CN108259079A - High speed moving platform TDMA satellite communication synchronisation control means based on ephemeris - Google Patents

High speed moving platform TDMA satellite communication synchronisation control means based on ephemeris Download PDF

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CN108259079A
CN108259079A CN201711467347.7A CN201711467347A CN108259079A CN 108259079 A CN108259079 A CN 108259079A CN 201711467347 A CN201711467347 A CN 201711467347A CN 108259079 A CN108259079 A CN 108259079A
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satellite
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frequency
time
moment
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曾业
刘进
刘佳
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CETC 20 Research Institute
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18523—Satellite systems for providing broadcast service to terrestrial stations, i.e. broadcast satellite service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18578—Satellite systems for providing broadband data service to individual earth stations
    • H04B7/18582—Arrangements for data linking, i.e. for data framing, for error recovery, for multiple access
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Radio Relay Systems (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The present invention provides a kind of high speed moving platform TDMA satellite communication synchronisation control means based on ephemeris, utilize high-precision satellite ephemeris information, satellite is obtained relative to earth station radial velocity and position, by the navigation information of platform, wait to position of platform and radial velocity, be finally superimposed the two speed, platform is according to result compensating frequency deviation, the two ranging distance is estimated roughly according to the two position, platform compensates timing offset according to true ranging information, finally reaches synchronous requirement.The present invention can compensate for Doppler frequency and Delay Variation caused by medium and low earth orbit satellites and platform itself high-speed mobile.

Description

High speed moving platform TDMA satellite communication synchronisation control means based on ephemeris
Technical field
The present invention relates to height of the high speed moving platform using broadcast is directed in a kind of middle low orbit TDMA satellite communication systems Precision ephemeris time synchronization and Frequency Synchronization control technology belong to the correlations such as satellite mobile communication, Synchronization Control, access networking Technical field.
Background technology
TDMA satellite communication systems have the features such as flexible networking and efficient satellite channel utilize, at home and abroad satellite communication It is widely used in system.It needs to carry out stringent Synchronization Control during TDMA satellite communications, including FREQUENCY CONTROL, timing 3 aspects of control and power control；Medium and low earth orbit satellites are in addition to by terrestrial gravitation in TDMA satellite communications, also by other multiple The influence of miscellaneous perturbative force, there is always the speed of a radial direction relative to ground receiver for the low orbit satellite in high-speed motion state Component is spent, is changed so as to cause the Doppler frequency shift and propagation delay time of star earth signal, while ground high-speed motion platform is transported at a high speed In rotating ring border, the speed of variation and course generate uncertain Doppler shift and timing error, can be to Frequency Synchronization and timing It synchronizes and impacts.For when Doppler frequency shift caused by the two kinds of relative displacements of satellite and high speed moving platform and transmission The compensation prolonged is of great significance for TDMA satellite communications Synchronization Control and access networking.
Current TDMA satellite communication systems are mainly based upon geosynchronous satellite, and high speed moving platform is only considered Doppler frequency shift and the propagation delay time variation that platform itself generates, more than 30,000 6 thousand kilometers of geo-stationary orbit, low speed mobile platform is one The variation for determining propagation delay time in coverage area also can be ignored substantially, can pass through this platform navigation system in such a system System obtains the parameters such as geographical location and the speed of a ship or plane, calculates frequency departure and timing offset, and it is real that corresponding compensatory approach is taken The reference capture of existing TDMA satellite communication systems and time synchronization, realize its networking function.And the low rail Non GEO in Satellite, it is necessary to consider high-speed mobile of the satellite relative to the earth, exacerbate the variation of Doppler frequency and propagation delay time, bring Reference capture and time synchronization problem.
Invention content
For overcome the deficiencies in the prior art, the present invention provides a kind of mobile platform TDMA satellites based on satellite ephemeris Communication synchronization control method using high-precision satellite ephemeris information, obtains satellite relative to earth station radial velocity and position It puts, by the navigation information of platform, waits to position of platform and radial velocity, finally both superpositions speed, platform are mended according to result Frequency departure is repaid, the two ranging distance is estimated roughly according to the two position, platform is inclined according to the compensation timing of true ranging information Difference finally reaches synchronous requirement.Doppler's frequency caused by the present invention can compensate for medium and low earth orbit satellites and platform itself high-speed mobile Rate and Delay Variation.
