WO2020238659A1

WO2020238659A1 - Beam tracking method and apparatus, computer storage medium, and terminal device

Info

Publication number: WO2020238659A1
Application number: PCT/CN2020/090691
Authority: WO
Inventors: 杨鑫
Original assignee: Oppo广东移动通信有限公司
Priority date: 2019-05-24
Filing date: 2020-05-15
Publication date: 2020-12-03
Also published as: CN110212963B; CN110212963A

Abstract

Embodiments of the present application disclose a beam tracking method and apparatus, a computer storage medium, and a terminal device. The method is applied to the terminal device. The method comprises: acquiring, on the basis of a current beam of a terminal device, an initial antenna scanning angle corresponding to the beam and initial coordinate information of an antenna plane; acquiring, according to the initial antenna scanning angle and the initial coordinate information of the antenna plane, an initial beam direction corresponding to the beam; determining a target antenna scanning angle according to the initial beam direction and a rotation angle corresponding to the terminal device; and performing beam tracking on the beam at the target antenna scanning angle, and controlling the antenna scanning angle corresponding to the beam to switch from the initial antenna scanning angle to the target antenna scanning angle.

Description

Beam tracking method, device, computer storage medium and terminal equipment

Cross references to related applications

This application is filed based on a Chinese patent application with an application number of 201910440397.9 and an application date of May 24, 2019, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated into this application by way of introduction.

Technical field

This application relates to the field of communication technology, and in particular to a beam tracking method, device, computer storage medium, and terminal equipment.

Background technique

In modern wireless communication systems, antenna technology, as a space division multiplexing technology, has become the most attractive technology after frequency division multiplexing, time division multiplexing and code division multiplexing. It plays a more important role in modern wireless communication systems. An increasingly important role.

One disadvantage of highly directional transmission is that the transceiver is more sensitive to the beam direction. Once the beam direction is deviated, it will cause greater transmission loss. However, in the millimeter wave communication system, the terminal antenna has high directivity, but when the user uses the terminal device, it is impossible to keep the terminal device in a stationary state, such as picking up, putting down, and other conventional hand-held actions. It may cause the rotation of the terminal equipment, which will cause the beam direction of the terminal antenna to deviate from the millimeter wave base station, resulting in a deviation of the beam direction; at this time, if the beam tracking is only performed from the angle of communication and signal, the efficiency is very low.

Summary of the invention

This application is to propose a beam tracking method, device, computer storage medium and terminal equipment. When the terminal equipment rotates, it can provide the deviation information of the beam direction in time, so that the beam can quickly track the initial beam direction, thereby ensuring as much as possible A better communication signal improves the communication quality and at the same time improves efficiency.

The technical solution of this application is realized as follows:

In the first aspect, an embodiment of the present application provides a beam tracking method, which is applied to a terminal device, and the method includes:

Based on the current beam of the terminal device, obtain the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane; and obtain the corresponding beam according to the initial scanning angle of the antenna and the initial coordinate information of the antenna plane Initial beam direction;

Determine the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device;

Performing beam tracking on the beam through the antenna target scanning angle, and controlling the antenna scanning angle corresponding to the beam to be adjusted from the antenna initial scanning angle to the antenna target scanning angle.

In a second aspect, an embodiment of the present application provides a beam tracking device, the beam tracking device is applied to a terminal device, and the beam tracking device includes an acquiring unit, a determining unit, and a tracking unit, wherein:

The acquiring unit is configured to acquire the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane based on the current beam of the terminal device; and according to the initial scanning angle of the antenna and the initial coordinate of the antenna plane Information to obtain the initial beam direction corresponding to the beam;

The determining unit is configured to determine the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device;

The tracking unit is configured to perform beam tracking on the beam through the antenna target scanning angle, and control the antenna scanning angle corresponding to the beam to be adjusted from the antenna initial scanning angle to the antenna target scanning angle.

In a third aspect, an embodiment of the present application provides a beam tracking device, the beam tracking device is applied to a terminal device, and the beam tracking device includes a memory and a processor; wherein,

The memory is used to store a computer program that can run on the processor;

The processor is configured to execute the steps of the method described in the first aspect when running the computer program.

In the fourth aspect, an embodiment of the present application provides a computer storage medium, the computer storage medium stores a beam tracking program, and the beam tracking program is executed by at least one processor to implement the steps of the method described in the first aspect.

In a fifth aspect, an embodiment of the present application provides a terminal device, and the terminal device at least includes the beam tracking apparatus as described in the second aspect or the third aspect.

The beam tracking method, device, computer storage medium, and terminal equipment provided by the embodiments of the present application are applied to terminal equipment. Based on the current beam of the terminal device, first obtain the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane; and according to the initial scanning angle of the antenna and the initial coordinate information of the antenna plane, obtain the corresponding Initial beam direction; then determine the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device; finally, perform beam tracking on the beam through the antenna target scanning angle, and control the antenna corresponding to the beam The scanning angle is adjusted from the initial scanning angle of the antenna to the scanning angle of the antenna target; in this way, when the terminal device rotates, the deviation information of the beam direction can be provided in time, so that the beam can quickly track the initial beam direction, thereby as much as possible Ensure better communication signals, improve communication quality, and at the same time improve efficiency.

Description of the drawings

FIG. 1 is a schematic diagram of the composition structure of a wireless communication system provided by an embodiment of this application;

2 is a schematic flowchart of a beam tracking method provided by an embodiment of this application;

FIG. 3 is a schematic diagram of the composition structure of a terminal device according to an embodiment of the application;

4 is a schematic flowchart of another beam tracking method provided by an embodiment of this application;

FIG. 5 is a schematic flowchart of yet another beam tracking method provided by an embodiment of this application;

6 is a schematic diagram of the composition structure of a beam tracking device provided by an embodiment of the application;

FIG. 7 is a schematic diagram of a specific hardware structure of a beam tracking device provided by an embodiment of the application;

FIG. 8 is a schematic diagram of the composition structure of another terminal device provided by an embodiment of the application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

In the following description, the use of suffixes such as "module", "part" or "unit" used to indicate elements is only for the description of the present application, and has no specific meaning in itself. Therefore, "module", "part" or "unit" can be used in a mixed manner.

