CN115276760B - Beam center position determining method and device and computer storage medium - Google Patents
Beam center position determining method and device and computer storage medium Download PDFInfo
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- CN115276760B CN115276760B CN202210725927.6A CN202210725927A CN115276760B CN 115276760 B CN115276760 B CN 115276760B CN 202210725927 A CN202210725927 A CN 202210725927A CN 115276760 B CN115276760 B CN 115276760B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
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Abstract
The application provides a method and a device for determining the position of a beam center and a computer storage medium, which relate to the field of communication and can determine the position of the beam center of a satellite on the earth when a simulation satellite continuously moves relative to the ground. The method comprises the following steps: acquiring a beam inclination angle of a satellite and the height of the satellite from the ground, wherein the beam inclination angle is an included angle between a beam central line of the satellite and a connecting line of the satellite and the earth center; determining a first position of a beam center of a satellite in a first coordinate system according to the beam inclination angle, the earth radius and the height, wherein one coordinate axis of the first coordinate system points to the satellite, and an origin of the first coordinate system is the earth center; a second location is determined where the first location maps in the geocentric coordinate system, the second location being a location of the beam center on the earth.
Description
Technical Field
The present invention relates to the field of communications, and in particular, to a method and apparatus for determining a position of a beam center, and a computer storage medium.
Background
When the satellite communicates with the ground, the position of the beam center of the satellite in the geocentric coordinate system needs to be determined by a simulation method to determine the coverage area of the beam of the satellite on the ground, so that gain calculation, interference calculation and the like of the beam of the satellite can be realized.
In the prior art, it is generally possible to determine the position of the beam center of a satellite in the geocentric coordinate system when the simulated satellite is relatively stationary with respect to the ground. However, since the beam center is unchanged relative to the ground when the satellite is stationary relative to the ground, and the beam center is changed relative to the ground when the satellite is moving relative to the ground, the prior art cannot determine the position of the beam center of the satellite in the geocentric coordinate system when the simulated satellite is moving relative to the ground.
Disclosure of Invention
The application provides a method and a device for determining the position of a beam center and a computer storage medium, which can determine the position of the beam center of a satellite on the earth when a simulated satellite continuously moves relative to the ground.
In order to achieve the above purpose, the present application adopts the following technical scheme:
in a first aspect, a method for determining a position of a beam center is provided, which may be performed by a position determining device of the beam center, the method comprising: acquiring a beam inclination angle of a satellite and the height of the satellite from the ground, wherein the beam inclination angle is an included angle between a beam central line of the satellite and a connecting line of the satellite and the earth center; determining a first position of a beam center of a satellite in a first coordinate system according to the beam inclination angle, the earth radius and the height, wherein one coordinate axis of the first coordinate system points to the satellite, and an origin of the first coordinate system is the earth center; a second location is determined where the first location maps in the geocentric coordinate system, the second location being a location of the beam center on the earth.
Based on this scheme, since one coordinate axis of the first coordinate system points to the satellite, when the satellite moves continuously with respect to the ground, the satellite is stationary with respect to the first coordinate system, and the first position of the beam center of the satellite in the first coordinate system is also stationary with respect to the first coordinate system. After determining the first position of the preset beam center in the first coordinate system, the position of the beam center of the satellite on the earth can be determined when the simulation satellite continuously moves relative to the ground by determining the second position mapped by the first position in the geocentric coordinate system.
With reference to the first aspect, in certain implementations of the first aspect, determining a first position of a beam center of the satellite in a first coordinate system according to a beam tilt angle, an earth radius, and an altitude includes: determining a first equation of a target cone in a first coordinate system according to the earth radius, the altitude and the beam inclination angle, wherein the vertex of the target cone is a satellite, the generatrix of the target cone is a beam center line, and the axis of the target cone is the connection line between the satellite and the earth center; determining a third equation of a target circle in the first coordinate system according to the first equation and a preset second equation, wherein the preset second equation represents an equation of the earth in the first coordinate system, and the target circle is an intersecting circle of the target cone and the earth; the position of any point in the third equation is determined as the first position.
Based on the scheme, the position determining device determines a first equation representing the target cone according to the beam inclination angle, the earth radius and the altitude, and then determines a third equation representing the target cone and a target circle intersected with the earth according to the first equation and a preset second equation representing the earth, and then the position of any point in the third equation can be determined as the first position.
With reference to the first aspect, in certain implementations of the first aspect, determining a second location to which the first location maps in the geocentric coordinate system includes: and obtaining a second position according to the first position and the coordinate transformation matrix, wherein the coordinate transformation matrix represents the transformation relation between the first coordinate system and the geocentric coordinate system.
Based on the above scheme, the position determining device can obtain the second position according to the first position and the coordinate transformation matrix.
With reference to the first aspect, in certain embodiments of the first aspect, the method further comprises:
determining a plurality of rotation angles of a geocentric coordinate system; the plurality of rotation angles are in one-to-one correspondence with a plurality of coordinate axes of the geocentric coordinate system, and the plurality of rotation angles are used for sequentially rotating the geocentric coordinate system by taking the coordinate axis corresponding to each rotation angle as a rotation axis, so that the rotated geocentric coordinate system is overlapped with the first coordinate system; and determining a coordinate transformation matrix according to the plurality of rotation angles. Based on the above, the position determining device can determine a plurality of rotation angles and determine the coordinate conversion matrix from the plurality of rotation angles.