The technical solution adopted by the present invention to solve the technical problems includes the following steps：
Step 1, mobile platform starts, and obtains this platform navigation information Ru(Xu, Yu, Zu) and speed Vu(Vux, Vuy, Vuz)； By longitude λ, the latitude of ground station receiver, height h be converted into position vector under ECEF coordinatesWherein, a0For the semi-major axis of the earth, e0For earth oval eccentric rate；
Step 2, satellite normal operation broadcasts high-precision satellite ephemeris；The mean angular velocity of satellite transit Wherein, u=398600.5 × 109m3/s2, Δ n is mean angular velocity correction；Between track moment epoch and initial moment epoch It is divided into tk=t-toe, wherein toeFor epoch initial time；Satellite mean anomaly Mk=M0 +n0tk, wherein M0For toeMoment puts down Anomaly；The equation that moment epoch eccentric anomaly is calculated with iterative method is Ek=Mk +esinEk, wherein e is orbital eccentricity；By Eccentric anomaly calculates true anomalyIt is calculated to rise by true anomaly and hands over elongation φk=vk+ ω, Wherein ω is toeThe argument of perigee at moment；Satellite radius vector is rk=a (1-ecosEk), angular distance and radius correction amount are calculated, and Angular distance and orbit radius are modified
Wherein, Cus、CucFor ascending node angular distance just, cosine correct amplitude；Crs、CrcFor orbit radius just, cosine correction term Amplitude；So coordinate of the satellite in orbit plane is xp=rkcosuk, yp=rksinuk, zp=0；Become with reference to orbit inclination angle Rate calculates orbit inclination angle correction amount and orbit inclination angle is modified
Wherein, i0For refer to moment orbit inclination angle, i' be orbit inclination angle change rate, Cis、CicFor orbit inclination angle just, cosine repaiies Positive amplitude；With reference to right ascension of ascending node change rate and rotational-angular velocity of the earth Ωe', calculate longitude of ascending node Ωk=Ω0+(Ω'- Ωe′)tk-Ωe′.toeWherein, with reference to moment longitude of ascending node Ω0；Right ascension of ascending node change rate Ω1；
Satellite position vector under ECI coordinate systems is obtained according to the relationship of orbit plane coordinate system and inertial coodinate system
Consider Greenwich sidereal time on true equinox angle GAST, then the position vector coordinate of ECEF and ECI position vectors are sat It is marked with and the transformational relation of velocity vector is：
Step 3, the position of this position of platform, velocity vector and satellite platform calculated in step 1, step 2 is utilized And velocity vector, calculate Doppler frequency shift and propagation delay timeV is satellite and receiver speed of related movement, f0It is signal(-) carrier frequency, β is the angle of line between relative velocity and satellite and earth station between satellite and earth station；
Step 4, mobile platform uses f in initial network entry or reference burst lossdIt is caught after carrying out receives frequency compensation It obtains with reference to burst, realizes quick networking or resynchronisation, receive with reference to after burst, then estimate according to reference to the receives frequency to happen suddenly Meter more accurately Doppler shift, and transmission frequency compensation is carried out according to following methods：Assuming that the transmission frequency of aircraft setting For fT0, the receives frequency set is fR0, the down-link frequencies that aircraft receives are fR, then earth station adjustment sends letter Number frequency is fT=fT0-ε(fR-fR0), ε is transmitting-receiving frequency Dynamic gene；During aircraft group-net communication, mobile platform F is detected in real time with reference to burst by receivingdVariation, and according to result carry out transmitting-receiving frequency compensation, complete FREQUENCY CONTROL according to As a result transmitting-receiving frequency compensation is carried out, completes FREQUENCY CONTROL；
Step 5, mobile platform calculates itself with the distance of satellite so as to obtain the RTT=2t of our stationd, T1It is sent for main website At the time of the reference burst of n-th frame, i.e. the transmission initial time of main website n-th frame, T2When transmission for business station n-th frame originates It carves, T3At the time of receiving main website n-th frame with reference to burst for business station, business station is in T3Moment can estimate the n-th+m+1 frames The delivery time respectively to happen suddenly：
TS=T5- T3=m TFr- RTT+Dn=mTFr- 2td+Dn
In formula, TFrFor frame length, DnThe time difference of the time slot and control time slot of burst, D are sent for our station in n-th framenReference frame It is included in the information issued, m is positive integer, meets m ＞ 2td/TFr；
Step 6, according to step 4 and 5 determining transmission frequency and the normal transmitting and receiving service of business delivery time.