The terminal device can be implemented in various forms. For example, terminal devices may include mobile phones, tablet computers, notebook computers, handheld computers, personal digital assistants (PDAs), portable media players (PMP), navigation devices, wearable devices, etc. Type terminals, and fixed terminals such as digital televisions, desktop computers, etc.; the embodiments of the present application do not make specific limitations.

Refer to FIG. 1, which shows a schematic diagram of the composition structure of a wireless communication system provided by an embodiment of the present application. As shown in FIG. 1, the wireless communication system 10 includes a terminal device 110 and a base station 120; wherein, the terminal device 110 includes an antenna 1101. When the terminal device 110 establishes a wireless communication connection with the base station 120, the terminal device 110 can transmit and receive data with the base station 120 through the beam formed by the antenna 1101, and the beam needs to be aligned with the antenna beam of the base station 120 to facilitate the terminal device 110 transmits uplink data to the base station 120 or receives downlink data transmitted by the base station 120. Assuming that the wireless communication system 10 is a millimeter wave communication system, the antenna 1101 may be a millimeter wave antenna, and the base station 120 may be a millimeter wave base station.

In this way, when the terminal device 110 is connected to the millimeter wave communication system, for example, the FR2 protocol corresponding to the new wireless interface (5th-Generation New Radio, 5G NR) according to the fifth-generation communication technology, or the wireless fidelity (Wireless Fidelity, WIFI) In the 802.11ad protocol, at this time, the beam formed by the terminal device 110 through the antenna 1101 will be aligned with the antenna beam of the base station 120. However, since the terminal device 110 cannot be in a static state, when the user holds the terminal device, there will always be some operations or actions that cause the terminal device 110 to rotate, resulting in a random and rapid beam direction of the antenna 1101 relative to the base station 120. The ground changes, that is, the antenna beam of the terminal device 110 will deviate from the antenna beam of the base station 120, resulting in a decrease in communication quality. Although in the conventional beam tracking scheme, the beam tracking can also solve the problem that the antenna beam of the terminal device 110 will deviate from the antenna beam of the base station 120, the conventional beam tracking scheme only performs beam tracking from the angle of communication and signal, and the efficiency is very low. of.

The embodiment of the present application provides a beam tracking method, which is applied to a terminal device. Based on the beam tracking method, when the terminal device rotates, the terminal device can use the angular velocity sensor's high accuracy and short response time to provide timely beam direction deviation information, so that the terminal device can track the initial beam direction faster , So as to ensure a better communication signal as much as possible, improve the communication quality, and also improve the efficiency.

Based on the wireless communication system 10 shown in FIG. 1, refer to FIG. 2, which shows a schematic flowchart of a beam tracking method provided by an embodiment of the present application. As shown in Figure 2, the method may include:

S201: Obtain the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane based on the current beam of the terminal device; and obtain the beam corresponding to the initial scanning angle of the antenna and the initial coordinate information of the antenna plane. Initial beam direction;

It should be noted that when the terminal device is connected to the millimeter wave communication system, the terminal device can transmit and receive data with the base station through the beam formed by the antenna, and the beam needs to be aligned with the antenna beam of the base station to facilitate the terminal device to The base station transmits uplink data or receives downlink data transmitted by the base station. In this way, according to the current beam of the terminal device, the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane can be obtained; and according to the initial scanning angle of the antenna and the initial coordinate information of the antenna plane, the initial scanning angle corresponding to the beam can be calculated. Beam direction.

Refer to FIG. 3, which shows a schematic diagram of the composition structure of a terminal device 110 provided by an embodiment of the present application. As shown in FIG. 3, in addition to the antenna 1101, the terminal device 110 may also include a wireless transceiver module 1102, an angular velocity sensor 1103, an orientation sensing module 1104, a storage module 1105, and a processing module 1106. Those skilled in the art can understand that the composition structure of the terminal device shown in FIG. 3 does not constitute a limitation on the terminal device. The terminal device may include more or less components than those shown in the figure, or combine certain components, or be different. The layout of the components.

The antenna 1101 may be a millimeter wave antenna, which is mainly used to transmit or receive electromagnetic signals (such as millimeter wave signals). For millimeter wave antennas, the millimeter wave antenna may include multiple radiating units, which can combine beams with a certain direction angle, and then the millimeter wave wireless transceiver module can control the amplitude and phase of each radiating unit. The angle of the beam.

The wireless transceiver module 1102 can be a millimeter wave wireless transceiver module, which is mainly used to convert baseband signals and millimeter wave signals to each other. Then the millimeter wave signals can be radiated outward through the antenna 1101, and the baseband signals can be sent to the processing module 1106 for signal processing . The wireless transceiver module 1102 may include subcomponents such as a wireless transceiver (Transceiver), a filter, a power amplifier (PA), a low noise amplifier (LNA), and a switch.

The angular velocity sensor 1103 may also be called an angular motion sensor or a gyroscope, and is mainly used to measure the angular velocity of the terminal device 110 when it rotates. After the angular velocity is acquired, the processing module 1106 performs integration processing on the angular velocity, and the rotation angle of the terminal device 110 within a period of time can be obtained.

The orientation sensing module 1104 may include components such as a gravity sensor and a direction sensor; among them, the gravity sensor is also called an acceleration sensor, and the direction sensor is also called a posture sensor or an electronic compass. The orientation sensing module 1104 is mainly used to obtain posture information of the terminal device 110, such as the placement state of the terminal device 110 (vertical placement state or horizontal placement state, etc.), and the front facing position of the terminal device 110 (direct east or upright). West direction etc.).

