CN115276760A - Method and device for determining position of beam center and computer storage medium - Google Patents
Method and device for determining position of beam center and computer storage medium Download PDFInfo
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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, relates to the field of communication, and can determine the position of the beam center of a satellite on the earth when a simulation satellite moves relative to the ground continuously. The method comprises the following steps: acquiring a 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 a beam central line of the satellite and a connecting line between the satellite and the earth center; 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, wherein one coordinate axis in the first coordinate system points to the satellite, and the origin of the first coordinate system is the geocentric; 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 application relates to the field of communications, and in particular, to a method and an apparatus for determining a position of a beam center, and a computer storage medium.
Background
When a 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 range 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, the position of the beam center of the satellite in the geocentric coordinate system can generally be determined 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 also changed relative to the ground when the satellite moves 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 simulation satellite moves 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 simulation satellite moves relative to the ground continuously.
In order to achieve the purpose, the technical scheme is as follows:
in a first aspect, a method for determining a position of a beam center is provided, which may be performed by a device for determining a position of a beam center, and includes: acquiring a 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 a beam central line of the satellite and a connecting line between the satellite and the earth center; 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, wherein one coordinate axis in the first coordinate system points to the satellite, and the origin of the first coordinate system is the geocentric; 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 solution, since one coordinate axis of the first coordinate system points to the satellite, when the satellite is constantly moving relative to the ground, the satellite is stationary relative to the first coordinate system, and the first position of the beam center of the satellite in the first coordinate system is also stationary relative to the first coordinate system. After the first position of the preset beam center in the first coordinate system is determined, the position of the beam center of the satellite on the earth can be determined when the simulation satellite moves relative to the ground continuously by determining the second position mapped by the first position in the earth center coordinate system.
With reference to the first aspect, in certain embodiments of the first aspect, determining a first position of a beam center of the satellite in a first coordinate system based on the beam inclination, the earth radius, and the altitude comprises: determining a first equation of a target cone in a first coordinate system according to the radius, the height and the beam inclination angle of the earth, 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 a connecting line between the satellite and the geocenter; determining a third equation of the 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 intersection 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 a target cone according to the beam inclination angle, the earth radius and the height, and then determines a third equation representing a target circle intersected by the target cone and the earth according to the first equation and a preset second equation representing the earth, namely, the position of any point in the third equation can be determined as the first position.
With reference to the first aspect, in certain embodiments of the first aspect, determining a second location of the first location mapped 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 determination 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 rotation angles correspond to a plurality of coordinate axes of the geocentric coordinate system one by one, and the 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 superposed with the first coordinate system; and determining a coordinate transformation matrix according to the plurality of rotation angles. Based on the above, the position determination 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 device for determining the position of the beam center is provided to implement the method for determining the position of the beam center in the first aspect. The device for determining the position of the beam center includes modules, units or means (means) corresponding to the above method, and the modules, units or means may be implemented by hardware, software or hardware to execute corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.
With reference to the second aspect, in some 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 a 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 a beam central line of the satellite and a connecting line between 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, wherein one coordinate axis in the first coordinate system points to the satellite, and the origin of the first coordinate system is the geocentric; and 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 a position of the beam center on the earth.
With reference to the second aspect, in some embodiments of the second aspect, a processing module for determining a first position of a beam center of a satellite in a first coordinate system based on a beam inclination, an earth radius, and an altitude, includes: determining a first equation of a target cone in a first coordinate system according to the radius, the height and the beam inclination angle of the earth, 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 a connecting line between the satellite and the geocenter; determining a third equation of the 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 intersection 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 some embodiments of the second aspect, the processing module, further configured to determine a second location of the first location mapped 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.
With reference to the second aspect, in some embodiments of the second aspect, the processing module is further configured to: determining a plurality of rotation angles of the geocentric coordinate system; the rotation angles correspond to a plurality of coordinate axes of the geocentric coordinate system one by one, and the 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 superposed with the first coordinate system; and determining a coordinate transformation matrix according to the plurality of rotation angles.
In a third aspect, an apparatus for determining a beam center is provided, including: at least one processor, a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method of determining the position of the beam center as provided in the first aspect and any one of its possible design forms.