In a second aspect, a beam center position determining device is provided for implementing the beam center position determining method of the first aspect. The beam center position determining device comprises a corresponding module, unit or means (means) for realizing the method, wherein the module, unit or means can be realized by hardware, software or realized by executing corresponding software by hardware. The hardware or software includes one or more modules or units corresponding to the functions described above.
With reference to the second aspect, in certain embodiments of the second aspect, the beam center position determining device includes: the device comprises an acquisition module and a processing module; the acquisition module is used for acquiring the beam inclination angle of the satellite and the height of the satellite from the ground, wherein the beam inclination angle is an included angle between the beam center line of the satellite and the connecting line of the satellite and the earth center; the processing module is used for determining a first position of a beam center of the satellite in a first coordinate system according to the beam inclination angle, the earth radius and the height, one coordinate axis in the first coordinate system points to the satellite, and an origin point of the first coordinate system is a geocenter; the processing module is further used for determining a second position mapped by the first position in the geocentric coordinate system, wherein the second position is the position of the beam center on the earth.
With reference to the second aspect, in certain embodiments of the second aspect, the processing module is configured to determine, according to a beam tilt angle, an earth radius, and an altitude, a first position of a beam center of the satellite in a first coordinate system, including: determining a first equation of a target cone in a first coordinate system according to the earth radius, the altitude and the beam inclination angle, wherein the vertex of the target cone is a satellite, the generatrix of the target cone is a beam center line, and the axis of the target cone is the connection line between the satellite and the earth center; determining a third equation of a target circle in the first coordinate system according to the first equation and a preset second equation, wherein the preset second equation represents an equation of the earth in the first coordinate system, and the target circle is an intersecting circle of the target cone and the earth; the position of any point in the third equation is determined as the first position.
With reference to the second aspect, in certain embodiments of the second aspect, the processing module is further configured to determine a second location mapped by the first location in a geocentric coordinate system, including: and obtaining a second position according to the first position and the coordinate transformation matrix, wherein the coordinate transformation matrix represents the transformation relation between the first coordinate system and the geocentric coordinate system.
With reference to the second aspect, in certain embodiments of the second aspect, the processing module is further configured to: determining a plurality of rotation angles of a geocentric coordinate system; the plurality of rotation angles are in one-to-one correspondence with a plurality of coordinate axes of the geocentric coordinate system, and the plurality of rotation angles are used for sequentially rotating the geocentric coordinate system by taking the coordinate axis corresponding to each rotation angle as a rotation axis, so that the rotated geocentric coordinate system is overlapped with the first coordinate system; and determining a coordinate transformation matrix according to the plurality of rotation angles.
In a third aspect, there is provided a position determining apparatus of a beam center, including: at least one processor, a memory for storing instructions executable by the processor; wherein the processor is configured to execute instructions to implement a method of determining the position of the beam center as provided by the first aspect and any one of its possible designs.
In a fourth aspect, a computer readable storage medium is provided, which when executed by a processor of a beam center position determining device, enables the beam center position determining device to perform the beam center position determining method as provided by the first aspect and any one of its possible designs.
In a fifth aspect, there is provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the first aspect described above.
In a sixth aspect, there is provided a chip system comprising: a processor and interface circuit; interface circuit for receiving computer program or instruction and transmitting to processor; the processor is configured to execute a computer program or instructions to cause the chip system to perform the method of the first aspect as described above.
Drawings
FIG. 1 is a schematic diagram of a beam center position determining system according to the present application;
fig. 2 is a flow chart of a method for determining a beam center position provided in the present application;
FIG. 3a is a schematic view of a first coordinate axis of a first coordinate system provided in the present application;
FIG. 3b is a schematic view of a second coordinate axis of a first coordinate system provided in the present application;
FIG. 3c is a schematic view of a third coordinate axis of the first coordinate system provided in the present application;
FIG. 4 is a flow chart of a method for determining a first location provided in the present application;
fig. 5a is a schematic diagram of beam center position distribution provided in the present application;
FIG. 5b is a schematic diagram of another beam center position distribution provided in the present application;
FIG. 6 is a schematic flow chart of a method for determining a coordinate transformation matrix according to the present application;
FIG. 7 is a schematic diagram of coordinate system conversion provided in the present application;
FIG. 8 is an exemplary diagram of beam center simulation results for a satellite provided herein;
FIG. 9 is a schematic diagram of a position determining apparatus provided herein;
fig. 10 is a schematic structural view of another position determining apparatus provided in the present application.
Detailed Description
In the description of the present application, unless otherwise indicated, "a plurality" means two or more than two. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.
In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", and the like are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.
Meanwhile, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion that may be readily understood.
It is appreciated that reference throughout this specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, various embodiments are not necessarily referring to the same embodiments throughout the specification. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence number of each process does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
It is to be understood that in this application, the terms "when …," "if," and "if" are used to indicate that the corresponding process is to be performed under some objective condition, and are not intended to limit the time, nor do they require that the acts be performed with a judgment, nor are they intended to imply that other limitations are present.