The beneficial effects of the invention are as follows：Using the broadcast high-precision ephemeris information of satellite and the navigation information of this platform, meter The relative radial rate and distance between platform and satellite are calculated, so as to calculate Doppler frequency and transmission round-trip delay, into And capture is gone to refer to using the frequency, and reference information is parsed after synchronization acquistion, it is low in being so as to carry out the timing of business transmission A kind of feasible program of rail satellite movement TDAM communication synchronization control networkings.
Description of the drawings
Fig. 1 is that the present invention is based on the frequencies of satellite ephemeris and timing control process schematic diagram；
Fig. 2 is that mobile platform business station delivery time calculates schematic diagram.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following implementations Example.
The present invention provides a kind of high speed moving platform TDMA satellite communication synchronisation control means based on ephemeris.Core Thought is the navigation information of the broadcast high-precision ephemeris information and this platform using satellite, is calculated between platform and satellite Relative radial rate and distance so as to calculate Doppler frequency and transmission round-trip delay, and then go capture to join using the frequency It examines, reference information is parsed after synchronization acquistion, so as to carry out the timing of business transmission.
The present invention includes the following steps：
Step 1：Initialization, mobile platform start, and obtain this platform navigation information Ru(Xu, Yu, Zu) and speed Vu(Vux, Vuy, Vuz)；Under normal circumstances, usually with longitude λ, latitude, the parameters such as height h represent the geography side of ground station receiver Position.Using the position vector that following formula is converted into it under ECEF coordinates as shown in (1) formula：
a0Semi-major axis a for the earth0=6378.137km, e0For earth oval eccentric rate, e2 0=6.69438e-3.
Step 2：Satellite normal operation broadcasts high-precision satellite ephemeris using beacon antenna or feeding link；Almanac Substance is 6 radical of track and 9 parameter of orbit perturbation or its deformation.Track major semiaxis a is (generally with a1/2Form provides)；Rail Road eccentric ratio e；With reference to moment mean anomaly M0；With reference to moment orbit inclination angle i0；Argument of perigee ω；It is passed through with reference to moment ascending node Spend Ω0；With reference to moment toe；Mean angular velocity correction Δ n；Right ascension of ascending node change rate Ω1；Ascending node angular distance is just, cosine repaiies Positive amplitude Cus、Cuc；Orbit radius just, cosine correction term amplitude Crs、Crc；Orbit inclination angle change rate i'；Orbit inclination angle just, cosine Correct amplitude Cis、Cic, satellite position vectors can be carried out and calculated and velocity vector derivation：The mean angular velocity of satellite transit isWherein a be semi-major axis, u=398600.5 × 109m3/s2；When track moment epoch is with initial epoch T is divided between quarterk=t-toe, wherein toeFor epoch initial time；Satellite mean anomaly is Mk=M0+n0tk, wherein M0For toeWhen The mean anomaly at quarter；The equation that moment epoch eccentric anomaly is calculated with iterative method is Ek=Mk+esinEk, wherein e is eccentricity； Calculating true anomaly by eccentric anomaly isIt is calculated to rise by true anomaly and hands over elongationWherein ω is toeThe argument of perigee at moment.Satellite radius vector is rk=a (1-ecosEk), calculate angular distance and half Diameter correction amount, and angular distance and orbit radius are modified as shown in formula (2)：
So x coordinate of the satellite in orbit plane is xp=rkcosuk, y-coordinate yp=rksinuk, z coordinate zp= 0.With reference to orbit inclination angle change rate, calculate orbit inclination angle correction amount and orbit inclination angle is modified as shown in formula (3)：
With reference to right ascension of ascending node change rate and rotational-angular velocity of the earth Ωe'=7.29211 × 10-5rad/s is calculated and is risen Shown in intersection point longitude such as formula (4)：
Ωk=Ω0+(Ω'-Ωe')tk-Ωe'.toe (4)
Satellite position vector R under ECI coordinate systems is obtained according to the relationship of orbit plane coordinate system and inertial coodinate systems-eciSuch as Shown in formula (5), wherein ik and Ω k are respectively the inclination of satellite orbit and right ascension of ascending node of epoch t moment.