In a fourth aspect, a computer-readable storage medium is provided, wherein instructions, when executed by a processor of a device for determining a position of a beam center, enable the device for determining a position of a beam center to perform the method for determining a position of a beam center as provided in the first aspect and any one of its possible designs.
In a fifth aspect, there is provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the method of the first aspect described above.
In a sixth aspect, a chip system is provided, comprising: a processor and an interface circuit; an interface circuit for receiving a computer program or instructions and transmitting the same to a processor; the processor is adapted to execute a computer program or instructions to cause the system-on-chip to perform the method according to the first aspect as described above.
Drawings
Fig. 1 is a schematic structural diagram of a beam center position determining system provided in the present application;
fig. 2 is a schematic flowchart of a method for determining a beam center according to the present application;
FIG. 3a is a schematic diagram of a first coordinate axis of a first coordinate system provided herein;
FIG. 3b is a schematic diagram of a second coordinate axis of a first coordinate system provided herein;
FIG. 3c is a schematic diagram illustrating a third coordinate axis of a first coordinate system provided herein;
FIG. 4 is a schematic flow chart illustrating a method for determining a first location according to the present disclosure;
fig. 5a is a schematic diagram of a distribution of beam center positions provided in the present application;
FIG. 5b is a schematic diagram of another beam center location distribution provided herein;
FIG. 6 is a schematic flow chart illustrating a method for determining a coordinate transformation matrix according to the present disclosure;
FIG. 7 is a schematic diagram of a coordinate system transformation provided herein;
fig. 8 is an exemplary diagram of a simulation result of a beam center of a satellite according to the present application;
FIG. 9 is a schematic diagram of a position determining apparatus provided in the present application;
fig. 10 is a schematic structural diagram of another position determination device provided in the present application.
Detailed Description
In the description of the present application, "plurality" means two or more than two unless otherwise specified. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. 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 multiple.
In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," and the like do not denote any order or importance, but rather the terms "first," "second," and the like do not denote any order or importance.
Also, in the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as examples, illustrations or illustrations. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present relevant concepts in a concrete fashion for ease of understanding.
It should be 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, the various embodiments are not necessarily referring to the same embodiment 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 the various embodiments of the present application, the sequence numbers of the processes do not mean the execution sequence, and the execution sequence of the processes should be determined by the functions and the inherent logic of the processes, and should not constitute any limitation to the implementation process of the embodiments of the present application.
It is understood that in the present application, "when 8230, if" and "if" all refer to the corresponding processing under certain objective conditions, and are not limited to time, actions that must be determined when implemented are not required, and other limitations are not implied.
It can be understood that some optional features in the embodiments of the present application may be implemented independently without depending on other features in some scenarios, for example, a scheme based on which the optional features are currently implemented, so as to solve corresponding technical problems and achieve corresponding effects, or may be combined with other features according to requirements in some scenarios. Accordingly, the apparatuses provided in the embodiments of the present application may also implement these features or functions, which are not described herein again.
In this application, the same or similar parts between the respective embodiments may be referred to each other unless otherwise specified. In the embodiments and implementation methods in the embodiments in the present application, unless otherwise specified or conflicting in logic, terms and/or descriptions between different embodiments and implementation methods in the embodiments have consistency and can be mutually cited, and technical features in different embodiments and implementation methods in the embodiments can be combined to form a new embodiment, implementation mode, implementation method or implementation method according to the inherent logic relationship. The following embodiments of the present application do not limit the scope of the present application.
The method for determining the position of the beam center provided by the embodiment of the present disclosure may be applied to a system for determining the position of the beam center (for convenience of description, hereinafter, simply referred to as a position determination system). Fig. 1 shows a schematic configuration of the position determining system. As shown in fig. 1, the position determining system 10 includes a beam center position determining device (hereinafter simply referred to as a position determining device for convenience of description) 11 and an electronic apparatus 12. The position determining means 11 is connected to the electronic device 12. The position determining apparatus 11 and the electronic device 12 may be connected in a wired manner or in a wireless manner, which is not limited in the embodiment of the present disclosure.
