accordance with the user's habits when using the electronic device, in addition to the top black area, the satellite icon, and the solid arrow icon, the azimuth angle difference information 232 also includes a text prompt: "Please rotate the device around your body to align the satellite icon with the top black area."

[0102] After detecting the user's operation of adjusting the device posture, the electronic device will recalculate the pitch angle difference and the azimuth angle difference to determine whether the star alignment is completed. When the pitch angle difference and the azimuth angle difference are less than the preset threshold value, the electronic device determines that the star alignment is completed. At this time, the electronic device can display a prompt message of star alignment completion to prompt the user that the object is completed. The prompt message of star alignment completion may include at least one of the prompt contents such as vibration prompt, text prompt, etc. Reference is made to the user interface 24 shown in (4) of Figure 5A, which is an exemplary interface displayed after the electronic device completes star alignment.

[0103] As shown in (4) of FIG. 5A , the user interface 24 may include a prompt message 241: “The device has been aligned with the target satellite. After the vibration is felt, satellite messages will be sent and received. Please keep the posture unchanged.”

[0104] Compared to azimuth angle difference information 232 in user interface 23, the status of azimuth angle difference information 232 in user interface 24 has changed. Azimuth angle difference information 232 in user interface 24 no longer includes the solid arrow icon, and the top black area is aligned with the satellite icon. The status of elevation angle difference information 231 has also changed compared to user interfaces 23 and 24. It no longer includes the dashed arrow icon, and the centers of the two circles coincide.

[0105] After the alignment is completed, the electronic device may send a data packet including the message content input by the user to other electronic devices.

[0106] In some possible cases, before displaying the star-pointing interface (eg, user interface 23), the electronic device may further display a star selection interface for the user to determine a target satellite from at least one satellite according to a star selection rule through the electronic device.

[0107] It should be understood that the pitch angle difference information 231 and azimuth angle difference information 232 included in the tracking prompt information 11 in FIG. 5A are merely illustrative, and may be in other forms in practice, and the present invention is not intended to limit this. For example, referring to FIG. 5B below, another exemplary tracking prompt information 11 is shown.

[0108] As shown in FIG5B , user interface 25 is another exemplary alignment interface different from user interface 23 . In user interface 25 , alignment prompt information 11 may include pitch angle difference information 251 and azimuth angle difference information 252 . Compared to pitch angle difference information 231 , pitch angle difference information 251 includes a textual prompt for the pitch angle difference. For example, the pitch angle difference is -39.036. Compared to azimuth angle difference information 232 , azimuth angle difference information 252 includes a textual prompt for the azimuth angle difference. For example, the azimuth angle difference is 100.128. This allows the user to more intuitively understand the azimuth and pitch angle differences between the current and target postures, making it easier for the user to adjust the device posture.

[0109] The following describes the star-pointing prompt information 12. For a scenario in which the electronic device guides the user to adjust the device posture through the star-pointing prompt information 12 (including pitch angle difference information, azimuth angle difference information, and roll angle difference information), please refer to FIG. 6A below.

[0110] As shown in (1) of FIG6A , the user interface 30 is an exemplary star alignment interface including star alignment prompt information 12. At this time, the star alignment prompt information 12 may include pitch angle difference information 231, azimuth angle difference information 232, and roll angle difference information 233.

[0111] The roll angle difference information 233 may include a solid device icon and a dashed device icon, and may also include a solid arrow icon. The roll angle difference information 233 may indicate that rotating the device clockwise or counterclockwise perpendicular to the screen (along the Z-axis) adjusts the roll angle. The direction of the solid arrow icon in the roll angle difference information 233 indicates whether the user is adjusting the pitch angle of the device clockwise or counterclockwise.

[0112] In roll angle difference information 233, the angle between the solid-line device icon and the dashed-line device icon indicates the roll angle difference; a larger angle indicates a larger roll angle difference. When the user rotates the electronic device along the Z axis to change the roll angle, the angle between the solid-line device icon and the dashed-line device icon changes to indicate the roll angle difference. When the solid-line device icon and the dashed-line device icon overlap, indicating that the roll angle difference is less than a preset threshold, the solid-line arrow icon may not be displayed.

[0113] In some cases, in order to adjust the pitch angle in accordance with the user's habits when using the electronic device, in addition to the angle between the solid-line device icon and the dashed-line device icon and the solid-line arrow icon, the roll angle difference information 233 may also include a text prompt: "Rotate the device clockwise or counterclockwise perpendicular to the screen until the two device icons overlap."

[0114] After detecting the user's operation of adjusting the device posture, the electronic device will recalculate the pitch angle difference, azimuth angle difference and roll angle difference to determine whether the star alignment is completed. When the pitch angle difference, azimuth angle difference and roll angle difference are less than the preset threshold value, the electronic device determines that the star alignment is completed. At this time, the electronic device can display a prompt message of star alignment completion to prompt the user that the object is completed. The prompt message of star alignment completion may include at least one of the prompt contents such as vibration prompt, text prompt, etc. Reference is made to the user interface 31 shown in (2) of Figure 6A, which is an exemplary interface displayed after the electronic device completes star alignment.

[0115] As shown in (2) of FIG6A , the user interface 31 may include a prompt message 241: “The device has been aligned with the target satellite. After the vibration is felt, satellite messages will be sent and received. Please keep the posture unchanged.”

[0116] The roll angle difference information 233 in the user interface 31 has a different state than the roll angle difference information 233 in the user interface 30. The roll angle difference information 233 in the user interface 30 no longer includes a solid arrow icon, and the solid device icon and the dotted device icon are aligned.

[0117] It should be noted here that the description of the pitch angle difference information 231 and the azimuth angle difference information 232 can refer to the aforementioned description of (3) in Figure 5A, and will not be repeated here.