The storage module 1105 is mainly used to store software programs and various data. The processing module 1106 is the control center of the terminal device. It uses various interfaces and lines to connect the various parts of the entire terminal device, and runs or executes the software programs stored in the storage module 1105. , And call the data stored in the storage module 1105, execute various functions of the terminal device and process data, so as to monitor the terminal device 110 as a whole.

According to the structure of the terminal device shown in FIG. 3, the initial scanning angle of the antenna can be obtained by the wireless transceiver module 1102, and the posture information of the terminal device 110 can be obtained by the position sensing module 1104, thereby obtaining the initial coordinate information of the antenna plane. Therefore, in some embodiments, for S201, the acquiring the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane may include:

S201a: Obtain the initial scanning angle of the antenna through the wireless transceiver module in the terminal device;

S201b: Obtain posture information of the terminal device through the position sensing module in the terminal device;

S201c: Obtain initial coordinate information of the antenna plane according to the posture information of the terminal device and the position information of the antenna in the terminal device.

It should be noted that, for the beam, both the antenna scanning angle and the coordinate information of the antenna plane are parameters located in a three-dimensional space. In the three-dimensional space, the spherical coordinate system is used to determine the positions of points, lines, surfaces and bodies in the three-dimensional space. It uses the origin of the coordinates as the reference point, and is represented by the distance (represented by r), the elevation angle (represented by θ) and Azimuth (use

Indicates) composition. In the embodiments of this application,

Are spherical coordinates

Angle information in.

It should also be noted that the initial scanning angle of the antenna is

It means that it can be obtained by the wireless transceiver module 1102; in the embodiment of the present application, unless otherwise specified, the reference direction of the initial scanning angle of the antenna is the antenna plane or the antenna plane normal direction.

For the initial coordinate information of the antenna plane

Indicates that it can be calculated from the posture information of the terminal device and the position information of the antenna in the terminal device; where the posture information of the terminal device can be obtained by the position sensing module 1104, and the position information of the antenna 1101 in the terminal device is known in advance (for example The specific position of the antenna 1101 in the terminal device is known in advance, so that it can be directly obtained that the antenna is at a certain position, such as the top, bottom, left side, and right side of the terminal device).

In this way, after obtaining the initial scanning angle of the antenna

And the initial coordinate information of the antenna plane

After that, you can pass the initial scan angle of the antenna

And the initial coordinate information of the antenna plane

Perform the calculation of the beam direction. According to the calculation result, the initial beam direction corresponding to the beam can be obtained.

Represents; in the embodiment of the present application, unless otherwise specified, the reference direction of the initial beam direction is the vertical direction.

S202: Determine the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device;

It should be noted that when the terminal device rotates, the angular velocity sensor can be used to obtain the corresponding rotation angle of the terminal device; in this way, the antenna target scanning angle can be determined according to the initial beam direction and the rotation angle corresponding to the terminal device.

In some embodiments, for S202, the determining the antenna target scanning angle according to the rotation angle corresponding to the terminal device may include:

S202a: According to the rotation angle corresponding to the terminal device and the initial coordinate information of the antenna plane, determine the target coordinate information of the antenna plane corresponding to the rotation of the terminal device;

S202b: Obtain the antenna target scanning angle according to the initial beam direction and the target coordinate information of the antenna plane.

It should be noted that when the terminal device rotates, it is assumed that the rotation angle obtained by the angular velocity sensor is used

Means; in this way, according to the rotation angle

The initial coordinate information of the antenna plane corresponding to the rotation of the terminal device

Calculate the coordinate information to obtain the target coordinate information of the antenna plane corresponding to the rotation of the terminal device

Further, according to the initial beam direction corresponding to the terminal device before rotation

Target coordinate information of the antenna plane corresponding to the rotation of the terminal device

The scanning angle of the antenna target can be calculated, using

Said.

S203: Perform beam tracking on the beam through the antenna target scanning angle, and control the antenna scanning angle corresponding to the beam to be adjusted from the antenna initial scanning angle to the antenna target scanning angle.

It should be noted that when the antenna target scanning angle is obtained

Then, according to the antenna target scanning angle

Perform beam tracking and control the scanning angle of the antenna corresponding to the beam from the original antenna scanning angle

Adjusted to the antenna target scan angle

As the beam direction of the antenna is corrected, the terminal device can track the initial beam direction faster, thereby ensuring a better communication signal as much as possible, improving communication quality, and improving efficiency at the same time.

In the embodiment of this application, the method is applied to a terminal device; based on the current beam of the terminal device, the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane are obtained; according to the initial scanning angle of the antenna and the The initial coordinate information of the antenna plane is used to obtain the initial beam direction corresponding to the beam; the antenna target scanning angle is determined according to the initial beam direction and the rotation angle corresponding to the terminal device; and the antenna target scanning angle is used to control the beam Perform beam tracking, and control the scanning angle of the antenna corresponding to the beam to be adjusted from the initial scanning angle of the antenna to the scanning angle of the antenna target; in this way, when the terminal device rotates, the terminal device can be obtained sensitively and quickly through the angular velocity sensor At the same time, combined with the azimuth sensing module and the antenna’s own information, the three-dimensional rotation information of the beam direction can be quickly obtained, and the deviation information of the beam direction can be provided in time, so that the terminal device can track the initial beam direction faster, so as to ensure as much as possible A better communication signal improves the communication quality and at the same time improves efficiency.

In another embodiment of the present application, refer to FIG. 4, which shows a schematic flowchart of another beam tracking method provided in an embodiment of the present application. As shown in FIG. 4, for S201, before acquiring the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane, the method may further include:

S301: Determine whether the current beam quality of the terminal device is greater than the preset beam quality;

It should be noted that, by judging the current beam quality of the terminal device, if the current beam quality is greater than the preset beam quality, it indicates that the beam direction corresponding to the beam is a better beam direction. At this time, the embodiment of this application can be executed. The flow of the beam tracking method.