The position determining means 11 may be used for data interaction with the electronic device 12, for example, the position determining means 11 may be used for receiving the relevant satellite data transmitted by the electronic device and transmitting the position data of the generated beam center to the electronic device.
The position determining apparatus 11 may also perform the method for determining the position of the beam center in the embodiment of the present disclosure, for example, to perform corresponding processing on the received related satellite data to obtain the position data of the beam center.
The electronic device 12 obtains the relevant satellite data stored in itself or receives the relevant satellite data sent by other similar devices.
Illustratively, the electronic device 12 includes a memory module and a communication module. The storage module is used for storing related satellite data. The communication module is used for data interaction with the position determination device 11.
It should be noted that the position determining apparatus 11 and the electronic device 12 may be independent devices or may be integrated into the same device, and this disclosure is not limited thereto.
When the position determining device 11 and the electronic device 12 are integrated in the same device, the communication mode between the position determining device 11 and the electronic device 12 is the communication between the internal modules of the device. In this case, the communication flow between the two is the same as the "communication flow between the position specifying device 11 and the electronic apparatus 12" in the case where they are independent of each other.
In the following embodiments provided by the present disclosure, the present disclosure is explained taking an example in which the position determining apparatus 11 and the electronic device 12 are set 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 determination apparatus, and may also be applied to an apparatus included in the position determination apparatus.
Fig. 2 is a schematic flowchart of a method for determining a position of a beam center provided in the present application, and as shown in fig. 2, the method for determining a position of a beam center provided in the 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 a beam central line of the satellite and a connecting line between the satellite and the geocenter.
As a possible implementation manner, the position determining apparatus may acquire the beam tilt angle of the satellite and the height of the satellite from the ground from the electronic device 12 shown in fig. 1, and the present application does not limit the specific manner of acquisition.
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) above ground, or the satellite may be 1100km above ground. Of course, the height of the satellite from the ground may be other heights, which is not limited in this application.
S202, the position determining device determines a first position of the 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 the origin of the first coordinate system is the geocentric.
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 geocentric, and a positive direction of the first coordinate axis in the first coordinate system is a direction in which the geocentric points to the satellite, 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 a first coordinate system provided in the present application, and as shown in fig. 3b, a positive direction of the second coordinate axis of the first coordinate system is a direction in which the geocentric point points to any point on a plane 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 by 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 positive directions of two coordinate axes of the first coordinate system are determined, the positive direction of the third coordinate axis of the first coordinate system is a normal vector of the plane where the first coordinate axis and the second coordinate axis are located passing through the center of the earth, for example, the third coordinate axis may be a 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 center of the earth has two directions, in practical application, one direction can be randomly selected from the two directions to be used as the positive direction of the third coordinate axis of the first coordinate system. Because the first coordinate system needs to meet the requirement of the right-hand coordinate system, and the subsequently determined position of the beam center on the earth can be correct, after the position of the beam center on the earth is subsequently determined, if the distance from the position of the beam center on the earth to the subsatellite point is smaller than the radius of the earth, it is indicated that the first coordinate system meets the requirement of the right-hand coordinate system, and the determined position of the beam center on the earth is correct. If the distance from the position of the beam center on the earth to the subsatellite point is greater than the radius of the earth, the first coordinate system does not meet the requirement of a 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 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.
The first equation represents a target cone in a first coordinate system, 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 a connecting line between the satellite and the earth center. The preset second equation characterizes the earth in the first coordinate system. The third equation represents a target circle in the first coordinate system, and the target circle is an intersection circle of the target cone and the earth.
It should be noted that, for a specific description of the possible implementation, reference may be made to the subsequent related description, which is not described herein again.
S203, the position determining device determines a second position of the first position mapped in the geocentric coordinate system.
Wherein the second location is a location of the beam center on the earth.
It should be noted that the geocentric coordinate system meets the requirements of the right-hand coordinate system. The origin of the geocentric coordinate system is the geocentric. The direction in which the earth's center points to the north pole 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 earth's center points to the present initial meridian is a positive direction of the second coordinate axis of the earth's center coordinate system, for example, a positive direction of the x-axis. The direction in which the earth's center points to the east line of 92 ° is the positive direction of the third coordinate axis of the earth's center coordinate system, for example, the positive direction of the y-axis.