[0118] In some possible cases, before displaying the star-pointing interface (eg, user interface 23), the electronic device may further display a star-selecting interface, which is used to enable the electronic device to determine a target satellite from at least one satellite.

[0119] It should be understood here that in Figure 6A, the pitch angle difference information 231, azimuth angle difference information 232 and roll angle difference 133 included in the star prompt information 12 are only examples. In actual situations, they can also be in other forms, and the embodiments of the present application are not limited thereto.

[0120] For example, referring to FIG. 6B described below, another exemplary star-pointing prompt information 12 is shown in FIG. 6B .

[0121] As shown in FIG6B , user interface 32 is another exemplary alignment interface, different from user interface 30, that includes alignment prompt information 12. In user interface 32, alignment prompt information 12 may include pitch angle difference information 251, azimuth angle difference information 252, and roll angle difference information 253. Compared to roll angle difference information 233, roll angle difference information 253 includes a textual prompt indicating the roll angle difference. For example, roll angle difference: 20.000. Furthermore, pitch angle difference information 251 and azimuth angle difference information 252 also include corresponding textual prompts compared to pitch angle difference information 231 and azimuth angle difference information 232, respectively. This allows the user to more intuitively understand the azimuth, pitch angle, and roll angle differences between the current attitude and the target attitude, facilitating device attitude adjustment.

[0122] For another example, referring to FIG. 6C below, FIG. 6C shows two other exemplary star-pointing prompt information 12 .

[0123] As shown in (1) of FIG6C , the user interface 33 is an exemplary alignment interface including the alignment prompt information 12. At this point, the pitch angle difference information and the azimuth angle difference information included in the alignment prompt information 12 remain unchanged compared to the aforementioned user interface 30, but the roll angle difference information is changed from roll angle difference information 233 to roll angle difference information 234. Compared to the aforementioned roll angle difference information 233, the roll angle difference information 234 adds a text prompt: "Please rotate the device 20° clockwise." This allows the user to be more directly informed of how to adjust the roll angle of the electronic device.

[0124] Since the text prompt method is relatively direct and simple, in some possible cases, the roll angle difference information may not include a graphical prompt, and the roll angle difference information may be composed only of text prompts. For example, refer to the user interface 34 shown in (2) of Figure 6C. The roll angle difference information 235 included in the star prompt information 12 can be a text prompt: "Please rotate the device 20° clockwise perpendicular to the screen." The roll angle difference information is used as an example for explanation. In actual situations, the pitch angle difference information and the azimuth angle difference information can also be composed only of text prompts, and the embodiments of the present application are not limited to this.

[0125] It should be understood here that the aforementioned 20° is an example, and in actual situations it is the roll angle difference calculated by the background of the electronic device.

[0126] For another example, referring to FIG. 6D below, FIG. 6D shows another exemplary star-pointing prompt information 12 .

[0127] As shown in FIG6D (1), the line and arrow describing Δω displayed in the user interface 35 is an exemplary roll angle prompt information, the line and arrow describing Δθ is an exemplary pitch angle prompt information, and the line and arrow describing Δθ is an exemplary pitch angle prompt information. The lines and arrows are exemplary azimuth angle prompt information. The arrow indicates how to move the electronic device. After the user completes the adjustment of an angle, the electronic device may no longer display the lines and arrows for that angle. Referring to the user interface 36 shown in (2) in FIG6D , at this time, the electronic device no longer displays the roll angle prompt information, indicating that the roll angle of the electronic device has been displayed.

[0128] In the aforementioned Figures 5A, 5B, and 6A-6D, the electronic device achieves alignment by guiding the user to rotate the device in two or three angles. However, the order of these rotations is not specified. This can lead to the user simultaneously rotating the device in two or three angles to change its orientation. This excessive number of variables can cause the rotations in multiple directions to affect each other. Therefore, the electronic device can specify a rotation order to allow the user to consciously control the rotation so that only one angle is changed, thus controlling the variables and improving alignment efficiency.

[0129] 7 , an exemplary scenario involving sequentially adjusting the pitch angle, azimuth angle, and roll angle of an electronic device based on the star-pointing prompt information 12 is described.

[0130] As shown in the user interface 40 in FIG. 7 ( 1 ), the pointing prompt information 12 includes pitch angle difference information 411 , azimuth angle difference information 412 , and roll angle difference information 413 .

[0131] The pitch angle difference information 411 may include a "large white circle" icon, a "black circle" icon, and a "dashed circle" icon (located within the "large white circle" icon). The azimuth angle difference information 412 may include a "large white circle" icon, a "small white circle" icon, and a "dashed circle" icon. The roll angle difference information 413 may include a top black area and a vertical line icon.

[0132] The electronic device can sequentially display the adjustment method prompt information corresponding to each rotation angle (pitch angle, azimuth angle, and roll angle) at a time. After completing the adjustment of one rotation angle, the electronic device will sequentially display the adjustment method prompt information corresponding to the next rotation angle. The user is then guided to adjust the device posture based on the displayed adjustment method prompt information corresponding to the rotation angle.

[0133] For example, refer to the user interface 40 shown in (1) of FIG7 . First, the electronic device may display an adjustment method prompt 412a corresponding to the azimuth angle. The adjustment method prompt 412a may include a text prompt: "Please turn your body counterclockwise to rotate the device" and may also include a directional arrow prompt. Based on this adjustment method prompt 412a, the user may turn their body to adjust the azimuth angle of the electronic device.

[0134] When the user turns his body to change the azimuth of the electronic device, the "small white circle" included in the azimuth difference information 412 can move to indicate that the azimuth difference is changing. The "dashed circle" can be used to guide the user to move the electronic device until the "small white circle" moves to the "dashed circle". At this time, the centers of the "large white circle" and the "small white circle" coincide, indicating that the azimuth difference is less than the preset threshold. It should be noted that the distance between the centers of the "large white circle" and the "small white circle" in the azimuth difference information 412 can represent the size of the elevation difference. The greater the distance between the centers of the two circles, the greater the azimuth difference.

