CN110138470A - A kind of USB TT&C Transponder sidetone power number normalization system and method - Google Patents
A kind of USB TT&C Transponder sidetone power number normalization system and method Download PDFInfo
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- CN110138470A CN110138470A CN201910309248.9A CN201910309248A CN110138470A CN 110138470 A CN110138470 A CN 110138470A CN 201910309248 A CN201910309248 A CN 201910309248A CN 110138470 A CN110138470 A CN 110138470A
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- range tone
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- frequency
- sidetone
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
- H04B17/318—Received signal strength
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/0014—Carrier regulation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/0014—Carrier regulation
- H04L2027/0024—Carrier regulation at the receiver end
- H04L2027/0026—Correction of carrier offset
Abstract
The present invention discloses a kind of USB TT&C Transponder sidetone power number normalization system and method, the method includes carrying out low noise amplification, down coversion, filtering, AGC amplification or logarithmic amplification to reception signal, and is exported after analog-to-digital conversion；The output signal after analog-to-digital conversion is received, realizes main carrier tracking；To the data and main carrier tracking data progress Digital Down Convert processing after analog-to-digital conversion, exported；The output data of Digital Down Convert processing is handled, to extract main range tone and time range tone；It is integrated using main carrier frequency locking ring and removes result to main range tone and time range tone progress realtime power estimation；The power normalization for carrying out main range tone and time range tone is handled.The present invention realizes simply, solves stability problem of the USB TT&C Transponder Downlink Modulation Index under high low signal, while avoiding the inconsistent caused ranging ambiguity solution problem of simulation sidetone flora of filters time delay.
Description
Technical field
The present invention relates to a kind of USB TT&C Transponder sidetone power numbers to normalize system and method.
Background technique
S frequency range united carrier system (USB) is applied to most of Satellite TT tasks in the world, can provide for star logical
Letter channel simultaneously completes satellite measurement rail.USB TT&C system realizes that range ambiguity resolves using more sidetones, by receiving and dispatching sidetone phase
Position Time delay measurement calculates the radial distance between tracking telemetry and command station and satellite.USB TT&C Transponder is mounted in the signal on satellite and turns
Equipment is sent out, receives and forward cooperation tracking telemetry and command station to complete range measurement by sidetone.USB TT&C Transponder needs to complete sidetone demodulation
After power normalization, require to carry out phase-modulation to descending carrier according to the sidetone modulation degree of agreement.
Traditional USB TT&C Transponder generally use two methods realize sidetone demodulation and power normalization, method first is that
It realizes that carrier track and sidetone demodulate using analog circuit, and realizes that power is returned using simulation automatic growth control (AGC) circuit
One changes, and range tone forms downlink signal without filtering, directly modulation to descending carrier signal.Method one is not because filter out remote control
Subcarrier will affect downlink channel power distribution, cause power dissipation, meanwhile, because primary and secondary sidetone does not separate, uplink and downlink modulation
It spends interrelated, can not independently be designed.Method increases two-way analog filter second is that on the basis of method one, to master,
Secondary sidetone is filtered respectively, and the separate configurations of upper and lower property modulation degree may be implemented in this way, meanwhile, remote control sidetone is avoided under
The waste of row power.But because the group delay characteristic of two-way analog filter has differences, it will affect the phase line of primary and secondary sidetone
Property degree, and then the distance for influencing ground control station resolves, or even range ambiguity resolving is caused to malfunction.In addition, above two method is only
Uplink signal power normalization is realized using simulation automatic growth control (AGC) circuit, because by analog filter bandwidth and amplification
The dual limitation of device gain, the dynamic range of agc circuit is limited, when uplink receiving signal is smaller, in agc circuit output power
Noise power accounting is larger, leads to the reduction of downlink ranging sidetone modulation degree, influences the operating distance of TT&C system.
Summary of the invention
In view of the above technical problems, the present invention provides a kind of USB TT&C Transponder sidetone power number method for normalizing, solution
Modulation degree error when certainly the loss of modulation power present in traditional analog power normalization method and small signal input, avoids
The deterioration of sidetone phase linearity is conducive to ground control station and carries out range ambiguity resolving.