It can be appreciated that some optional features of the embodiments of the present application may be implemented independently in some scenarios, independent of other features, such as the scheme on which they are currently based, to solve corresponding technical problems, achieve corresponding effects, or may be combined with other features according to requirements in some scenarios. Accordingly, the apparatus provided in the embodiments of the present application may also implement these features or functions accordingly, which is not described herein.
Throughout this application, unless specifically stated otherwise, identical or similar parts between the various embodiments may be referred to each other. In the present application, unless specifically stated or logic conflict, terms and/or descriptions between different embodiments and between implementation methods in the embodiments are consistent and may be mutually cited, technical features in the different embodiments and implementation methods in the embodiments may be combined to form a new embodiment, implementation, method, or implementation method according to their inherent logic relationship. The following embodiments of the present application are not to be construed as limiting the scope of the present application.
The method for determining the position of the beam center provided by the embodiment of the disclosure can be applied to a system for determining the position of the beam center (hereinafter, simply referred to as a position determining system for convenience of description). Fig. 1 shows a schematic diagram of a construction of the position determining system. As shown in fig. 1, the position determining system 10 includes a position determining device (hereinafter simply referred to as a position determining device for convenience of description) 11 of a beam center and an electronic apparatus 12. The position determining means 11 is connected to an electronic device 12. The location determining device 11 and the electronic device 12 may be connected in a wired manner or may be connected in a wireless manner, which is not limited in the embodiment of the present disclosure.
The position determining means 11 may be arranged for data interaction with the electronic device 12, e.g. the position determining means 11 may be arranged for receiving satellite data related to the transmission of the electronic device and for transmitting position data of the generated beam center to the electronic device.
The position determining device 11 may also perform a method for determining the position of the beam center in the embodiments of the present disclosure, for example, for performing corresponding processing on the received relevant satellite data to obtain position data of the beam center.
The electronic device 12 obtains the relevant satellite data stored in itself or accepts relevant satellite data transmitted by other similar devices.
The electronic device 12 illustratively includes a memory module and a communication module. The storage module is used for storing relevant satellite data. The communication module is used for data interaction with the position determining means 11.
The location determining device 11 and the electronic device 12 may be independent devices or may be integrated into the same device, which is not specifically limited in this disclosure.
When the position determining apparatus 11 and the electronic device 12 are integrated in the same device, the communication between the position determining apparatus 11 and the electronic device 12 is in the form of communication between the internal modules of the device. In this case, the communication flow therebetween is the same as "in the case where the position determining apparatus 11 and the electronic device 12 are independent of each other".
In the following embodiments provided in the present disclosure, the present disclosure is described taking an example in which the position determining apparatus 11 and the electronic device 12 are provided independently of each other.
In practical applications, the method for determining the position of the beam center provided by the embodiment of the present disclosure may be applied to a position determining device, or may be applied to a device included in the position determining device, and in the following, the method for determining the position of the beam center provided by the embodiment of the present disclosure is described by taking the application of the method for determining the position of the beam center to the position determining device as an example with reference to the accompanying drawings.
Fig. 2 is a flowchart of a method for determining a beam center according to an embodiment of the present disclosure, as shown in fig. 2, where the method for determining a beam center according to an embodiment of the present disclosure includes the following steps.
S201, the position determining device acquires the beam inclination angle of the satellite and the height of the satellite from the ground.
The beam inclination angle is an included angle between the beam center line of the satellite and a connecting line of the satellite and the earth center.
As a possible implementation, the location determining device may obtain the beam tilt angle of the satellite and the altitude of the satellite from the ground from the electronic device 12 shown in fig. 1, and the specific manner of obtaining is not limited in this application.
Illustratively, the beam tilt angle may be 10 °, or the beam tilt angle may be 20 °. Of course, the beam tilt angle may be other angles, which is not limited in this application.
Illustratively, the satellite may be 1000 kilometers (km) in height from the ground, or 1100km in height from the ground. Of course, the satellite may have other heights from the ground, which the present application is not limited to.
S202, a position determining device determines a first position of a beam center of a satellite in a first coordinate system according to the beam inclination angle, the earth radius and the altitude.
One coordinate axis of the first coordinate system points to the satellite, and the origin of the first coordinate system is the earth center.
It should be noted that, for the first coordinate system, fig. 3a is a schematic diagram of a first coordinate axis of the first coordinate system provided in the present application, as shown in fig. 3a, an origin of the first coordinate system is a geocenter, a positive direction of the first coordinate axis in the first coordinate system is a direction of the geocenter pointing to the satellite, and for example, the first coordinate axis may be a z-axis of the first coordinate system. Fig. 3b is a schematic diagram of a second coordinate axis of the first coordinate system provided in the present application, as shown in fig. 3b, a positive direction of the second coordinate axis of the first coordinate system is a direction in which a geocenter points to any point on a plane passing through the geocenter and perpendicular to the first coordinate axis, for example, the second coordinate axis may be an x-axis of the first coordinate system. Fig. 3c is a schematic diagram of a third coordinate axis of the first coordinate system provided in the present application, as shown in fig. 3c (the first coordinate system shown in fig. 3c meets the requirement of the right-hand coordinate system), after the positive directions of the two coordinate axes of the first coordinate system are determined, the positive direction of the third coordinate axis of the first coordinate system is the normal vector of the geodetic center of the plane where the first coordinate axis and the second coordinate axis are located, for example, the third coordinate axis may be the y-axis of the first coordinate system.