Consider Greenwich sidereal time on true equinox angle GAST, then the position vector coordinate of ECEF and ECI position vectors are sat Be marked with and the transformational relation of velocity vector such as formula (6) and (7) shown in：
Step 3：Utilize the position of this position of platform, velocity vector and satellite platform calculated in step 1, step 2 And velocity vector, it calculates Doppler frequency shift and propagation delay time, calculation formula is as follows：V is satellite With receiver speed of related movement, f0It is signal(-) carrier frequency, β is relative velocity and satellite and ground between satellite and earth station Shown in the angle of line between standing, Doppler frequency shift and time delay value such as formula (8)：
Step 4：High speed moving platform (aircraft) uses f in initial network entry or reference burst lossdIt is received Capture can realize quick networking or resynchronisation, after receiving with reference to happening suddenly, then according to reference with reference to happening suddenly after frequency compensation The receives frequency estimation more accurately Doppler shift, and transmission frequency compensation is carried out according to following methods of burst：Assuming that flight The transmission frequency that device is set is fT0, the receives frequency set is fR0, due to Doppler effect, downlink chain that aircraft receives Road frequency is fR(Doppler shift that i.e. aircraft arrives is fR- fR0), then earth station should adjust its transmission signal frequency Rate is fT,
fT=fT0-ε(fR-fR0) (9)
ε is transmitting-receiving frequency Dynamic gene (i.e. transmitting-receiving frequency ratio).During aircraft group-net communication, as satellite is pressed The continuous change location of track rule and speed, the variation of aircraft navigation direction and speed, fdCan constantly it change, high-speed mobile Platform needs, by receiving with reference to burst, to detect f in real timedVariation, and according to result carry out transmitting-receiving frequency compensation, complete frequency Rate control carries out transmitting-receiving frequency compensation according to result, completes FREQUENCY CONTROL.
Step 5：Timing controlled, TDMA satellite communication systems need stringent time synchronization, high-speed mobile as shown in Figure 2 Platform can use formula (8) to calculate itself with the distance of satellite so as to obtain the RTT=2t of our stationd, T1N-th frame is sent for main website Reference burst at the time of, i.e. the transmission initial time of main website n-th frame, T2For the transmission initial time of business station n-th frame, T3For At the time of business station receives main website n-th frame with reference to burst, as can be seen from FIG. 2, business station station can be in T3Moment can estimate n-th+ The delivery time respectively to happen suddenly of m+1 frames：
TS=T5- T3=m TFr- RTT+Dn=mTFr- 2td+Dn (10)
In formula, TFrFor frame length, DnThe time difference of the time slot and control time slot of burst, D are sent for our station in n-th framenReference frame It is included in the information issued, m is positive integer, meets m ＞ 2td/TFr。
Step 6：According to step 4 and 5 determining transmission frequency and the normal transmitting and receiving service of business delivery time.
With reference to Fig. 1, the high speed moving platform TDMA satellite communication Synchronization Controls in ephemeris are present embodiments described Overall procedure, initialize first, start and receive satellite broadcasting ephemeris, read the f of TDMA satellite communication systems that has planned, Obtain this platform navigation information, calculate the position and speed of this platform, according to the ephemeris computation received go out Doppler frequency shift and Transmission range, in f0It carries out, with reference to capture, after acquisition success function, the distance between satellite being arrived according to mobile platform, count RTT is calculated, carries out FREQUENCY CONTROL timing controlled.
To simplify the analysis, the system of this example is put down including a middle rail satellite S, a fixed station and a high-speed mobile Platform ICBM SHF satellite terminal U, reference carrier and traffic carrier are all on same carrier wave, and ephemeris broadcast mode is using omnidirectional's S frequency ranges feed chain Road, during concrete operations：
Step 1：Mobile platform U stations start, and read navigation information, velocity vector under ECEF coordinate systems are obtained, by formula (1) position vector under ECEF coordinate systems is calculated.
Step 2：Mobile platform detects receipts satellite ephemeris using S sections of antennas, after having successfully received, and calculates by formula (8) more General Le frequency f0 and propagation delay time td.
Step 3：ICBM SHF satellite terminal U is in f0On carry out with reference to capture, if failure or with reference to lose be repeated steps 1 and 2, directly To acquisition success or recapture.
Step 4：According to reference information, transmission frequency is adjusted according to formula (9), completes FREQUENCY CONTROL
Step 5：T at the time of reference frame is received calculates business according to reference information and formula (8) and formula (9) At the time of transmission, completion timing control.
Step 6：Regular traffic transmitting-receiving is carried out after networking successfully according to step 4 and step 5.