In view of this, present invention provide the technical scheme that a kind of USB TT&C Transponder sidetone power number normalization system
System characterized by comprising
USB TT&C Transponder receiver subsystem, for realizing receive the low noise amplification of signal, down coversion, filtering,
AGC amplification or logarithmic amplification, and exported after analog-to-digital conversion；
Digital frequency locked phaselocked loop realizes main carrier tracking for receiving the output signal after analog-to-digital conversion；
Digital Down Convert unit, for the data and the lower change of main carrier tracking data progress number after analog-to-digital conversion
Frequency is handled, and is exported；
Extraction unit is handled for the output to the Digital Down Convert unit, to extract main range tone and time survey
Away from sound；
Estimation unit carries out in real time main range tone and time range tone for removing result using main carrier frequency locking ring integral
Power estimation；
Output unit, the power normalization for carrying out main range tone and time range tone are handled.
Further, the USB TT&C Transponder receiver subsystem, comprising: radio-frequency filter, low-noise amplifier,
Frequency mixer, local frequency source of secondary, intermediate-frequency filter, AGC amplifier or logafier, analog-digital converter, complex programmable logic
Device；Radio-frequency filter is connect with low-noise amplifier, frequency mixer and low-noise amplifier, local frequency source of secondary, intermediate-frequency filter
Connection, intermediate-frequency filter are connect with AGC amplifier or logafier, and analog-digital converter one end is connect with amplifier, the other end
It is connect with Complex Programmable Logic Devices.
Further, the digital frequency locked phaselocked loop is by frequency locking ring numerically-controlled oscillator interconnected, two multiplication
Device, two integral clearing cells, frequency discriminator, frequency locking ring loop filter, phase-shift discriminator, the digital control vibrations of phaselocked loop
Device, cycle of phase-locked loop filter, frequency word adder, carrier track numerically-controlled oscillator and sidetone demodulation module composition.
Further, the extraction unit is carried out respectively using two different center frequencies, the FIR filter of identical order
The extraction of main range tone and time range tone.
Further, the Digital Down Convert unit is also connected with low-pass filter.
Another object of the present invention, which also resides in, provides a kind of USB TT&C Transponder sidetone power number method for normalizing,
It is characterized in that, comprising:
Low noise amplification, down coversion, filtering, AGC amplification or logarithmic amplification are carried out to signal is received, and passes through analog-to-digital conversion
After exported；
The output signal after analog-to-digital conversion is received, realizes main carrier tracking；
To the data and main carrier tracking data progress Digital Down Convert processing after analog-to-digital conversion, exported；
The output data of Digital Down Convert processing is handled, to extract main range tone and time range tone；
It is integrated using main carrier frequency locking ring and removes result to main range tone and time range tone progress realtime power estimation；
The power normalization for carrying out main range tone and time range tone is handled.
The present invention realize it is following significant the utility model has the advantages that
It realizes simple, comprising: USB TT&C Transponder receiver subsystem, digital frequency locked phaselocked loop, Digital Down Convert list
Member, extraction unit, estimation unit and output unit complete carrier frequency tracking using digital frequency locked phaselocked loop, and utilize frequency locking
Ring integral, which clears data, completes carrier power estimation, completes the processing of sidetone power normalization, meanwhile, use identical order
FIR filter carries out digital filtering to main range tone and time range tone respectively, maximally reduced uplink remote control sidetone with
The influence of noise opposite side tone system, while ensure that the group delay consistency of main side sound and time sidetone.It solves USB observing and controlling to answer
Stability problem of the machine Downlink Modulation Index under high low signal is answered, while avoiding simulation sidetone flora of filters time delay is inconsistent leads
The ranging ambiguity solution problem of cause.
Detailed description of the invention
Fig. 1 is USB TT&C Transponder receiver hardware system composed structure schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of digital frequency locked phaselocked loop of the invention；
Fig. 3 is USB TT&C Transponder sidetone power number method for normalizing flow chart of the invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments, is wanted according to following explanation and right
Book is sought, advantages and features of the invention will become apparent from.It should be noted that attached drawing is all made of very simplified form and is applicable in
Non-accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
It should be noted that present invention spy is for multiple embodiments with further in order to clearly demonstrate the contents of the present invention
Illustrate different implementations of the invention, wherein multiple embodiment is enumeration and non-exhaustive.In addition, in order to illustrate
Succinctly, the content having been mentioned in preceding embodiment is often omitted in rear embodiment, therefore, unmentioned interior in rear embodiment
Appearance can accordingly refer to preceding embodiment.