Because the normal vector of the plane of the first coordinate axis and the second coordinate axis passing through the earth center has two directions, in practical application, one direction can be randomly selected from the two directions as the positive direction of the third coordinate axis of the first coordinate system. The first coordinate system needs to meet the requirement of the right-hand coordinate system, and the position of the beam center on the earth can be determined correctly. If the distance between the position of the beam center on the earth and the point below the star is greater than the radius of the earth, the first coordinate system is not satisfied with the requirement of the right-hand coordinate system, and the determined position of the beam center on the earth is incorrect.
As a possible implementation manner, the position determining device determines a first equation in the first coordinate system according to the radius, the altitude, the beam center and the beam inclination angle of the earth, determines a third equation in the first coordinate system according to the first equation and a preset second equation, and determines the position of any point in the third equation as the first position of the beam center of the satellite in the first coordinate system.
Wherein, the first party Cheng Biaozheng is a target cone in the first coordinate system, the vertex of the target cone is a satellite, the generatrix of the target cone is a beam center line, and the axis of the target cone is the connection line between the satellite and the earth center. The second equation is preset to characterize the earth in the first coordinate system. The third party Cheng Biaozheng is a target circle in the first coordinate system, the target circle being an intersecting circle of the target cone and the earth.
It should be noted that, the specific description of the possible implementation may refer to the following related description, which is not repeated herein.
S203, the position determining device determines a second position mapped by the first position in the geocentric coordinate system.
Wherein the second location is the location of the beam center on the earth.
It should be noted that the geocentric coordinate system satisfies the requirements of the right-hand coordinate system. The origin of the geocentric coordinate system is the geocenter. The direction in which the earth's center points to the north is the positive direction of the first coordinate axis of the earth's center coordinate system, e.g., the positive direction of the z-axis. The direction in which the centroid points to the principal meridian is the positive direction of the second coordinate axis of the centroid coordinate system, for example, the positive direction of the x-axis. The direction of the geocenter pointing to the east-west 92 ° line is the positive direction of the third coordinate axis of the geocenter coordinate system, for example, the positive direction of the y-axis.
As a possible implementation manner, the position determining device obtains, according to the first position and the coordinate transformation matrix, a second position mapped by the first position in the geocentric coordinate system, where the second position is a position of the beam center on the earth.
Wherein the coordinate transformation matrix characterizes a transformation relationship between the first coordinate system and the geocentric coordinate system.
It should be noted that, the specific description of the possible implementation may refer to the description of the related method, which is not described herein.
Based on this scheme, since one coordinate axis of the first coordinate system points to the satellite, when the satellite moves continuously with respect to the ground, the satellite is stationary with respect to the first coordinate system, and the first position of the beam center of the satellite in the first coordinate system is also stationary with respect to the first coordinate system. After determining the first position of the preset beam center in the first coordinate system, the position of the beam center of the satellite on the earth can be determined when the simulation satellite continuously moves relative to the ground by determining the second position mapped by the first position in the geocentric coordinate system.
The foregoing generally describes aspects of the present application, which are further described below.
In one design, fig. 4 is a schematic flow chart of a method for determining a first position provided in the present application, as shown in fig. 4, where S202 provided in the embodiment of the present application specifically includes:
s401, the position determining device determines a first equation of the target cone in a first coordinate system according to the earth radius, the altitude and the beam inclination angle.
Wherein, the vertex of the target cone is a satellite, the generatrix of the target cone is a beam central line, and the axis of the target cone is the connection line between the satellite and the earth center.
As one possible implementation, the first equation may be as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
the beam inclination is represented, h represents the altitude of the satellite, R represents the radius of the earth, and x, y and z are three variables of a first equation respectively.
The target cone in the first coordinate system can be represented by the above first equation.
S402, the position determining device determines a third equation of the target circle in the first coordinate system according to the first equation and a preset second equation.
The second equation is preset to represent the equation of the earth in the first coordinate system, and the target circle is the intersecting circle of the target cone and the earth.
As an example, the preset second equation may be as follows:
x 2 +y 2 +z 2 ＝R 2
wherein R represents the radius of the earth, and x, y and z are three variables of the second equation respectively.
The earth in the first coordinate system can be represented by the above preset second equation.
As a possible implementation, the position determining device solves the first equation and the preset second equation simultaneously to determine a third equation of the target circle in the first coordinate system.
For example, to
For 10 °, 1000km for h and 6378km for r, the first equation may be expressed as
The second equation can be expressed as x 2 +y 2 +z 2 ＝6378 2 . The position determining means combines the first equation and the second equation:
simultaneous solution to x 2 +y 2 =30608.6, z= 6375.6, the third equation of the position determining means is x 2 +y 2 ＝30608.6。
S403, the position determining device determines the position of any point in the third equation as a first position.
It should be noted that, fig. 5a is a schematic diagram of beam center position distribution provided in the present application, and as shown in fig. 5a, a position of a beam center of a satellite on the earth in the first coordinate system may be regarded as any point on a target circle where a target cone intersects the earth.