It should also be noted that the preset beam quality is a preset criterion for judging whether the beam direction is a better beam direction. In addition, the beam quality can be determined according to parameters such as the signal-to-noise ratio (Signal Noise Ratio, SNR), Reference Signal Received Power (RSRP), and Reference Signal Received Quality (RSRQ) of the beam. Therefore, in some embodiments, as shown in FIG. 4, for determining whether the current beam quality of the terminal device is greater than the preset beam quality, before S301, the method may further include:

S401: Determine the current beam quality of the terminal device; wherein the beam quality is determined based on at least one of the signal-to-noise ratio of the beam, the reference signal received power, and the reference signal received quality;

In other words, before judging the current beam quality of the terminal device and the preset beam quality, the current beam quality of the terminal device needs to be determined, and the current beam quality of the terminal device can be determined according to the signal-to-noise ratio of the beam , It can also be determined according to the received power of the reference signal, or it can be determined according to the received quality of the reference signal, or even other parameters that measure the beam quality, or even the signal-to-noise ratio of the beam, the received power of the reference signal , The reference signal reception quality and other measures of beam quality are determined by a combination of any number of parameters; the embodiment of the present application does not specifically limit it.

S302: When the current beam quality of the terminal device is greater than the preset beam quality, perform the step of acquiring the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane;

S303: When the current beam quality of the terminal device is not greater than the preset beam quality, the process ends.

It should be noted that, by judging the current beam quality of the terminal device and the preset beam quality, when the current beam quality of the terminal device is greater than the preset beam quality, step S302 is executed, that is, the beam tracking shown in FIG. 2 is continued. The process of the method; when the current beam quality of the terminal device is not greater than the preset beam quality, step S303 is executed to end the process.

It should also be noted that by judging the beam quality, it can reflect whether the beam direction corresponding to the beam is a better beam direction; when the beam direction is poor, the communication quality it brings will also be poor. Performing beam tracking on the beam direction is invalid and cannot improve communication quality.

In the embodiment of this application, it is determined whether the current beam quality of the terminal device is greater than the preset beam quality; when the current beam quality of the terminal device is greater than the preset beam quality, it indicates that the current beam direction is a better beam direction. At this time, the beam tracking method of the embodiment of the application can be executed, which can avoid invalid beam tracking for poor beam directions; when the current beam quality of the terminal device is not greater than the preset beam quality, it indicates the current beam The direction is the poor beam direction. End the process at this time, and the invalid beam tracking for the poor beam direction can also be avoided; in this way, when the terminal device rotates, the terminal can be quickly and sensitively acquired through the angular velocity sensor. The rotation information of the device, combined with the azimuth sensing module and the antenna's own information, can quickly obtain the three-dimensional rotation information of the beam direction, which can provide the deviation information of the beam direction in time, so that the terminal device can track the initial beam direction faster, and it is only aimed at Performing beam tracking on a better beam direction avoids invalid beam tracking on a poor beam direction, thereby also reducing the power consumption of the terminal device and increasing the processing speed of the terminal device.

In another embodiment of the present application, refer to FIG. 5, which shows a schematic flowchart of yet another beam tracking method provided by an embodiment of the present application. As shown in FIG. 5, for S202, before determining the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device, the method may further include:

S501: When the terminal device is in a rotating state, obtain a rotation angle corresponding to the terminal device through an angular velocity sensor in the terminal device;

It should be noted that when the terminal device rotates, the angular velocity sensor 1103 in the terminal device can be used to measure the angular velocity of the terminal device when it is rotating, and then the angular velocity can be integrated to obtain the rotation angle corresponding to the terminal device.

Further, after obtaining the rotation angle corresponding to the terminal device

After that, the terminal device can also determine whether the beam needs to be beam-tracked according to the rotation angle. Therefore, in some embodiments, as shown in FIG. 5, after S501, the method may further include:

S502: Determine whether the beam requires beam tracking;

S503: When the beam needs to perform beam tracking, perform the step of determining the scanning angle of the antenna target;

S504: When the beam does not need to perform beam tracking, the process ends.

It should be noted that, by judging whether the beam needs to be beam-tracked, when the beam needs to be beam-tracked, step S503 is executed, that is, the process of the beam-tracking method shown in FIG. 2 is continued; when the beam is not needed When beam tracking is performed, step S504 is executed to end the process.

It should also be noted that when the terminal device rotates, if the rotation amplitude is large, or the signal reception quality is greatly affected (for example, the received signal parameters are severely deteriorated), then beam tracking is required for the beam; if The rotation amplitude is small, or the signal reception quality has little influence (for example, the received signal parameter does not deteriorate), at this time, beam tracking may not be performed on the beam, and the process is ended.

Specifically, to determine whether the beam needs to be beam-tracked, different judgment rules can be used; for example, it can be judged based on whether the rotation angle corresponding to the terminal device is greater than a preset angle threshold, and it can also be based on whether the terminal device is rotated before and after the rotation is caused. The degree of deterioration of the received signal parameter can be judged, and it can even be judged according to other methods, which is not specifically limited in the embodiment of this application.

In some embodiments, optionally, for S502, the determining whether the beam requires beam tracking may include:

Determining whether the rotation angle corresponding to the terminal device is greater than a preset angle threshold;

When the rotation angle corresponding to the terminal device is greater than the preset angle threshold, it is determined that the beam requires beam tracking.

It should be noted that the preset angle threshold is a pre-set criterion for judging whether the beam requires beam tracking. In this way, after obtaining the rotation angle corresponding to the terminal device

After that, the rotation angle

Compared with the preset angle threshold, when the rotation angle

When the angle is greater than the preset angle threshold, it indicates that the rotation range of the terminal device is large, which will have a bad impact on the communication quality. At this time, it can be determined that the terminal device needs to perform beam tracking on the beam, and continue to execute the embodiment of this application. The flow of the beam tracking method; when the rotation angle

When the angle is not greater than the preset angle threshold, it indicates that the terminal device does not rotate or the rotation amplitude is small, and it will not have a poor impact on the communication quality. At this time, it can be determined that the terminal device does not need to perform beam tracking on the beam, and the end of the Process.