As a possible implementation manner, the position determining device obtains a second position mapped by the first position in the geocentric coordinate system according to the first position and the coordinate transformation matrix, where the second position is a position of the beam center on the earth.
The coordinate transformation matrix represents the transformation relation between the first coordinate system and the geocentric coordinate system.
It should be noted that, for specific description of the possible implementation manner, reference may be made to description of a subsequent related method, which is not described herein again.
Based on this solution, since one coordinate axis of the first coordinate system is directed to the satellite, when the satellite is constantly moving relative to the ground, the satellite is stationary relative to the first coordinate system, and the first position of the beam center of the satellite in the first coordinate system is also stationary relative to the first coordinate system. After the first position of the preset beam center in the first coordinate system is determined, the position of the beam center of the satellite on the earth can be determined when the simulation satellite moves relative to the ground continuously by determining the second position mapped by the first position in the earth center coordinate system.
The above embodiments of the present application have been generally described, and will be further described below.
In a design, fig. 4 is a schematic flowchart of a method for determining a first location provided by the present application, and as shown in fig. 4, 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 radius, the height and the beam inclination angle of the earth.
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 a connecting line between the satellite and the geocenter.
As a possible implementation, the first process may be as follows:
wherein the content of the first and second substances,
representing the beam tilt, h the satellite altitude, R the earth radius, x, y, z are the three variables of the first equation, respectively.
The target cone in the first coordinate system may 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.
And the preset second equation represents an equation of the earth in the first coordinate system, and the target circle is an intersection circle of the target cone and the earth.
As an example, the preset second equation may be as follows:
x2+y2+z2＝R2
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 manner, the position determination apparatus solves the first equation and the preset second equation simultaneously to determine a third equation of the target circle in the first coordinate system.
Illustratively, to
For 10 deg., h 1000km, R6378 km as an example, the first equation may be expressed as
The second equation can be expressed as x2+y2+z2＝63782. The position determining means combines a first equation and a second equation:
resolution at once to obtain x2+y2＝30608.6，z＝6375.6, the third equation for the position-determining device is x2+y2＝30608.6。
And S403, the position determining device determines the position of any point in the third equation as the first position.
It should be noted that fig. 5a is a schematic diagram of a distribution of beam center positions provided in the present application, and as shown in fig. 5a, the position of the beam center of the satellite on the earth in the first coordinate system can be regarded as any point on a target circle where the target cone intersects with the earth.
Since the beam tilt angle is already determined, the position of any point on the target circle can be considered as the beam center in the simulation process. Fig. 5b is a schematic diagram of another beam center position distribution provided by the present application, and as shown in fig. 5b, any one of the uniformly spaced points on the target circle may be used as the beam center for 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 height, and determines a third equation representing a target circle intersected by the target cone and the earth according to the first equation and a preset second equation representing the earth, so that 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.
The coordinate transformation matrix represents the transformation relation 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 respectively represent three angles, and the description of the coordinate transformation matrix R may refer to the description of the subsequent part, which is not described here for the moment.
Taking the coordinates of the first position as (X, Y, Z) for 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 coordinate of the second location in the geocentric coordinate system.
Based on the scheme, the position determining device can obtain the second position according to the first position and the coordinate conversion matrix.
In one design, regarding 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 rotation angles are in one-to-one correspondence with the coordinate axes of the geocentric coordinate system, and the 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 a possible implementation manner, a first coordinate axis of the earth center coordinate system is taken as a z-axis, a second coordinate axis of the earth center coordinate system is taken as a y-axis, a third coordinate axis of the earth center coordinate system is taken as an x-axis, a first rotation angle corresponding to the first coordinate axis is taken as α, a second rotation angle corresponding to the second coordinate axis is taken as β, and a third rotation angle corresponding to the third coordinate axis is taken as γ. The position determining means determines the first rotation angle according to the formula two.
Wherein Ox' is a projection vector of a unit vector of an x-axis of the first coordinate system on a plane where the x-axis and the y-axis of the geocentric coordinate system are located, and Ox is a unit vector of the x-axis of the geocentric coordinate system.