Since the beam tilt angle has been determined, the position of any point on the target circle is considered to be the beam center during the simulation. Fig. 5b is a schematic diagram of another beam center position distribution provided in the present application, as shown in fig. 5b, and any point in points uniformly spaced on the target circle may be used as the beam center for ease of understanding.
Based on the scheme, the position determining device determines a first equation representing the target cone according to the beam inclination angle, the earth radius and the altitude, and then determines a third equation representing the target cone and a target circle intersected with the earth according to the first equation and a preset second equation representing the earth, and then the position of any point in the third equation can be determined as the first position.
In one design, S203 provided in the embodiment of the present application specifically includes:
the position determining device obtains a second position according to the first position and the coordinate transformation matrix.
Wherein the coordinate transformation matrix characterizes a transformation relationship between the first coordinate system and the geocentric coordinate system.
As one possible implementation, the coordinate transformation matrix R may be as follows:
it should be noted that α, β, and γ in the coordinate transformation matrix R represent three angles, respectively, and the description of the coordinate transformation matrix R may refer to the description of the subsequent part, which is not described herein.
Taking the coordinates of the first position as (X, Y, Z) as an example, the position determining device obtains the second position according to formula one.
(X, Y, Z) =r (X, Y, Z) formula one
Wherein (x, y, z) is the coordinates of the second location in the geocentric coordinate system.
Based on the above scheme, the position determining device can obtain the second position according to the first position and the coordinate transformation matrix.
In one design, for the coordinate transformation matrix, fig. 6 is a schematic flow chart of determining the coordinate transformation matrix provided in the present application, and as shown in fig. 6, the method for determining the coordinate transformation matrix specifically includes the following steps:
s601, the position determining device determines a plurality of rotation angles of the geocentric coordinate system.
The plurality of rotation angles are in one-to-one correspondence with a plurality of coordinate axes of the geocentric coordinate system, and the plurality of rotation angles are used for sequentially rotating the geocentric coordinate system by taking the coordinate axes corresponding to the rotation angles as rotation axes, so that the rotated geocentric coordinate system is overlapped with the first coordinate system.
As one possible implementation manner, taking a first coordinate axis of the geocentric coordinate system as a z axis, a second coordinate axis of the geocentric coordinate system as a y axis, a third coordinate axis of the geocentric coordinate system as an x axis, a first rotation angle corresponding to the first coordinate axis as α, a second rotation angle corresponding to the second coordinate axis as β, and a third rotation angle corresponding to the third coordinate axis as γ as an example. The position determining means determines the first rotation angle according to the formula two.
Wherein Ox' is the projection vector of the unit vector of the x axis of the first coordinate system on the plane of the x axis and the y axis of the geocentric coordinate system, and Ox is the unit vector of the x axis of the geocentric coordinate system.
The position determining means determines the second rotation angle according to the formula three.
Wherein Oz 'is a projection vector of a unit vector of the z axis of the first coordinate system on a plane where the z axis and Ox' vector of the geocentric coordinate system are located, and Oz is a unit vector of the z axis of the geocentric coordinate system.
The position determining means determines the third rotation angle according to the fourth formula.
Wherein Oy' is the projection vector of the unit vector of the y axis of the first coordinate system on the plane where the y axis and the z axis of the geocentric coordinate system are located, and Oy is the unit length vector of the y axis of the geocentric coordinate system.
The value intervals of the first rotation angle α, the second rotation angle β and the third rotation angle γ determined based on the above possible implementation manner are [ 0 °,180 ° ], that is, the signs of the determined first rotation angle α, second rotation angle β and third rotation angle γ are positive. However, in practical applications, since the rotation direction may be clockwise or counterclockwise, the sign of the angle is positive when the rotation direction is clockwise, and the sign of the angle is negative when the rotation direction is counterclockwise, that is, the signs of the first rotation angle α, the second rotation angle β, and the third rotation angle γ are positive and negative. Thus, the signs of the first rotation angle α, the second rotation angle β, and the third rotation angle γ cannot be determined.
In response to this problem, the position determining apparatus may perform permutation and combination of the symbols of the first rotation angle α, the second rotation angle β, and the third rotation angle γ, and then perform verification, respectively. Specifically, the first rotation angle α, the second rotation angle β, and the third rotation angle γ have 8 groups of symbol combinations, which are respectively:
a first set of symbol combinations: the sign of the first rotation angle α is positive, the sign of the second rotation angle β is positive and the sign of the third rotation angle γ is positive.
A second set of symbol combinations: the sign of the first rotation angle α is positive, the sign of the second rotation angle β is positive and the sign of the third rotation angle γ is negative.
Third group of symbol combinations: the sign of the first rotation angle α is positive, the sign of the second rotation angle β is positive and the sign of the third rotation angle γ is positive.
Fourth group of symbol combinations: the sign of the first rotation angle α is positive, the sign of the second rotation angle β is negative and the sign of the third rotation angle γ is positive.
A fifth set of symbol combinations: the sign of the first rotation angle α is negative, the sign of the second rotation angle β is positive and the sign of the third rotation angle γ is positive.
A sixth set of symbol combinations: the sign of the first rotation angle α is negative, the sign of the second rotation angle β is positive and the sign of the third rotation angle γ is negative.