In some embodiments, optionally, for S502, the determining whether the beam requires beam tracking includes:

Acquiring a first parameter value corresponding to a received signal parameter before the terminal device rotates and a second parameter value corresponding to a received signal parameter after the terminal device rotates;

Obtaining the first degree value of the received signal parameter according to the first parameter value and the second parameter value;

Determine whether the first degree value is greater than a preset degree threshold;

When the first degree value is greater than a preset degree threshold, it is determined that the beam requires beam tracking.

It should be noted that the preset degree threshold is a criterion for determining whether the beam needs to be beam-tracked, which is preset for the received signal parameter. When the terminal device rotates, the first parameter value corresponding to the received signal parameter before the terminal device rotates and the second parameter value corresponding to the received signal parameter after the terminal device rotates can be respectively obtained; then according to the first parameter value and the second parameter value, The first degree value of the received signal parameter can be determined, and the first degree value can reflect the degree of deterioration of the received signal parameter.

In this way, the first degree value is compared with the preset degree threshold value. When the first degree value is greater than the preset degree threshold value, it indicates that the rotation range of the terminal device is relatively large. At this time, the communication quality will be poorly affected, and the receiving When the signal parameter deteriorates, it can be determined that the terminal device needs to perform beam tracking on the beam, and continue to perform the beam tracking method of the embodiment of this application; when the first degree value is not greater than the preset degree threshold, it indicates that the terminal device The rotation amplitude of is small, which will not have a bad impact on the communication quality at this time, and will not deteriorate the received signal parameters. At this time, it can be determined that the terminal device does not need to perform beam tracking on the beam, and the process ends.

In the embodiment of the present application, for different received signal parameters, the corresponding preset degree thresholds are different. Among them, the received signal parameter can be the received signal strength indication (RSSI), the reference signal received power, the reference signal received power, or even the parameters corresponding to other received signals. The embodiments are not specifically limited.

Determine the target beam direction corresponding to the rotation of the terminal device based on the rotation angle corresponding to the terminal device and the initial beam direction;

Calculating the received signal parameter according to the target beam direction and the antenna beam pattern to obtain the second degree value of the received signal parameter;

Determine whether the second degree value is greater than a preset degree threshold;

When the second degree value is greater than the preset degree threshold, it is determined that beam tracking is required for the beam.

It should be noted that the preset degree threshold is a criterion for determining whether the beam needs to be beam-tracked, which is preset for the received signal parameter. When the terminal device rotates, it can be based on the corresponding rotation angle of the terminal device

And the initial beam direction

Determine the target beam direction corresponding to the rotation of the terminal device

Then according to the target beam direction

And the antenna beam pattern calculates the received signal parameter, thereby obtaining the second degree value of the received signal parameter, and the second degree value may also reflect the degree of deterioration of the received signal parameter.

In this way, the second degree value is compared with the preset degree threshold value. When the second degree value is greater than the preset degree threshold value, it indicates that the rotation range of the terminal device is large, which will have a poor impact on the communication quality at this time, making the reception When the signal parameter deteriorates, it can be determined that the terminal device needs to perform beam tracking on the beam, and continue to execute the flow of the beam tracking method in the embodiment of this application; when the second degree value is not greater than the preset degree threshold, it indicates that the terminal device The rotation amplitude of is small, at this time, it will not have a bad impact on the communication quality, and will not deteriorate the received signal parameters. At this time, it can be determined that the terminal device does not need to perform beam tracking on the beam, and the process ends.

In the embodiment of the present application, when the terminal device is in a rotating state, the angular velocity sensor in the terminal device obtains the rotation angle corresponding to the terminal device; according to the rotation angle, different judgment rules can be used to determine whether the beam needs beam tracking; When the beam needs to be beam-tracked, it indicates that when the terminal device rotates, the rotation amplitude is large, or the signal reception quality is greatly affected (for example, the received signal parameters are seriously deteriorated), then the terminal device needs to perform the beam tracking Beam tracking; when the beam does not need to be tracked, it indicates that the terminal device has not rotated or the rotation amplitude is small, or the signal reception quality has little influence (for example, the received signal parameters have not seriously deteriorated), then the terminal device There is no need to perform beam tracking on the beam and end the process; in this way, when the terminal device rotates, the angular velocity sensor can sensitively and quickly obtain the rotation information of the terminal device, and at the same time, it can be quickly combined with the position sensing module and the antenna's own information Obtaining the three-dimensional rotation information of the beam direction can provide the deviation information of the beam direction in time, so that the terminal device can track the initial beam direction faster; in addition, when the terminal device does not rotate or the rotation amplitude is small, beam tracking is not required at this time. Therefore, the power consumption of the terminal device can be reduced, and the processing speed of the terminal device can be improved.

In another embodiment of the present application, based on the flow of the beam tracking method shown in FIG. 2, for S203, after determining the antenna target scanning angle, the method may further include:

S203a: According to the antenna target scanning angle, control the scanning of the beam to start from the antenna target scanning angle, and determine the optimal antenna scanning angle;

S203b: Perform beam tracking on the beam based on the optimal scanning angle of the antenna.

It should be noted that the scanning angle of the antenna target is determined

Later, due to the calculation error in the process of determining the antenna target scan angle, the antenna target scan angle is not the optimal scan angle of the antenna; at this time, in order to improve the accuracy, the antenna beam scan can be controlled from the antenna target scan angle

At the beginning, until the optimal scanning angle of the antenna is found, the optimal scanning angle of the antenna can make the communication quality better and at the same time increase the wireless transmission rate of the terminal device. In this way, after the optimal scanning angle of the antenna is found, beam tracking can be performed according to the optimal scanning angle of the antenna.