[0135] After adjusting the azimuth angle of the electronic device, the electronic device may display an adjustment method prompt 411a corresponding to the pitch angle. Refer to the user interface 41 shown in (2) of FIG7 . The adjustment method prompt 411a may include a text prompt: "Please move the device downward" and may also include a directional arrow prompt. Based on this adjustment method prompt 411a, the user can move the electronic device up and down to adjust the pitch angle of the electronic device.

[0136] When a user moves the electronic device up or down to change the pitch angle of the electronic device, the "black circle" included in the pitch angle difference information 411 can move to indicate that the pitch angle difference is changing. The "dashed circle" can be used to guide the user to move the electronic device from the "black circle" to the "dashed circle." At this time, the centers of the "large white circle" and the "black circle" coincide, indicating that the pitch angle difference is less than a preset threshold. It should be noted that the distance between the centers of the "large white circle" and the "black circle" in the pitch angle difference information 411 can represent the magnitude of the pitch angle difference. The greater the distance between the centers of the two circles, the greater the pitch angle difference.

[0137] After adjusting the pitch angle of the electronic device, the electronic device may display an adjustment prompt 413a corresponding to the roll angle. Refer to the user interface 42 shown in (3) of FIG7 . The adjustment prompt 413a may include a text prompt: "Please rotate the device counterclockwise perpendicular to the screen" and may also include a directional arrow prompt. Based on this adjustment prompt 413a, the user may rotate the electronic device perpendicular to the screen to adjust the roll angle of the electronic device.

[0138] When a user rotates the electronic device perpendicular to the screen to change the roll angle of the electronic device, the top black area included in the roll angle difference information 413 can move to indicate that the roll angle difference is changing. The vertical line icon can be used to guide the user to move the electronic device until the center axis of the black top area is close to the vertical line. At this time, the black top area is centered, indicating that the roll angle difference is less than a preset threshold. It should be noted that the distance between the center axis of the black top area and the vertical line in the roll angle difference information 413 can represent the size of the roll angle difference. The greater the distance from the vertical line, the greater the roll angle difference.

[0139] After the azimuth, pitch and roll angles of the electronic device are adjusted in sequence, the electronic device may display the user interface 43 shown in (4) in FIG7 to prompt the user that the alignment is completed.

[0140] Based on the foregoing, it should be noted that guiding the user to adjust the device posture via the alignment prompt message 11 or the alignment prompt message 12 includes: quantifying the pitch angle and azimuth angle to be rotated, etc., via the alignment prompt message 11 or the alignment prompt message 12, and informing the user of the required rotation angle. The alignment prompt message 11 or the alignment prompt message 12 may be in the form of an icon to indicate the angle, or may be in the form of text to accurately indicate the angle, or may be a combination of icons and text, or may be in other forms, such as animation, which is not limited in the present embodiment.

[0141] The following describes how the electronic device completes satellite alignment based on the pitch angle difference and the azimuth angle difference in the aforementioned embodiment 1.

[0142] For an exemplary description of this process, reference may be made to steps S101a, S101b, and S102 to S109 shown in FIG8 .

[0143] S101a. Determine the vector of the electronic device pointing to the satellite in the initial attitude of the electronic device

[0144] The initial posture refers to the posture of the electronic device in a reference coordinate system (e.g., a terrestrial coordinate system) when the pitch, azimuth, and roll angles are all 0°. For example, in a terrestrial coordinate system, the initial posture of the electronic device may be: the electronic device is parallel to the plane formed by north and east, with the top of the electronic device pointing toward north.

[0145] Unless otherwise specified below, the default initial posture of the electronic device is: the electronic device is parallel to the plane formed by the north and east directions, and the top of the electronic device points to the north.

[0146] vector The direction of is the same as the transmission link direction. Used to indicate the direction of the transmission link.

[0147] The vector It is determined by the location of the electronic device (location 1) and the location of the target satellite (location 2). Location 1 may include, but is not limited to, one or more of the latitude, longitude, and altitude of the electronic device. Location 2 may include, but is not limited to, one or more of the latitude and longitude of the target satellite's beam center and the altitude of the target satellite above the ground.

[0148] Here we take position 1 and position 2 as an example to illustrate the vector An exemplary determination process is as follows: first, the difference between the longitude in position 1 and the longitude in position 2 is calculated to obtain the longitude difference, and the difference between the latitude in position 1 and the latitude in position 2 is calculated to obtain the latitude difference. Then, the longitude difference and the latitude difference are converted into radians. Then, the longitude difference in radians and the latitude difference in radians are substituted into the spherical trigonometry formula to calculate the vector

[0149] It should be noted that Position 1 is the position of the electronic device when executing step S101a. Although the electronic device's posture at this point may not be the initial posture, the impact of the posture on the electronic device's position is negligible due to the electronic device's small size. Position 2 is pre-stored in the electronic device. Alternatively, it can be calculated based on the target satellite's ephemeris.

[0150] It should also be noted that the timing for executing step S101a includes: in response to the input of the send satellite message, after the electronic device determines the target satellite.

[0151] S101b. Determine the vector in the radiation direction of the antenna of the electronic device in the initial posture

[0152] The radiation direction here refers to the optimal radiation direction of the antenna in the initial posture.

[0153] vector Used to indicate the radiation direction of the antenna in the initial posture.

[0154] Usually, the electronic device is not disturbed by external forces in its initial posture. At this time, the radiation direction of the antenna is related to the main axis of the electronic device or the antenna design and is fixed. It is a preset parameter related to the main axis or antenna design of the electronic device.