Seventh group of symbol combinations: the sign of the first rotation angle α is negative, the sign of the second rotation angle β is negative and the sign of the third rotation angle γ is positive.
Eighth group of symbol combinations: the sign of the first rotation angle α is negative, the sign of the second rotation angle β is negative and the sign of the third rotation angle γ is negative.
The position determining device substitutes 8 groups of symbol combinations of the first rotation angle alpha, the second rotation angle beta and the third rotation angle gamma into the coordinate conversion matrix R, converts a plurality of first positions in the target circle into a plurality of second positions based on the coordinate conversion matrix R corresponding to each group of symbol combinations, and if the distance between each second position and the satellite is the same, the group of symbol combinations are indicated to be correct symbol combinations.
The principle of coordinate conversion is that three rotation axes of one coordinate system are rotated by corresponding angles with each coordinate axis as a rotation axis according to a sequence and then are correspondingly overlapped with another coordinate system, taking a first coordinate system and a geocentric coordinate system in the application as examples, fig. 7 is a coordinate system conversion schematic diagram provided in the application, as shown in fig. 7, X, Y and Z respectively represent an X axis, a Y axis and a Z axis of the geocentric coordinate system, the geocentric coordinate system can be represented as (X, Y and Z), X, Y, Z respectively represents an X axis, a Y axis and a Z axis of the first coordinate system, and the first coordinate system can be represented as (X, Y and Z).
First, the position determining means rotates the first rotation angle α with the z axis of the geocentric coordinate system (x, y, z) as the rotation axis, and the geocentric coordinate system can be expressed as (x ', y', z ') by this rotation when the x axis of the geocentric coordinate system (x, y, z) is changed from x to x', the y axis is changed from y to y ', and the z axis is changed from z to z'.
Then, the position determining device rotates the second rotation angle β with the y-axis of the geocentric coordinate system (x ', y ', z ') as the rotation axis, and the geocentric coordinate system (x ', y ', z ') is converted from x ' to x ", from y ' to y", from z ' to z ", and through this rotation, the geocentric coordinate system can be expressed as (x", y ", z").
Finally, the position determining device rotates the third rotation angle γ by using the x-axis of the geocentric coordinate system (x ", y", z ") as the rotation axis, and at this time, the x-axis of the geocentric coordinate system (x", y ", z") is changed from x "to x '", the y-axis is changed from y "to y'", and the z-axis is changed from z "to z '", and after this rotation, the geocentric coordinate system can be expressed as (x' ", y '", z' ").
After the three rotations described above, the three coordinate axes of the geocentric coordinate system (X ' ", Y '", Z ' ") are aligned with the coordinate axes of the first coordinate system (X, Y, Z), in particular the X-axis of the geocentric coordinate system (X '", Y ' ", Z '") coincides with the X-axis of the first coordinate system (X, Y, Z) and the Z-axis of the geocentric coordinate system (X ' ", Y '", Z ' ") and the Z-axis of the first coordinate system (X, Y, Z) coincide.
S602, the position determining device determines a coordinate transformation matrix according to a plurality of rotation angles.
The position determining device may obtain the coordinate conversion matrix after determining the values of the plurality of rotation angles.
Based on the above, the position determining device can determine a plurality of rotation angles and determine the coordinate conversion matrix from the plurality of rotation angles.
Fig. 8 is a diagram of an example of a simulation result of a beam center of a satellite according to the present application, and the simulation result shown in fig. 8 may be obtained based on each parameter in table 1 and the method for determining a position of a beam center according to the present application.
TABLE 1
| Parameter name | Parameter value |
| Total number of satellites | 6 |
| Track surface | 54 |
| Number of satellites per orbit | 9 |
| Orbital tilt angle of satellite system | 86.0/180.0*pi |
| Track semi-long shaft | 7478.137 |
| Eccentricity of |
0 |
| Near- |
0 |
| The ascending intersection point is the |
0 |
| Rail included angle (included angle between two rails) | 180/6 |
| Included angle of beam | 【0,10.0】 |
| Number of beams | 【1,4】 |
As shown in fig. 8, the simulation result shows that the method for determining the beam center provided by the application can determine the position of the beam center of the satellite on the earth when the simulation satellite continuously moves relative to the ground.
The above-described embodiments of the present application have been described mainly in terms of a method for performing position determination of a beam center from a position determining apparatus. In order to achieve the above-mentioned functions, the position determining means comprise corresponding hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The embodiment of the present application may divide the functional modules of the position determining apparatus according to the above method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated modules may be implemented in hardware or in software functional modules. Optionally, the division of the modules in the embodiments of the present application is schematic, which is merely a logic function division, and other division manners may be actually implemented. Further, "module" herein may refer to an application-specific integrated circuit (ASIC), an electrical circuit, a processor and memory that execute one or more software or firmware programs, an integrated logic circuit, and/or other devices that can provide the above-described functionality.
Fig. 9 shows a schematic diagram of a position determining device in the case of functional module division. As shown in fig. 9, the position determining apparatus 90 includes an acquisition module 901 and a processing module 902.
In some embodiments, the position determining device 90 may also include a memory module (not shown in fig. 9) for storing program instructions and data.