The position determining means determines the second rotation angle according to formula three.
Wherein, oz 'is a projection vector of a unit vector of the z axis of the first coordinate system on the z axis of the geocentric coordinate system and a plane where the Ox' vector is 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 formula four.
Wherein, oy' is a projection vector of a unit vector of the y axis of the first coordinate system on a plane where the y axis and the z axis of the geocentric coordinate system are located, and Oy is a 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 manners are [ 0 °,180 °, that is, the signs of the first rotation angle α, the second rotation angle β, and the third rotation angle γ are all 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 divided by positive and negative. Therefore, 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 determination device may perform permutation and combination of the signs of the first rotation angle α, the second rotation angle β, and the third rotation angle γ, and then perform verification separately. Specifically, the first rotation angle α, the second rotation angle β, and the third rotation angle γ have 8 symbol combinations, which are respectively:
the first 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.
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.
And the 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.
And a 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.
And a fifth group 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.
A seventh set 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 symbol combination: 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 sets of symbol combinations of the first rotation angle α, the second rotation angle β, and the third rotation angle γ into the coordinate transformation matrix R, respectively transforms a plurality of first positions in the target circle into a plurality of second positions based on the coordinate transformation matrix R corresponding to each set of symbol combinations, respectively, and indicates that the set of symbol combinations is a correct symbol combination if the distances between each second position and the satellite are the same.
The principle of coordinate transformation is that three rotation axes of a coordinate system respectively rotate 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 transformation schematic diagram provided by 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 and Z respectively represent 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 determination apparatus rotates the first rotation angle α around the z-axis of the geocentric coordinate system (x, y, z), where 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').
Then, the position determination device rotates the second rotation angle β about the y-axis of the geocentric coordinate system (x ', y', z '), wherein 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', the z-axis is changed from z 'to z', and the geocentric coordinate system can be represented as (x ", y", z ") through the rotation.
Finally, the position determination device rotates the third rotation angle γ with the x-axis of the geocentric coordinate system (x ", y", z ") as the rotation axis, at this time, the x-axis of the geocentric coordinate system (x", y ", z") is converted from x "to x '", the y-axis is converted from y "to y'", the z-axis is converted from z "to z '", and after this rotation, the geocentric coordinate system can be represented as (x' ", y '", z' ").
After the three rotations, three coordinate axes of the earth-centered coordinate system (X "', Y"', Z "') are correspondingly overlapped with three coordinate axes of the first coordinate system (X, Y, Z), specifically, an X-axis of the earth-centered coordinate system (X"', Y "', Z"') is overlapped with an X-axis of the first coordinate system (X, Y, Z), a Y-axis of the earth-centered coordinate system (X "', Y"', Z "') is overlapped with a Y-axis of the first coordinate system (X, Y, Z), and a Z-axis of the earth-centered coordinate system (X"', Y "', Z"') is overlapped with a Z-axis of the first coordinate system (X, Y, Z).
S602, the position determining device determines a coordinate transformation matrix according to the 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 determination device can determine a plurality of rotation angles and determine the coordinate conversion matrix from the plurality of rotation angles.
Fig. 8 is an exemplary diagram of a simulation result of a beam center of a satellite according to the present application, and based on the parameters in table 1 and the method for determining the position of the beam center according to the present application, the simulation result shown in fig. 8 may be obtained.
TABLE 1
| Parameter name | Parameter value |
| Total number of satellites | 6 |
| Track surface | 54 |
| Number of satellites per orbit | 9 |
| Satellite system orbit dip | 86.0/180.0*pi |
| Semi-major axis of track | 7478.137 |
| Eccentricity of |
0 |
| Argument of |
0 |
| Ascending crossing point of the |
0 |
| Track included angle (included angle between two tracks) | 180/6 |
| Angle of beam | 【0,10.0】 |
| Number of beams | 【1,4】 |
As shown in fig. 8, simulation results show that the beam center position determining method provided by the present application can determine the position of the beam center of the satellite on the earth when the simulated satellite moves continuously relative to the ground.