[0155] S102. Vector-based and vectors Determine N1 rotation matrices that transform the posture of the electronic device from the initial posture to the target posture.

[0156] The rotation matrix is ​​the vector Rotate to vector Overlapping 3×3 matrices. Vectors With vector When they coincide, it also means that the radiation direction of the electronic device is aimed at the target satellite. Therefore, the rotation matrix can be used to transform the attitude of the electronic device from the initial attitude to the target attitude.

[0157] The number of rotation matrices is not unique and is denoted as N1. N1 rotation matrices can result in N1 target postures to be screened. A rotation matrix 1 is selected from the N1 rotation matrices to determine a target posture that conforms to the user's viewing habits. For a description of rotation matrix 1 and the process of determining a target posture that conforms to the user's viewing habits based on rotation matrix 1, refer to the following description of step S103.

[0158] The process of determining the N1 rotation matrices here includes: first determining the vector and vectors Normal vector of the plane And determine the vector With vector Then, along the normal vector Rotate the angle d to get the first rotation matrix, and then along the vector Each rotation by angle e yields N1-1 rotation matrices. N1 is equal to 360° / angle e. Angle e is greater than or equal to 0° but less than or equal to 360°.

[0159] S103. The electronic device decomposes each of the N1 rotation matrices into Euler angles in a ZXZ pattern, and determines the azimuth angle A1, pitch angle A1, and roll angle A1 of the target posture relative to the initial posture; when the roll angle A1 is closest to the roll angle B among the N1 roll angles and the pitch angle A1 is greater than 0° and less than a preset value 11, the N1 roll angles are determined based on the N1 rotation matrices.

[0160] The Euler angles of the ZXZ mode consist of three rotation angles in a rotation order: the angle of rotation around the Z axis of the electronic device (Z axis angle 11), the angle of rotation around the X axis of the electronic device (X axis angle 11), and the angle of rotation around the Z axis again (Z axis angle 12).

[0161] Decomposing a rotation matrix into the Euler angles of the inward rotation ZXZ pattern means: referring to (1) in Figure 9, by decomposing the rotation matrix, three consecutive rotation operations are applied to the electronic device in the rotation order corresponding to the ZXZ pattern, thereby rotating the electronic device from the initial posture to the target posture.

[0162] The electronic device can use the Euler angle of the ZXZ mode as the angle parameter that the electronic device needs to rotate from the initial posture to the target posture: wherein, the Z-axis angle 11 in the Euler angle of the ZXZ mode can be used as the azimuth angle of the target posture relative to the initial posture, the X-axis angle 11 in the Euler angle of the ZXZ mode can be used as the pitch angle of the target posture relative to the initial posture, and the X-axis angle 12 in the Euler angle of the ZXZ mode can be used as the roll angle of the target posture relative to the initial posture. The reason can be referred to the following description of the content shown in (2) in Figure 9: In the initial posture of the electronic device, since the top of the electronic device points to the north (N) and the electronic device is parallel to the horizontal plane (parallel to the plane formed by the north and the east). Then, in the initial posture, the Z axis of the electronic device can be regarded as a celestial direction. At this time, the rotation around the Z axis is the azimuth angle of the rotation around the celestial direction. The angle of the first rotation around the Z axis of the electronic device in the Euler angle of the ZXZ mode (Z axis angle 11) can be used as the azimuth angle of the target posture relative to the initial posture. When the electronic device is in the posture after rotating around the Z axis, the Z axis of the electronic device is equivalent to an east direction. At this time, rotating around the X axis of the electronic device is equivalent to the pitch angle (θ) of the rotation around the east and west. The angle of the rotation around the Z axis after the electronic device is in the posture after rotating around the X axis is the roll angle (ω) that the electronic device needs to adjust.

[0163] Decompose the N1 rotation matrices into ZXZ mode Euler angles respectively to obtain N1 ZXZ mode Euler angles. Take a ZXZ mode Euler angle as an angle parameter, and you can get N1 angle parameters. Filter out angle parameter A1 (the angle parameter that determines the target posture in line with the user's screen viewing habits) from the N1 angle parameters. The roll angle (roll angle A1) in the angle parameter A1 is closest to the roll angle B among the N1 roll angles, and the pitch angle (pitch angle A1) in the angle parameter A1 is greater than 0° and less than the preset value 11. The azimuth in the angle parameter A1 is the azimuth angle A1.

[0164] It should be understood here that the angle parameters from the initial posture to the target posture obtained by decomposing the rotation matrix in ZXZ mode are based on the fact that the initial posture is "parallel to the plane formed by the north and east directions, with the top pointing to the north."

[0165] When the initial posture of the electronic device changes, the angle parameters from the initial posture to the target posture can also be obtained according to other modes besides the ZXZ mode, and the embodiments of the present application do not limit this. For example: when the initial posture of the electronic device is "the electronic device is perpendicular to the plane formed by the north and east directions, and the top of the electronic device points to the sky", the electronic device can decompose N1 rotation matrices into the Euler angles of the inward-rotating YXZ mode to obtain N1 angle parameters. It should be noted here that the angle of rotation around the Y axis in the Euler angles of the YXZ mode can be used as the azimuth angle in the angle parameter, the angle of rotation around the X axis in the Euler angles of the YXZ mode can be used as the pitch angle in the angle parameter, and the angle of rotation around the Z axis in the Euler angles of the YXZ mode can be used as the roll angle in the angle parameter.

[0166] It should be understood here that 0° is an example and can actually be other values, close to 0°, such as 0.5, 2°, etc., and the embodiments of the present application do not limit this.

[0167] S104. Obtain the azimuth angle B, pitch angle B, and roll angle B of the electronic device in the current posture relative to the initial posture.

[0168] The azimuth angle B, the pitch angle B, and the roll angle B are respectively the azimuth angle, the pitch angle, and the roll angle of the electronic device in the current posture relative to the initial posture in a reference coordinate system (eg, a ground coordinate system).