The acquisition module 901 is configured to acquire a beam inclination angle of the satellite and a height of the satellite from the ground, where the beam inclination angle is an included angle between a beam center line of the satellite and a connection line between the satellite and the earth center; the processing module 902 is configured to determine, according to the beam inclination angle, the earth radius and the altitude, a first position of a beam center of the satellite in a first coordinate system, where one coordinate axis of the first coordinate system points to the satellite, and an origin of the first coordinate system is a centroid; the processing module 902 is further configured to determine a second location mapped by the first location in the geocentric coordinate system, where the second location is a location of the beam center on the earth.
As a possible implementation manner, the processing module 902, configured to determine, according to a beam inclination angle, an earth radius, and an altitude, a first position of a beam center of a satellite in a first coordinate system, includes: determining a first equation of a target cone in a first coordinate system according to the earth radius, the altitude and the beam inclination angle, wherein the vertex of the target cone is a satellite, the generatrix of the target cone is a beam center line, and the axis of the target cone is the connection line between the satellite and the earth center; determining a third equation of a target circle in the first coordinate system according to the first equation and a preset second equation, wherein the preset second equation represents an equation of the earth in the first coordinate system, and the target circle is an intersecting circle of the target cone and the earth; the position of any point in the third equation is determined as the first position.
As one possible implementation, the processing module 902 is further configured to determine a second location mapped by the first location in the geocentric coordinate system, including: and obtaining a second position according to the first position and the coordinate transformation matrix, wherein the coordinate transformation matrix represents the transformation relation between the first coordinate system and the geocentric coordinate system.
As a possible implementation, the processing module 902 is further configured to: determining a plurality of rotation angles of a geocentric coordinate system; the plurality of rotation angles are in one-to-one correspondence with a plurality of coordinate axes of the geocentric coordinate system, and the plurality of rotation angles are used for sequentially rotating the geocentric coordinate system by taking the coordinate axis corresponding to each rotation angle as a rotation axis, so that the rotated geocentric coordinate system is overlapped with the first coordinate system; and determining a coordinate transformation matrix according to the plurality of rotation angles.
All relevant contents of each step related to the above method embodiment may be cited to the functional descriptions of the corresponding functional modules, which are not described herein.
In the case where the functions of the above-described functional modules are implemented in the form of hardware, fig. 10 shows a schematic configuration of a position determining apparatus. As shown in fig. 10, the position determining apparatus 100 includes a processor 1001, a memory 1002, and a bus 1003. The processor 1001 and the memory 1002 may be connected by a bus 1003.
The processor 1001 is a control center of the position determining apparatus 100, and may be one processor or a collective term of a plurality of processing elements. For example, the processor 1001 may be a general-purpose central processing unit (central processing unit, CPU), or may be another general-purpose processor. Wherein the general purpose processor may be a microprocessor or any conventional processor or the like.
As one example, the processor 1001 may include one or more CPUs, such as CPU0 and CPU 1 shown in fig. 10.
The memory 1002 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), magnetic disk storage or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
As a possible implementation, the memory 1002 may exist separately from the processor 1001, and the memory 1002 may be connected to the processor 1001 through a bus 1003 for storing instructions or program code. The processor 1001, when calling and executing the instructions or program codes stored in the memory 1002, can implement the method for using one-time identification provided in the embodiment of the present application.
In another possible implementation, the memory 1002 may be integrated with the processor 1001.
It should be noted that the structure shown in fig. 10 does not constitute a limitation of the position determining apparatus 100. In addition to the components shown in fig. 10, the position determining apparatus 100 may include more or less components than shown, or certain components may be combined, or a different arrangement of components.
As an example, in connection with fig. 9, the acquisition module 901 and the processing module 902 in the position determining device 90 implement the same functions as the processor 1001 in fig. 10.
Optionally, as shown in fig. 10, the location determining device 100 provided in the embodiment of the present application may further include a communication interface 1004.
In a possible implementation manner, in the location determining device 100 provided in the embodiment of the present application, the communication interface 1004 may also be integrated in the processor 1001, which is not specifically limited in this embodiment of the present application.
As a possible product form, the position determining apparatus according to the embodiment of the present application may be further implemented using the following: one or more field programmable gate arrays (field programmable gate array, FPGA), programmable logic devices (programmable logic device, PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuit or combination of circuits capable of performing the various functions described throughout this application.
From the above description of embodiments, it will be apparent to those skilled in the art that the foregoing functional unit divisions are merely illustrative for convenience and brevity of description. In practical applications, the above-mentioned function allocation may be performed by different functional units, i.e. the internal structure of the device is divided into different functional units, as needed, to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
The present application further provides a computer-readable storage medium, on which a computer program or instructions are stored, where the computer program or instructions, when executed, cause a computer to perform the steps in the method flow shown in the method embodiment described above.
Embodiments of the present application provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the steps of the method flows shown in the method embodiments described above.
An embodiment of the present application provides a chip system, including: a processor and interface circuit; interface circuit for receiving computer program or instruction and transmitting to processor; the processor is configured to execute a computer program or instructions to cause the chip system to perform the method of the first aspect as described above.