Claims (1)

1. a kind of high speed moving platform TDMA satellite communication synchronisation control means based on ephemeris, it is characterised in that including following steps Suddenly：
Step 1, mobile platform starts, and obtains this platform navigation information Ru(Xu, Yu, Zu) and speed Vu(Vux, Vuy, Vuz)；By ground station reception Longitude λ, the latitude of machineHeight h is converted into the position vector under ECEF coordinates Wherein, a0For the semi-major axis of the earth, e0For earth oval eccentric rate；
Step 2, satellite normal operation broadcasts high-precision satellite ephemeris；The mean angular velocity of satellite transit Wherein, u=398600.5 × 109m3/s2, Δ n is mean angular velocity correction；Between track moment epoch and initial moment epoch It is divided into tk=t-toe, wherein toeFor epoch initial time；Satellite mean anomaly Mk=M0+n0tk, wherein M0For toeMoment puts down Anomaly；The equation that moment epoch eccentric anomaly is calculated with iterative method is Ek=Mk+esinEk, wherein e is orbital eccentricity；By Eccentric anomaly calculates true anomalyIt is calculated to rise by true anomaly and hands over elongation φk=vk+ ω, Wherein ω is toeThe argument of perigee at moment；Satellite radius vector is rk=a (1-ecosEk), angular distance and radius correction amount are calculated, and Angular distance and orbit radius are modified
Wherein, Cus、CucFor ascending node angular distance just, cosine correct amplitude；Crs、CrcFor orbit radius just, cosine correction term amplitude； So coordinate of the satellite in orbit plane is xp=rkcosuk, yp=rksinuk, zp=0；With reference to orbit inclination angle change rate, meter It calculates orbit inclination angle correction amount and orbit inclination angle is modified
Wherein, i0For refer to moment orbit inclination angle, i' be orbit inclination angle change rate, Cis、CicFor orbit inclination angle just, cosine amendment shakes Width；With reference to right ascension of ascending node change rate and rotational-angular velocity of the earth Ωe', calculate longitude of ascending node Ωk=Ω0+(Ω'-Ωe') tk-Ωe'.toeWherein, with reference to moment longitude of ascending node Ω0；Right ascension of ascending node change rate Ω1；
Satellite position vector under ECI coordinate systems is obtained according to the relationship of orbit plane coordinate system and inertial coodinate system
Consider Greenwich sidereal time on true equinox angle GAST, then the position vector coordinate of ECEF and ECI position vectors coordinate and The transformational relation of velocity vector is：
Step 3, the position using this position of platform, velocity vector and the satellite platform calculated in step 1, step 2 and speed Vector is spent, calculates Doppler frequency shift and propagation delay timeV is satellite and receiver speed of related movement, f0It is Signal(-) carrier frequency, β are the angles of line between relative velocity and satellite and earth station between satellite and earth station；
Step 4, mobile platform uses f in initial network entry or reference burst lossdReference is captured after carrying out receives frequency compensation Burst is realized and quickly networks or resynchronize, and receives with reference to after burst, then it is more accurate to be estimated according to the receives frequency of reference burst Doppler shift, and according to following methods carry out transmission frequency compensation：Assuming that the transmission frequency that aircraft is set is fT0, setting Receives frequency be fR0, the down-link frequencies that aircraft receives are fR, then it is f that earth station adjustment, which sends signal frequency,T =fT0-ε(fR-fR0), ε is transmitting-receiving frequency Dynamic gene；During aircraft group-net communication, mobile platform is referred to by receiving Burst detects f in real timedVariation, and according to result carry out transmitting-receiving frequency compensation, complete FREQUENCY CONTROL received and dispatched according to result Frequency compensation completes FREQUENCY CONTROL；
Step 5, mobile platform calculates itself with the distance of satellite so as to obtain the RTT=2t of our stationd, T1N-th frame is sent for main website Reference burst at the time of, i.e. the transmission initial time of main website n-th frame, T2For the transmission initial time of business station n-th frame, T3For At the time of business station receives main website n-th frame with reference to burst, business station is in T3Moment can estimate respectively happening suddenly for the n-th+m+1 frame Delivery time：
TS=T5- T3=mTFr- RTT+Dn=mTFr- 2td+Dn
In formula, TFrFor frame length, DnThe time difference of the time slot and control time slot of burst, D are sent for our station in n-th framenWhat reference frame issued It is included in information, m is positive integer, meets m ＞ 2td/TFr；
Step 6, according to step 4 and 5 determining transmission frequency and the normal transmitting and receiving service of business delivery time.
CN201711467347.7A 2017-12-29 2017-12-29 High speed moving platform TDMA satellite communication synchronisation control means based on ephemeris Pending CN108259079A (en)

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