[0169] The electronic device can determine the azimuth angle B, the pitch angle B, and the roll angle B through built-in sensors (for example, a gyroscope sensor, an acceleration sensor, etc.). For related content, please refer to the following description.

[0170] In some possible cases, the electronic device may directly output the azimuth angle B, the pitch angle B, and the roll angle B through built-in sensors.

[0171] In other possible cases, the process of determining the azimuth angle B, the pitch angle B, and the roll angle B may include: the electronic device may detect the angle of rotation of the electronic device around three axes (Z axis, Y axis, and Z axis) in a non-reference coordinate system (e.g., a magnetic north coordinate system) through a built-in sensor, and determine the pitch angle, azimuth angle, and roll angle of the electronic device in the non-reference coordinate system based on the angle of rotation around the three axes. Then, the electronic device determines the magnetic declination between the non-reference coordinate system and the reference coordinate system, and further converts the pitch angle, azimuth angle, and roll angle of the electronic device in the non-reference coordinate system into the azimuth angle (azimuth angle B), pitch angle (pitch angle B), and roll angle (roll angle B) of the electronic device in the reference coordinate system based on the magnetic declination.

[0172] S105. The electronic device obtains an azimuth angle difference by using the azimuth angle A1 minus the azimuth angle B, and obtains a pitch angle difference by using the pitch angle A1 minus the pitch angle B.

[0173] S106. The electronic device generates star-pointing prompt information 11 based on the azimuth angle difference and the pitch angle difference to guide the user to adjust the posture.

[0174] The star alignment prompt information 11 includes pitch angle difference information and azimuth angle difference information. For the description of the star alignment prompt information 11, please refer to the above-mentioned related content and will not be repeated here.

[0175] For relevant examples of the star-pointing prompt information 11 and an exemplary interface for guiding the user to adjust the posture based on the star-pointing prompt information 11, reference can be made to the aforementioned descriptions of Figures 5A and 5B. For example, for relevant examples of the star-pointing prompt information 11, reference can be made to the pitch angle difference information 231 and the azimuth angle difference information 232 shown in (3) of Figure 5A. Alternatively, reference can be made to the pitch angle difference information 251 and the azimuth angle difference information 252 shown in Figure 5B.

[0176] S107 . The electronic device determines whether the azimuth angle difference is less than a threshold 1 and whether the pitch angle difference is less than a threshold 2.

[0177] When the electronic device determines that the azimuth angle difference is less than threshold 1 and the pitch angle difference is less than threshold 2, the electronic device may determine that the current posture is the target posture, and execute the following step S109 to prompt the user that the alignment is completed.

[0178] Otherwise, the electronic device executes the following step S108 to continue receiving input for adjusting the posture of the electronic device.

[0179] S108. Receive input for adjusting the posture of the electronic device.

[0180] In step S108, if the electronic device does not display the prompt information 21 that allows the user to adjust the device posture, the electronic device may receive input for adjusting the posture of the electronic device and update the current posture to the adjusted posture.

[0181] Then the electronic device executes steps S104 to S107 again to re-determine whether the current posture of the electronic device has been adjusted to the target posture.

[0182] S109. Display prompt information 21. The accurate prompt information 21 is used to remind the user that the radiation direction of the satellite antenna has been aligned with the target satellite.

[0183] In step S109, the electronic device displays the prompt information 21, and an exemplary description thereof can refer to the prompt information 241 shown in (4) of FIG. 5A .

[0184] The following describes how the electronic device completes satellite alignment based on the pitch angle difference, azimuth angle difference, and roll angle difference in the aforementioned embodiment 2.

[0185] For an exemplary description of this process, reference may be made to steps S201a, S201b, and S202 to S209 shown in FIG. 10 .

[0186] S201a. Determine the vector of the electronic device pointing to the satellite in the initial attitude of the electronic device

[0187] S201b. Determine the vector in the radiation direction of the antenna of the electronic device in the initial posture

[0188] S202. Vector-based and vectors Determine N1 rotation matrices that transform the posture of the electronic device from the initial posture to the target posture.

[0189] It should be noted here that step S201a, step S201b and step S202 are respectively the same as the aforementioned step S101a, step S101b and step S102, and are not repeated here.

[0190] S203. Decompose each of the N1 rotation matrices into the Euler angles of the ZXZ pattern to determine the azimuth angle A2, pitch angle A2 and roll angle A2 of the target posture relative to the initial posture; among which, the roll angle A2 is the smallest among the N1 roll angles, the pitch angle A2 is greater than 0° and less than the preset value 11, and the N1 roll angles are determined based on the N1 rotation matrices.

[0191] In step S203, the process of the electronic device decomposing the rotation matrix to determine N1 angle parameters is the same as that of the aforementioned step S103, and will not be repeated here.

[0192] The electronic device then selects angle parameter A2 (the angle parameter for which the target posture is determined to be consistent with the user's screen viewing habits) from the N1 angle parameters. The roll angle (roll angle A2) in angle parameter A2 is the smallest among the N1 roll angles, and the pitch angle (pitch angle A2) in angle parameter A2 is greater than 0° and less than a preset value 11. The azimuth angle in angle parameter A2 is azimuth angle A2.

[0193] S204. Obtain the azimuth angle B, pitch angle B, and roll angle B of the electronic device in the current posture relative to the initial posture.

[0194] Step S204 is the same as the aforementioned step S104. Please refer to the aforementioned description of step S104 and will not be repeated here.

[0195] S205. Obtain an azimuth angle difference using azimuth angle A2 - azimuth angle B, obtain a pitch angle difference using pitch angle A2 - pitch angle B, and obtain a roll angle difference using roll angle A2 - roll angle B.