The foregoing embodiment provides a beam tracking method, which is applied to a terminal device. Based on the current beam of the terminal device, the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane are obtained; according to the initial scanning angle of the antenna and the initial coordinate information of the antenna plane, the initial scanning angle of the beam is obtained. Beam direction; determine the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device; perform beam tracking on the beam through the antenna target scanning angle, and control the antenna scanning angle corresponding to the beam by The antenna initial scan angle is adjusted to the antenna target scan angle; in this way, when the terminal device rotates, the high accuracy and short response time of the angular velocity sensor can be used to provide timely beam direction deviation information, so that the terminal The device can track the initial beam direction faster, so as to ensure a better communication signal as much as possible, improve the communication quality, and also improve the efficiency.

Based on the same inventive concept as the foregoing embodiment, refer to FIG. 6, which shows a schematic diagram of the composition structure of a beam tracking device 60 provided by an embodiment of the present application. As shown in FIG. 6, the beam tracking device 60 is applied to terminal equipment, and the beam tracking device 60 may include: an acquiring unit 601, a determining unit 602, and a tracking unit 603, where:

The acquiring unit 601 is configured to acquire the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane based on the current beam of the terminal device; and according to the initial scanning angle of the antenna and the initial antenna plane Coordinate information to obtain the initial beam direction corresponding to the beam;

The determining unit 602 is configured to determine the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device;

The tracking unit 603 is configured to perform beam tracking on the beam through the antenna target scanning angle, and control the antenna scanning angle corresponding to the beam to be adjusted from the antenna initial scanning angle to the antenna target scanning angle.

In the above solution, referring to FIG. 6, the beam tracking device 60 may further include a first determining unit 604 configured to determine whether the current beam quality of the terminal device is greater than a preset beam quality; and when the current beam quality of the terminal device When the beam quality is greater than the preset beam quality, the step of the acquiring unit is executed.

In the above solution, the determining unit 602 is further configured to determine the current beam quality of the terminal device; wherein the beam quality is based on the signal-to-noise ratio of the beam, the reference signal received power, and the reference signal received quality. At least one of the confirmed.

In the above solution, the acquiring unit 601 is specifically configured to acquire the initial scanning angle of the antenna through the wireless transceiver module in the terminal device; and acquire the attitude of the terminal device through the orientation sensing module in the terminal device Information; and obtain the initial coordinate information of the antenna plane according to the posture information of the terminal device and the position information of the antenna in the terminal device.

In the above solution, the acquiring unit 601 is further configured to acquire the rotation angle corresponding to the terminal device through an angular velocity sensor in the terminal device when the terminal device is in a rotating state.

In the above solution, referring to FIG. 6, the beam tracking device 60 may further include a second determining unit 605, configured to determine whether the beam needs to be tracked; and when the beam needs to be tracked, the determining unit is executed A step of.

In the above solution, the second determination unit 605 is specifically configured to determine whether the rotation angle corresponding to the terminal device is greater than a preset angle threshold; and when the rotation angle corresponding to the terminal device is greater than the preset angle threshold, determine The beam requires beam tracking.

In the above solution, the acquiring unit 601 is further configured to acquire the first parameter value corresponding to the signal received parameter before the terminal device rotates and the second parameter value corresponding to the signal received parameter after the terminal device rotates; and The first parameter value and the second parameter value to obtain the first degree value of the received signal parameter;

The second determining unit 605 is further configured to determine whether the first degree value is greater than a preset degree threshold; and when the first degree value is greater than the preset degree threshold, determine that the beam needs to be beam-tracked.

In the above solution, the determining unit 602 is further configured to determine a target beam direction corresponding to the terminal device after rotation based on the rotation angle corresponding to the terminal device and the initial beam direction; and according to the target beam direction And the antenna beam pattern calculates the received signal parameter to obtain the second degree value of the received signal parameter;

The second determining unit 605 is further configured to determine whether the second degree value is greater than a preset degree threshold; and when the second degree value is greater than the preset degree threshold, determine that the beam needs to be beam-tracked.

In the above solution, the determining unit 602 is specifically configured to determine the target coordinate information of the antenna plane corresponding to the rotation of the terminal device according to the rotation angle corresponding to the terminal device and the initial coordinate information of the antenna plane; and Obtain the antenna target scanning angle according to the initial beam direction and the target coordinate information of the antenna plane.

In the above solution, referring to FIG. 6, the beam tracking device 60 may further include a scanning unit 606 configured to control the scanning of the beam to start from the antenna target scanning angle according to the antenna target scanning angle, and determine the optimal antenna Scanning angle

The tracking unit 603 is further configured to perform beam tracking on the beam based on the optimal scanning angle of the antenna.

It can be understood that, in this embodiment, a "unit" may be a part of a circuit, a part of a processor, a part of a program, or software, etc., of course, may also be a module, or may be non-modular. Moreover, the various components in this embodiment may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be realized in the form of hardware or software function module.

If the integrated unit is implemented in the form of a software function module and is not sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of this embodiment is essentially or It is said that the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can A personal computer, a server, or a network device, etc.) or a processor (processor) executes all or part of the steps of the method described in this embodiment. The aforementioned storage media include: U disk, mobile hard disk, read only memory (Read Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes.

Therefore, this embodiment provides a computer storage medium that stores a beam tracking program that, when executed by at least one processor, implements the steps of the method described in any one of the foregoing embodiments.