The above-mentioned scheme provided by the embodiment of the present application is mainly described from the perspective of the position determination device performing the method for determining the position of the beam center. To implement the above-described functions, the position determining apparatus includes hardware structures and/or software modules corresponding to the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives 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.
In the embodiment of the present application, the position determination device may be divided into the functional modules according to the 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 module can be realized in a hardware mode, and can also be realized in a software functional module mode. Optionally, the division of the modules in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. Further, a "module" herein may refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and memory that execute one or more software or firmware programs, an integrated logic circuit, and/or other devices that may provide the described functionality.
In the case of functional block division, fig. 9 shows a schematic structural diagram of a position determination device. As shown in fig. 9, the position determination 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 acquiring 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 connecting line between the satellite and the ground center; the processing module 902 is configured to determine a first position of a beam center of the satellite in a first coordinate system according to the beam inclination, the earth radius, and the altitude, where one coordinate axis in the first coordinate system points to the satellite, and an origin of the first coordinate system is a geocenter; the processing module 902 is further configured to determine a second location of the first location mapped in the geocentric coordinate system, where the second location is a location of the beam center on the earth.
As a possible implementation, the processing module 902 is configured to determine a first position of a beam center of the satellite in a first coordinate system according to the beam inclination, the earth radius and the altitude, and includes: determining a first equation of a target cone in a first coordinate system according to the radius, the height and the beam inclination angle of the earth, 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 a connecting line between the satellite and the earth center; determining a third equation of the 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 intersection circle of the target cone and the earth; the position of any point in the third equation is determined as the first position.
As a possible implementation manner, the processing module 902 is further configured to determine a second location of the first location mapped 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 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 superposed 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 referred to the functional description of the corresponding functional module, and are not described herein again.
In the case of implementing the functions of the above functional modules in the form of hardware, fig. 10 shows a schematic structural diagram of a position determination 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 determination apparatus 100, and may be a single processor or a collective term for a plurality of processing elements. For example, the processor 1001 may be a general-purpose Central Processing Unit (CPU), or may be another general-purpose processor. Wherein a general purpose processor may be a microprocessor or any conventional processor or the like.
For one embodiment, 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 (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium 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 be separate from the processor 1001, and the memory 1002 may be connected to the processor 1001 via a bus 1003 for storing instructions or program code. The one-time id using method provided by the embodiment of the present application can be implemented when the processor 1001 calls and executes the instructions or program codes stored in the memory 1002.
In another possible implementation, the memory 1002 may be integrated with the processor 1001.
The bus 1003 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 10, but that does not indicate only one bus or one type of bus.
It is to 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 device 100 may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As an example, in connection with fig. 9, the functions implemented by the acquisition module 901 and the processing module 902 in the position determination device 90 are the same as the functions of the processor 1001 in fig. 10.
Optionally, as shown in fig. 10, the position determining apparatus 100 provided in the embodiment of the present application may further include a communication interface 1004.
A communication interface 1004 for connecting with other devices through a communication network. The communication network may be an ethernet network, a radio access network, a Wireless Local Area Network (WLAN), etc. The communication interface 1004 may include a receiving unit for receiving data, and a transmitting unit for transmitting data.
In a possible implementation manner, in the position determining apparatus 100 provided in this 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 one possible product form, the position determining apparatus according to the embodiment of the present application can be implemented using: one or more Field Programmable Gate Arrays (FPGAs), programmable Logic Devices (PLDs), controllers, state machines, gate logic, discrete hardware components, any other suitable circuitry, or any combination of circuitry capable of performing the various functions described throughout this application.
Through the above description of the embodiments, it is clear for a person skilled in the art that, for convenience and simplicity of description, only the division of the above functional units is illustrated. In practical applications, the above function allocation can be performed by different functional units according to needs, that is, the internal structure of the device is divided into different functional units to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
The present application also provides a computer-readable storage medium, on which a computer program or instructions are stored, wherein the computer program or instructions, when executed, cause a computer to execute the steps in the method flow shown in the above method embodiment.
Embodiments of the present application provide a computer program product comprising instructions which, when executed on a computer, cause the computer to perform the steps of the method flows shown in the above-described method embodiments.