The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: electrical connections having one or more wires, portable computer diskette, hard disk. Random access Memory (Random Access Memory, RAM), read-Only Memory (ROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), registers, hard disk, optical fiber, portable compact disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any other form of computer-readable storage medium suitable for use by a person or persons of skill in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in a special purpose ASIC. In the context of the present application, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Since the position determining apparatus, the computer readable storage medium and the computer program product provided in this embodiment can be applied to the position determining method provided in this embodiment, the technical effects obtained by the position determining apparatus, the computer readable storage medium and the computer program product can also refer to the method embodiment described above, and the embodiments of the present application are not repeated here.
Although the present application has been described herein in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a review of the figures, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
Although the present application has been described in connection with specific features and embodiments thereof, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the application. Accordingly, the specification and drawings are merely exemplary illustrations of the present application as defined in the appended claims and are considered to cover any and all modifications, variations, combinations, or equivalents that fall within the scope of the present application. It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (8)
1. A method of determining the position of a beam center, the method comprising:
acquiring a beam inclination angle of a satellite and the height of the satellite from the ground, wherein the beam inclination angle is an included angle between a beam central line of the satellite and a connecting line of the satellite and the earth center;
determining a first position of a beam center of the satellite in a preset coordinate system according to the beam inclination angle, the earth radius and the altitude, wherein one coordinate axis in the first coordinate system points to the satellite, and an origin of the first coordinate system is the earth center;
determining a second position mapped by the first position in a geocentric coordinate system, wherein the second position is the position of the beam center on the earth;
the determining a first position of a beam center of the satellite in a first coordinate system according to the beam inclination angle, the earth radius and the altitude comprises:
determining a first equation of a target cone in the first coordinate system according to the earth radius, the altitude and the beam inclination angle, wherein the vertex of the target cone is the satellite, the generatrix of the target cone is the beam center line, and the axis of the target cone is the connection line between the satellite and the earth center;
Determining a third equation of a target circle in the first coordinate system according to the first equation and a preset second equation, wherein the preset second equation represents an equation of the earth in the first coordinate system, and the target circle is an intersecting circle of the target cone and the earth;
and determining the position of any point in the third equation as the first position.
2. The method of claim 1, wherein the determining a second location to which the first location maps in a geocentric coordinate system comprises:
and obtaining the second position according to the first position and a coordinate transformation matrix, wherein the coordinate transformation matrix represents the transformation relation between the first coordinate system and the geocentric coordinate system.
3. The method according to claim 2, wherein the method further comprises:
determining a plurality of rotation angles of the geocentric coordinate system; the plurality of rotation angles are in one-to-one correspondence with a plurality of coordinate axes of the geocentric coordinate system, and the plurality of rotation angles are used for sequentially rotating the geocentric coordinate system by taking the coordinate axis corresponding to each rotation angle as a rotation axis, so that the rotated geocentric coordinate system coincides with the first coordinate system;
And determining the coordinate transformation matrix according to the rotation angles.
4. A beam center position determining apparatus, the apparatus comprising: the device comprises an acquisition module and a processing module;
the acquisition module is used for acquiring the beam inclination angle of the satellite and the height of the satellite from the ground, wherein the beam inclination angle is an included angle between the beam center line of the satellite and a connecting line of the satellite and the earth center;
the processing module is used for determining a first position of a beam center of the satellite in a first coordinate system according to the beam inclination angle, the earth radius and the altitude, one coordinate axis in the first coordinate system points to the satellite, and an origin of the first coordinate system is the earth center;
the processing module is further configured to determine a second location mapped by the first location in a geocentric coordinate system, where the second location is a location of the beam center on the earth;
the processing module is configured to determine a first position of a beam center of the satellite in a first coordinate system according to the beam inclination angle, the earth radius, and the altitude, and includes:
determining a first equation of a target cone in the first coordinate system according to the earth radius, the altitude and the beam inclination angle, wherein the vertex of the target cone is the satellite, the generatrix of the target cone is the beam center line, and the axis of the target cone is the connection line between the satellite and the earth center;
Determining a third equation of a target circle in the first coordinate system according to the first equation and a preset second equation, wherein the preset second equation represents an equation of the earth in the first coordinate system, and the target circle is an intersecting circle of the target cone and the earth;
and determining the position of any point in the third equation as the first position.
5. The apparatus of claim 4, wherein the processing module further for determining a second location mapped by the first location in a geocentric coordinate system comprises:
and obtaining the second position according to the first position and a coordinate transformation matrix, wherein the coordinate transformation matrix represents the transformation relation between the first coordinate system and the geocentric coordinate system.
6. The apparatus of claim 5, wherein the processing module is further configured to:
determining a plurality of rotation angles of the geocentric coordinate system; the plurality of rotation angles are in one-to-one correspondence with a plurality of coordinate axes of the geocentric coordinate system, and the plurality of rotation angles are used for sequentially rotating the geocentric coordinate system by taking the coordinate axis corresponding to each rotation angle as a rotation axis, so that the rotated geocentric coordinate system coincides with the first coordinate system;
And determining the coordinate transformation matrix according to the rotation angles.
7. A beam center position determining apparatus, the apparatus comprising: a processor coupled to a memory for storing a program or instructions that, when executed by the processor, cause the apparatus to perform the method of any one of claims 1 to 3.
8. A computer-readable storage medium, on which a computer program or instructions is stored, which, when executed, causes a computer to perform the method of any one of claims 1 to 3.
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