Based on the composition of the beam tracking device 60 and the computer storage medium, refer to FIG. 7, which shows the specific hardware structure of the beam tracking device 60 provided by the embodiment of the present application, which may include: a network interface 701, a memory 702, and a processor 703; The various components are coupled together through the bus system 704. It can be understood that the bus system 704 is used to implement connection and communication between these components. In addition to the data bus, the bus system 704 also includes a power bus, a control bus, and a status signal bus. However, for clarity of description, various buses are marked as the bus system 704 in FIG. 7. Among them, the network interface 701 is used for receiving and sending signals in the process of sending and receiving information with other external network elements;

The memory 702 is configured to store a computer program that can run on the processor 703;

The processor 703 is configured to execute: when the computer program is running:

Based on the current beam of the terminal device, obtain the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane; and obtain the initial scanning angle of the antenna and the initial coordinate information of the antenna plane according to the initial scanning angle of the antenna and the initial coordinate information of the antenna plane. Beam direction

It can be understood that the memory 702 in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. Among them, the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), and electrically available Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. The volatile memory may be a random access memory (Random Access Memory, RAM), which is used as an external cache. By way of exemplary but not restrictive description, many forms of RAM are available, such as static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (Double Data Rate SDRAM, DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), Synchronous Link Dynamic Random Access Memory (Synchlink DRAM, SLDRAM) And Direct Rambus RAM (DRRAM). The memory 702 of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

The processor 703 may be an integrated circuit chip with signal processing capabilities. In the implementation process, the steps of the foregoing method can be completed by an integrated logic circuit of hardware in the processor 703 or instructions in the form of software. The aforementioned processor 703 may be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (ASIC), a ready-made programmable gate array (Field Programmable Gate Array, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers. The storage medium is located in the memory 702, and the processor 703 reads the information in the memory 702, and completes the steps of the foregoing method in combination with its hardware.

It can be understood that the embodiments described herein can be implemented by hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more Application Specific Integrated Circuits (ASIC), Digital Signal Processing (DSP), Digital Signal Processing Equipment (DSP Device, DSPD), programmable Logic device (Programmable Logic Device, PLD), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), general-purpose processors, controllers, microcontrollers, microprocessors, and others for performing the functions described in this application Electronic unit or its combination.

For software implementation, the technology described herein can be implemented through modules (such as procedures, functions, etc.) that perform the functions described herein. The software codes can be stored in the memory and executed by the processor. The memory can be implemented in the processor or external to the processor.

Optionally, as another embodiment, the processor 703 is further configured to execute the steps of the method described in any one of the foregoing embodiments when the computer program is running.

Refer to FIG. 8, which shows a schematic diagram of the composition structure of another terminal device 110 provided by an embodiment of the present application. As shown in FIG. 8, the terminal device 110 includes at least any beam tracking device 60 as mentioned in the foregoing embodiments.

It should be noted that in this application, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements , And also include other elements not explicitly listed, or elements inherent to the process, method, article or device. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article or device that includes the element.

The serial numbers of the foregoing embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

The methods disclosed in the several method embodiments provided in this application can be combined arbitrarily without conflict to obtain new method embodiments.

The features disclosed in the several product embodiments provided in this application can be combined arbitrarily without conflict to obtain new product embodiments.

The features disclosed in the several method or device embodiments provided in this application can be combined arbitrarily without conflict to obtain a new method embodiment or device embodiment.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application. Should be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Industrial applicability

In the embodiment of this application, the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane are first obtained; and the initial scanning angle of the antenna and the initial coordinate information of the antenna plane are obtained according to the initial scanning angle of the antenna. Beam direction; then determine the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device; finally, perform beam tracking on the beam through the antenna target scanning angle, and control the antenna scanning corresponding to the beam The angle is adjusted from the initial scanning angle of the antenna to the scanning angle of the antenna target; in this way, when the terminal device rotates, the deviation information of the beam direction can be provided in time, so that the beam can quickly track the initial beam direction, thereby ensuring as much as possible A better communication signal improves the communication quality while also improving efficiency.

Claims

A beam tracking method, the method is applied to a terminal device, and the method includes:

Based on the current beam of the terminal device, obtain the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane; and obtain the corresponding beam according to the initial scanning angle of the antenna and the initial coordinate information of the antenna plane Initial beam direction;

Determine the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device;

Performing beam tracking on the beam through the antenna target scanning angle, and controlling the antenna scanning angle corresponding to the beam to be adjusted from the antenna initial scanning angle to the antenna target scanning angle.
The method according to claim 1, wherein before acquiring the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane, the method further comprises:

Determining whether the current beam quality of the terminal device is greater than a preset beam quality;

When the current beam quality of the terminal device is greater than the preset beam quality, the step of acquiring the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane is performed.
The method according to claim 2, wherein before determining whether the current beam quality of the terminal device is greater than a preset beam quality, the method further comprises:

Determine the current beam quality of the terminal device; wherein the beam quality is determined based on at least one of the signal-to-noise ratio of the beam, the reference signal received power, and the reference signal received quality.
The method according to claim 1, wherein said acquiring the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane comprises:

Obtaining the initial scanning angle of the antenna through the wireless transceiver module in the terminal device;

Acquiring the posture information of the terminal device through the position sensing module in the terminal device;

Obtain the initial coordinate information of the antenna plane according to the posture information of the terminal device and the position information of the antenna in the terminal device.
The method according to claim 1, wherein before determining the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device, the method further comprises:

When the terminal device is in a rotating state, the angle of rotation corresponding to the terminal device is acquired through an angular velocity sensor in the terminal device.
The method according to claim 5, wherein, after obtaining the rotation angle corresponding to the terminal device through an angular velocity sensor in the terminal device, the method further comprises:

Judging whether the beam requires beam tracking;

When the beam requires beam tracking, the step of determining the scanning angle of the antenna target is performed.
The method according to claim 6, wherein the determining whether the beam needs beam tracking comprises:

Determining whether the rotation angle corresponding to the terminal device is greater than a preset angle threshold;

When the rotation angle corresponding to the terminal device is greater than the preset angle threshold, it is determined that the beam requires beam tracking.
The method according to claim 6, wherein the determining whether the beam needs beam tracking comprises:

Acquiring a first parameter value corresponding to a received signal parameter before the terminal device rotates and a second parameter value corresponding to a received signal parameter after the terminal device rotates;

Obtaining the first degree value of the received signal parameter according to the first parameter value and the second parameter value;