An embodiment of the present application provides a chip system, including: a processor and interface circuitry; an interface circuit for receiving a computer program or instructions and transmitting the same to a processor; the processor is adapted to execute a computer program or instructions to cause the system-on-chip to perform the method according to 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 any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, and a hard disk. Random Access Memory (RAM), read-Only Memory (ROM), erasable Programmable Read-Only Memory (EPROM), registers, a hard disk, an optical fiber, a portable Compact disk Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any other form of computer-readable storage medium, in any suitable combination, or as appropriate 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. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an application specific ASIC. In embodiments 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 may be applied to the position determining method provided in this embodiment, for technical effects that can be obtained by the position determining apparatus, the computer-readable storage medium, and the computer program product, reference may also be made to the above method embodiment, and details of the embodiment of this application are not repeated herein.
While the present application has been described 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 drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the word "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 conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations can be made thereto without departing from the spirit and scope of the application. Accordingly, the specification and drawings are merely illustrative of the present application as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A method for determining 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 between 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 height, wherein one coordinate axis in the first coordinate system points to the satellite, and the origin of the first coordinate system is the geocentric;
and 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.
2. The method of claim 1, wherein determining the first position of the beam center of the satellite in the first coordinate system based on the beam inclination, 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 height and the beam inclination angle, wherein the vertex of the target cone is the satellite, the generatrix of the target cone is the beam central line, and the axis of the target cone is the connecting line of the satellite and the geocentric;
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 intersection circle of the target cone and the earth;
determining a position of any point in the third equation as the first position.
3. The method according to claim 1 or 2, wherein the determining the second position of the first position mapped in the 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 a transformation relation between the first coordinate system and the geocentric coordinate system.
4. The method of claim 3, further comprising:
determining a plurality of rotation angles of the geocentric coordinate system; the rotation angles are in one-to-one correspondence with a plurality of coordinate axes of the geocentric coordinate system, and the 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 the coordinate transformation matrix according to the plurality of rotation angles.
5. An apparatus for determining a location of a beam center, the apparatus comprising: the device comprises an acquisition module and a processing module;
the acquisition module is used for 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 between the satellite and the ground center;
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, the earth radius and the height, where one coordinate axis in the first coordinate system points to the satellite, and an origin of the first coordinate system is the geocentric;
the processing module 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.
6. The apparatus of claim 5, wherein the processing module configured to determine a first position of a beam center of the satellite in a first coordinate system based on the beam tilt, 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 height and the beam inclination angle, wherein the vertex of the target cone is the satellite, the generatrix of the target cone is the beam central line, and the axis of the target cone is the connecting line of the satellite and the geocentric;
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 intersection circle of the target cone and the earth;
determining a position of any point in the third equation as the first position.
7. The apparatus of claim 5 or 6, wherein the processing module is further configured to determine a second location of the first location mapped in the geocentric coordinate system, and comprises:
and obtaining the second position according to the first position and a coordinate transformation matrix, wherein the coordinate transformation matrix represents a transformation relation between the first coordinate system and the geocentric coordinate system.
8. The apparatus of claim 7, wherein the processing module is further configured to:
determining a plurality of rotation angles of the geocentric coordinate system; the rotation angles are in one-to-one correspondence with a plurality of coordinate axes of the geocentric coordinate system, and the 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 the coordinate transformation matrix according to the plurality of rotation angles.
9. An apparatus for determining a location of a beam center, the apparatus comprising: a processor coupled with a memory, the memory to store a program or instructions that, when executed by the processor, cause the apparatus to perform the method of any of claims 1 to 4.
10. A computer-readable storage medium having stored thereon a computer program or instructions, which when executed cause a computer to perform the method of any one of claims 1 to 4.
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| JUNKI YOSHINO等: "Estimation of beam forming accuracy for satellite experiment towards SPS", 《2014 IEEE WIRELESS POWER TRANSFER CONFERENCE》 * |
| 张凤仪: "星载相控阵凝视波束成形技术研究", 《中国优秀硕士学位论文全文数据库-信息科技辑》 * |
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| CN115276760B (en) | 2023-06-23 |
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