[0196] S206 . Generate star-pointing prompt information 12 based on the azimuth angle difference, the pitch angle difference, and the roll angle difference to guide the user to adjust the posture.

[0197] The star alignment prompt information 12 includes pitch angle difference information, azimuth angle difference information, and roll angle information. For a description of the star alignment prompt information 12, reference may be made to the aforementioned related content and will not be repeated here.

[0198] The prompt information and the exemplary interface for guiding the user to adjust the posture based on the star-pointing prompt information 12 can be referred to the description of Figures 6A to 6D or Figure 7, and will not be repeated here. For example, the relevant examples of the star-pointing prompt information 12 can refer to the pitch angle difference information 231, azimuth angle difference information 232, and roll angle difference information 233 shown in (1) of Figure 6A. Alternatively, the pitch angle difference information 251, azimuth angle difference information 252, and roll angle difference information 253 shown in Figure 6B can be referred to.

[0199] S207 . The electronic device determines whether the azimuth angle difference is less than a threshold 1 , whether the pitch angle difference is less than a threshold 2 , and whether the roll angle difference is less than a threshold 3 .

[0200] When the electronic device determines that the azimuth angle difference is less than threshold 1, the pitch angle difference is less than threshold 2, and the roll angle difference is less than threshold 3, the electronic device can determine that the current posture is the target posture and execute the following step S209 to prompt the user that the satellite is completed.

[0201] Otherwise, the electronic device executes the following step S208 to continue receiving input for adjusting the posture of the electronic device.

[0202] S208. Receive input for adjusting the posture of the electronic device.

[0203] In step S208, if the electronic device does not display the prompt information 22 that allows the user to adjust the device posture, the electronic device may receive input for adjusting the posture of the electronic device and update the current posture to the adjusted posture.

[0204] Then the electronic device executes steps S204 to S207 again to re-determine whether the current posture of the electronic device has been adjusted to the target posture.

[0205] S209. Display prompt information 22. The accurate prompt information 22 is used to remind the user that the radiation direction of the satellite antenna has been aligned with the target satellite.

[0206] In step S209, the electronic device displays the prompt information 22, and an exemplary description thereof can refer to the prompt information 241 shown in (2) of FIG. 6A .

[0207] The following describes how the electronic device completes satellite alignment based on the pitch angle difference, azimuth angle difference, and roll angle difference in the aforementioned embodiment 3.

[0208] For an exemplary description of this process, reference may be made to step S301a, step S301b, step S303, step S304, step S305a-step S310a, and step S305b-step S310b shown in FIG11 .

[0209] S301a. Determine the vector of the electronic device pointing to the satellite in the initial posture of the electronic device

[0210] S301b. Determine the vector in the radiation direction of the antenna of the electronic device in the initial posture

[0211] S302. Vector-based and vectors Determine N1 rotation matrices that transform the posture of the electronic device from the initial posture to the target posture.

[0212] S303. Decompose each of the N1 rotation matrices into Euler angles in ZXZ mode to determine the azimuth angle A2, pitch angle A2 and roll angle A2 of the target posture relative to the initial posture; among which, the roll angle A2 is the smallest among the N1 roll angles, the pitch angle A2 is greater than 0° and less than the preset value 11, and the N1 roll angles are determined based on the N1 rotation matrices.

[0213] It should be noted here that step S301a, step S301b, step S302 and step S303 are respectively the same as the aforementioned step S201a, step S201b, step S202 and step S203, and are not repeated here.

[0214] S304. The electronic device determines whether the roll angle A2 is less than 1°.

[0215] It should be noted that the 1° here is an example, indicating that the roll angle A2 is very small, close to 0°, and can actually be other values, such as 0.5, 2°, etc., and this embodiment of the present application does not limit this.

[0216] If the absolute value of roll angle A2 is greater than or equal to 1°, it indicates that the roll angle of the electronic device needs to be adjusted from the initial attitude to the target attitude. This indicates that the roll angle of the electronic device needs to be adjusted to achieve accurate alignment. At this point, the electronic device can proceed to steps S305a through S310a.

[0217] If the absolute value of roll angle A2 is less than 1°, it indicates that the roll angle of the electronic device does not need to be adjusted from the initial attitude to the target attitude. This indicates that accurate tracking can be achieved without adjusting the roll angle of the electronic device in the current attitude. At this point, the electronic device can proceed to steps S305b-S310b.

[0218] The following describes the process of the electronic device realizing satellite alignment using the pitch angle, azimuth angle, and roll angle when the absolute value of the roll angle A2 is greater than or equal to 1°. This process can be referred to the description of steps S305a to S310a below.

[0219] S305a. Obtain the azimuth angle B, pitch angle B, and roll angle B of the electronic device in the current posture relative to the initial posture.

[0220] S306a. Obtain an azimuth angle difference using azimuth angle A2 - azimuth angle B, obtain a pitch angle difference using pitch angle A2 - pitch angle B, and obtain a roll angle difference using roll angle A2 - roll angle B.

[0221] S307a. Generate star-pointing prompt information 12 based on the azimuth angle difference, the pitch angle difference, and the roll angle difference to guide the user to adjust the posture.

[0222] S308a. The electronic device determines whether the azimuth angle difference is less than a threshold 1, whether the pitch angle difference is less than a threshold 2, and whether the roll angle difference is less than a threshold 3.

[0223] S309a. Receive input for adjusting the posture of the electronic device.

[0224] S310a. Display prompt information 22. The accurate prompt information 22 is used to remind the user that the radiation direction of the satellite antenna has been aligned with the target satellite.

[0225] Steps S305a to S310a are respectively the same as the aforementioned steps S204 to S209 and are not described again here.

[0226] The following describes the process of the electronic device realizing satellite alignment through the pitch angle and azimuth angle when the absolute value of the roll angle A2 is less than 1°. This process can be referred to the description of steps S305b to S310b below.