Determine whether the first degree value is greater than a preset degree threshold;

When the first degree value is greater than a preset degree threshold, it is determined that the beam needs to be beam-tracked.
The method according to claim 6, wherein the determining whether the beam needs beam tracking comprises:

Determine the target beam direction corresponding to the rotation of the terminal device based on the rotation angle corresponding to the terminal device and the initial beam direction;

Calculating the received signal parameter according to the target beam direction and the antenna beam pattern to obtain the second degree value of the received signal parameter;

Determine whether the second degree value is greater than a preset degree threshold;

When the second degree value is greater than the preset degree threshold, it is determined that the beam needs to be beam-tracked.
The method according to claim 1, wherein the determining the antenna target scanning angle according to the rotation angle corresponding to the terminal device comprises:

Determine the target coordinate information of the antenna plane corresponding to the rotation of the terminal device according to the rotation angle corresponding to the terminal device and the initial coordinate information of the antenna plane;

Obtain the antenna target scanning angle according to the initial beam direction and the target coordinate information of the antenna plane.
The method according to any one of claims 1 to 10, wherein after determining the antenna target scanning angle, the method further comprises:

Controlling the scanning of the beam to start from the antenna target scanning angle according to the antenna target scanning angle, and determining the optimal scanning angle of the antenna;

Based on the optimal scanning angle of the antenna, beam tracking is performed on the beam.
A beam tracking device, the beam tracking device is applied to a terminal device, the beam tracking device includes an acquiring unit, a determining unit, and a tracking unit, wherein,

The acquiring unit is configured to acquire the initial scanning angle of the antenna corresponding to the beam and the initial coordinate information of the antenna plane based on the current beam of the terminal device; and according to the initial scanning angle of the antenna and the initial coordinate of the antenna plane Information to obtain the initial beam direction corresponding to the beam;

The determining unit is configured to determine the antenna target scanning angle according to the initial beam direction and the rotation angle corresponding to the terminal device;

The tracking unit is configured to perform beam tracking on the beam through the antenna target scanning angle, and control the antenna scanning angle corresponding to the beam to be adjusted from the antenna initial scanning angle to the antenna target scanning angle.
The beam tracking device according to claim 12, wherein the beam tracking device further comprises a first judging unit configured to judge whether the current beam quality of the terminal device is greater than a preset beam quality; and when the terminal device is currently When the beam quality of is greater than the preset beam quality, the step of the acquiring unit is executed.
The beam tracking device according to claim 13, wherein the determining unit is further configured to determine the current beam quality of the terminal device; wherein the beam quality is based on the signal-to-noise ratio of the beam, reference signal reception At least one of power and reference signal reception quality is determined.
The beam tracking device according to claim 12, wherein the acquiring unit is specifically configured to acquire the initial scanning angle of the antenna through a wireless transceiver module in the terminal device; and through the orientation sensing module in the terminal device, Obtaining the posture information of the terminal device; and obtaining the initial coordinate information of the antenna plane according to the posture information of the terminal device and the position information of the antenna in the terminal device.
The beam tracking device according to claim 12, wherein the acquiring unit is further configured to acquire the rotation angle corresponding to the terminal device through an angular velocity sensor in the terminal device when the terminal device is in a rotating state.
The beam tracking device according to claim 16, wherein the beam tracking device further comprises a second judging unit configured to judge whether the beam needs to be beam tracking; and when the beam needs to be beam tracking, perform all Describe the steps of determining the unit.
The beam tracking device according to claim 17, wherein the second determining unit is specifically configured to determine whether the rotation angle corresponding to the terminal device is greater than a preset angle threshold; and when the rotation angle corresponding to the terminal device is greater than When the angle threshold is preset, it is determined that the beam requires beam tracking.
The beam tracking device according to claim 17, wherein the acquiring unit is further configured to acquire a first parameter value corresponding to a signal parameter received before the terminal device rotates and a first parameter value corresponding to a signal parameter received after the terminal device rotates. Two parameter values; and obtaining the first degree value of the received signal parameter according to the first parameter value and the second parameter value;

The second determining unit is further configured to determine whether the first degree value is greater than a preset degree threshold; and when the first degree value is greater than the preset degree threshold, determine that the beam needs to be beam-tracked.
The beam tracking device according to claim 17, wherein the determining unit is further configured to determine the target beam direction corresponding to the terminal device after rotation based on the rotation angle corresponding to the terminal device and the initial beam direction; And calculating the received signal parameter according to the target beam direction and the antenna beam pattern to obtain the second degree value of the received signal parameter;

The second determining unit is further configured to determine whether the second degree value is greater than a preset degree threshold; and when the second degree value is greater than the preset degree threshold, determine that the beam needs to be beam-tracked.
The beam tracking device according to claim 17, wherein the determining unit is specifically configured to determine the antenna corresponding to the terminal device after rotation according to the rotation angle corresponding to the terminal device and the initial coordinate information of the antenna plane Target coordinate information of the plane; and obtaining the antenna target scan angle according to the initial beam direction and the target coordinate information of the antenna plane.
The beam tracking device according to any one of claims 12 to 21, wherein the beam tracking device further comprises a scanning unit configured to control the scanning of the beam to scan from the antenna target according to the antenna target scanning angle Starting from the angle, determine the best scanning angle of the antenna;

The tracking unit is further configured to perform beam tracking on the beam based on the optimal scanning angle of the antenna.
A beam tracking device, the beam tracking device is applied to terminal equipment, the beam tracking device includes a memory and a processor; wherein,

The memory is used to store a computer program that can run on the processor;

The processor is configured to execute the steps of the method according to any one of claims 1 to 11 when running the computer program.
A computer storage medium, the computer storage medium stores a beam tracking program, and when the beam tracking program is executed by at least one processor, the steps of the method according to any one of claims 1 to 11 are implemented.
A terminal device, which includes at least the beam tracking device according to any one of claims 12 to 23.