[0227] S305b. Obtain the azimuth angle B and pitch angle B of the electronic device in the current posture relative to the initial posture.

[0228] S306b. Use azimuth angle A2 minus azimuth angle B to obtain an azimuth angle difference, and use pitch angle A2 minus pitch angle B to obtain a pitch angle difference.

[0229] S307b. Generate star-pointing prompt information 11 based on the azimuth angle difference and the pitch angle difference to guide the user to adjust the posture.

[0230] S308b. The electronic device determines whether the azimuth angle difference is less than a threshold 1 and whether the pitch angle difference is less than a threshold 2.

[0231] S309b. Receive input for adjusting the posture of the electronic device.

[0232] S310b. Display prompt information 21. The accurate prompt information 21 is used to remind the user that the radiation direction of the satellite antenna has been aligned with the target satellite.

[0233] Steps S305b to S310b are respectively the same as the aforementioned steps S104 to S109 and are not described again here.

[0234] It should be noted that there is no particular order in which steps S101a and S101b are executed. There is no particular order in which steps S104 and S103 are executed. There is no particular order in which steps S201a and S201b are executed. There is no particular order in which steps S204 and S203 are executed. There is no particular order in which steps S301a and S301b are executed. There is no particular order in which steps S204 and S203 are executed.

[0235] It should also be noted that the aforementioned thresholds 1, 2, and 3 may be collectively referred to as preset thresholds. The thresholds 1, 2, and 3 may be equal or unequal, and this is not limited in the present embodiment.

[0236] The following first introduces an exemplary electronic device provided by an embodiment of the present application.

[0237] FIG12 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0238] The following embodiments are described in detail using an electronic device as an example. It should be understood that the electronic device may have more or fewer components than those shown in FIG12 , may combine two or more components, or may have different component configurations. The various components shown in FIG12 may be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and / or application-specific integrated circuits.

[0239] The electronic device 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 screen 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.

[0240] It is understood that the structures illustrated in the embodiments of the present application do not constitute specific limitations on the electronic device. In other embodiments of the present application, the electronic device 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.

[0241] 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 memory, 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.

[0242] The controller can be the nerve center and command center of the electronic device. The controller can generate operation control signals based on instruction operation codes and timing signals to complete the control of instruction fetching and execution.

[0243] 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.

[0244] 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.

[0245] It is understood that the interface connection relationship between the modules illustrated in the embodiments of the present application is only for illustrative purposes and does not constitute a structural limitation on the electronic device. In other embodiments of the present application, the electronic device may also adopt different interface connection methods from the above embodiments, or a combination of multiple interface connection methods.

[0246] The wireless communication function of the electronic device can be implemented through antenna 1, antenna 2, mobile communication module 150, wireless communication module 160, modem processor and baseband processor.

[0247] Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in an electronic device can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In other embodiments, the antennas can be used in conjunction with a tuning switch.

[0248] The mobile communication module 150 can provide solutions for wireless communications including 2G / 3G / 4G / 5G applied in electronic devices. 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, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the same device as at least some of the modules of the processor 110.

[0249] 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.

[0250] The wireless communication module 160 can provide wireless communication solutions for electronic devices, 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. 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.

[0251] The wireless communication module 160 also includes a satellite communication module (not shown in the figure), which can be used to communicate with satellite network equipment using satellite communication technology. For example, in the Beidou communication system, the satellite network equipment can be a Beidou network equipment, and the satellite communication module can communicate with the Beidou network equipment. The satellite communication module can support short message transmission between the Beidou network equipment.

[0252] In some embodiments, the antenna 1 of the electronic device is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the electronic device can communicate with the 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 global positioning system (GPS), global navigation satellite system (GLONASS), Beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS) and / or satellite based augmentation system (SBAS).

[0253] In the embodiment of the present application, the processor 110 can call the computer instructions stored in the internal memory 121 to enable the electronic device to execute the method of aligning the electronic device with a satellite in the embodiment of the present application.

[0254] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

[0255] As used in the above embodiments, the term “when…” may be interpreted to mean “if…” or “after…” or “in response to determining…” or “in response to detecting…”, depending on the context. Similarly, the phrases “upon determining…” or “if (stated condition or event) is detected” may be interpreted to mean “if determining…” or “in response to determining…” or “upon detecting (stated condition or event)” or “in response to detecting (stated condition or event)”, depending on the context.

[0256] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in the specification and appended claims of this application, the singular expressions "a," "an," "said," "above," "the," and "this" are intended to include plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used in this application refers to and encompasses any and all possible combinations of one or more of the listed items.

[0257] The terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of the technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

[0258] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, 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 generated 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) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk).

[0259] Those skilled in the art will appreciate that all or part of the process steps in the above-described method embodiments can be implemented by a computer program instructing the relevant hardware. The program can be stored in a computer-readable storage medium, and when executed, the program can include the process steps in the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. An electronic device for aligning a satellite, characterized in that: The method comprises: Displaying pitch angle difference information and azimuth angle difference information for guiding the adjustment of the device attitude; wherein the pitch angle difference information is used to indicate: the pitch angle difference between the pitch angle of the target attitude of the electronic device in the reference coordinate system and the pitch angle of the current attitude, and the azimuth angle difference information is used to indicate: the azimuth angle difference between the azimuth of the target attitude and the azimuth of the current attitude in the reference coordinate system; the target attitude is the attitude when the radiation direction of the antenna in the electronic device is aligned with the target satellite; In response to an operation of adjusting the azimuth of the electronic device, changing a display state of the azimuth difference information; In response to an operation of adjusting the pitch angle of the electronic device, changing a display state of the pitch angle difference information; When the device posture is adjusted by guiding the pitch angle difference information and the azimuth angle difference information, when the azimuth angle difference information after the state change indicates that the azimuth angle difference is less than a first threshold and the pitch angle difference information after the state change indicates that the pitch angle difference is less than a second threshold, the electronic device determines that the radiation direction of the antenna is aligned with the target satellite.

2. The method according to claim 1, characterized in that The method further comprises: Displaying pitch angle difference information, azimuth angle difference information and roll angle difference information for guiding the adjustment of the device posture; wherein the roll angle difference information is used to indicate: the roll angle difference between the roll angle of the target posture and the roll angle of the current posture in the reference coordinate system; In response to an operation of adjusting the roll angle of the electronic device, changing a display state of the roll angle difference information; When the device posture is adjusted by guiding the pitch angle difference information, the azimuth angle difference information and the roll angle difference information, when the azimuth angle difference information after the state change indicates that the azimuth angle difference is less than a first threshold, the pitch angle difference information after the state change indicates that the pitch angle difference is less than a second threshold, and the pitch angle difference information after the state change indicates that the pitch angle difference is less than a third threshold, the electronic device determines that the radiation direction of the antenna is aligned with the target satellite.

3. The method according to claim 2, characterized in that Before displaying the pitch angle difference information and the azimuth angle difference information for guiding the adjustment of the device attitude, the method further includes: Determine N1 rotation matrices for rotating the second vector to coincide with the first vector, where N1 is an integer greater than or equal to 1; the first vector is a vector of the electronic device pointing to the target satellite in an initial posture, and the second vector is a vector in the radiation direction of the antenna in the initial posture; Decomposing each of the N1 rotation matrices into angle parameters to obtain N1 angle parameters, where each angle parameter includes a pitch angle, an azimuth angle, and a roll angle; An angle parameter is selected from the N1 angle parameters to represent the target posture.

4. The method according to claim 3, characterized in that When the device posture is adjusted by guiding the pitch angle difference information and the azimuth angle difference information but not by the roll angle difference information, selecting an angle parameter from the N1 angle parameters to represent the target posture specifically includes: The electronic device determines a first angle parameter among the N1 angle parameters to represent the target posture; the pitch angle, azimuth angle and roll angle in the first angle parameter are respectively the pitch angle of the target posture in the reference coordinate system. Elevation angle, azimuth angle and roll angle; wherein, the roll angle of the first angle parameter among the N1 angle parameters is closest to the roll angle of the current posture, and the pitch angle in the first angle parameter is greater than 0° but less than a preset angle value.

5. The method according to claim 3, characterized in that: Selecting an angle parameter from the N1 angle parameters to represent the target posture specifically includes: The electronic device determines that a second angle parameter among the N1 angle parameters represents the target posture, and the pitch angle, azimuth angle, and roll angle among the second angle parameters are respectively the pitch angle, azimuth angle, and roll angle of the target posture in the reference coordinate system; wherein the roll angle of the second angle parameter among the N1 angle parameters is the smallest, and the pitch angle among the first angle parameters is greater than 0° but less than a preset angle value; In the case where the device posture is adjusted by guiding the pitch angle difference information and the azimuth angle difference information but not by guiding the roll angle difference information, the method further includes: The electronic device determines that the second roll angle is less than a preset angle value.

6. The method according to claim 5, characterized in that In the case where the device posture is adjusted by guiding the pitch angle difference information, the azimuth angle difference information, and the roll angle difference information, the method further includes: The electronic device determines that the second roll angle is greater than or equal to the preset angle value.

7. The method according to any one of claims 1 to 6, characterized in that When displaying the pitch angle difference information and the azimuth angle difference information for guiding the adjustment of the device attitude, the method further includes: The pitch angle of the electronic device is displayed as being adjusted by rotating the electronic device by moving the arm up and down; The adjustment method corresponding to the azimuth angle of the electronic device is displayed as: adjusting by rotating the electronic device by turning the body.

8. The method according to any one of claims 1 to 7, characterized in that When displaying the roll angle information, the method further includes: The adjustment method corresponding to the roll angle of the electronic device is displayed as follows: adjusting by rotating the electronic device perpendicular to the screen.

9. The method according to any one of claims 2 to 8, characterized in that: When displaying the pitch angle difference information, the azimuth angle difference information, and the roll angle difference information for guiding the adjustment of the device attitude, the method further includes: The electronic device displays an adjustment method corresponding to the first rotation angle; After the first rotation angle is adjusted, the electronic device displays an adjustment method corresponding to the second rotation angle; After the second rotation angle is adjusted, the electronic device displays an adjustment method corresponding to the third rotation angle; The first rotation angle, the second rotation angle and the third rotation angle are one of an azimuth angle, a pitch angle and a roll angle of the electronic device.

10. The method according to any one of claims 3 to 9, characterized in that: When the reference coordinate system is a ground coordinate system established with the celestial direction, the north direction, and the east direction as three axes, and the initial posture is that the electronic device is parallel to the plane formed by the north direction and the east direction, and the top of the electronic device points to the north direction, the N1 rotation matrices are each decomposed into angle parameters, specifically including: The electronic device decomposes each of the N1 rotation matrices into an internal rotation ZXZ mode Euler angle as an angle parameter; the ZXZ mode Euler angle includes: an angle of first rotating around the Z axis of the electronic device, then an angle of rotating around the X axis of the electronic device, and then an angle of rotating around the Z axis again.

11. An electronic device, characterized in that: include: One or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the electronic device to execute the method as described in any one of claims 1-10.

12. A computer-readable storage medium comprising computer instructions, characterized in that: When the computer instructions are executed on an electronic device, the electronic device is caused to execute the method as claimed in any one of claims 1 to 10.

13. A chip system, which is applied to electronic equipment, characterized in that: The chip system includes one or more processors, and the processor is used to call computer instructions so that the electronic device executes the method as described in any one of claims 1-10.

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