Although the invention can modification in a variety of forms and replacement extend, also listed in specification some specific
Implement legend and is described in detail.It should be understood that the starting point of inventor is not that the invention is limited to illustrated spy
Determine embodiment, antithesis, the starting point of inventor is to protect in all spirit or scope given and defined by this rights statement
The improvement of progress, equivalent alterations and modifications.Same component number is likely to be used for all attached drawings to represent identical or class
As part.
Fig. 1 and Fig. 2 are please referred to, a kind of USB TT&C Transponder sidetone power number of the invention normalizes system, comprising:
USB TT&C Transponder receiver subsystem, for realizing receive the low noise amplification of signal, down coversion, filtering, AGC amplification or
Logarithmic amplification, and exported after analog-to-digital conversion；Digital frequency locked phaselocked loop, for receiving the output after analog-to-digital conversion
Signal realizes main carrier tracking；Digital Down Convert unit, for the data and the main carrier tracking data after analog-to-digital conversion
Digital Down Convert processing is carried out, is exported；Extraction unit is handled for the output to the Digital Down Convert unit,
To extract main range tone and time range tone；Estimation unit, for removing result to main range tone using main carrier frequency locking ring integral
Realtime power estimation is carried out with secondary range tone；Output unit, at the power normalization for carrying out main range tone and time range tone
Reason.
Preferably, the USB TT&C Transponder receiver subsystem, comprising: radio-frequency filter, mixes low-noise amplifier
Frequency device, local frequency source of secondary, intermediate-frequency filter, AGC amplifier or logafier, analog-digital converter, complicated programmable logic device
Part；Radio-frequency filter is connect with low-noise amplifier, and frequency mixer and low-noise amplifier, local frequency source of secondary, intermediate-frequency filter connect
Connect, intermediate-frequency filter is connect with AGC amplifier or logafier, and analog-digital converter one end is connect with amplifier, the other end with
Complex Programmable Logic Devices connection.
Preferably, the digital frequency locked phaselocked loop by frequency locking ring numerically-controlled oscillator interconnected, two multipliers,
Two integral clearing cells, frequency discriminator, frequency locking ring loop filter, phase-shift discriminator, the digital control vibrator of phaselocked loop,
Cycle of phase-locked loop filter, frequency word adder, carrier track numerically-controlled oscillator and sidetone demodulation module composition.
Preferably, the extraction unit is led respectively using two different center frequencies, the FIR filter of identical order
The extraction of range tone and time range tone.
Preferably, the Digital Down Convert unit is also connected with low-pass filter.
Referring to figure 3., another object of the present invention, which also resides in, provides a kind of USB TT&C Transponder sidetone power number normalizing
Change method characterized by comprising
Step S1 carries out low noise amplification, down coversion, filtering, AGC amplification or logarithmic amplification to signal is received, and passes through
It is exported after analog-to-digital conversion；
Step S2 receives the output signal after analog-to-digital conversion, realizes main carrier tracking；
Step S3 carries out the data and main carrier tracking data progress Digital Down Convert processing after analog-to-digital conversion
Output；
Step S4 handles the output data of Digital Down Convert processing, to extract main range tone and time ranging
Sound；
Step S5 integrates removing result using main carrier frequency locking ring and estimates to main range tone and time range tone progress realtime power
Meter；
Step S6, the power normalization for carrying out main range tone and time range tone are handled.
A kind of specific steps of USB TT&C Transponder sidetone power number method for normalizing of the invention are as follows:
The first step builds USB TT&C Transponder receiver system
USB TT&C Transponder receiver system, comprising: radio-frequency filter 1, low-noise amplifier 2, frequency mixer 3, local oscillator frequency
Rate source 8, intermediate-frequency filter 4, AGC amplifier or logafier 5, analog-digital converter 6, Complex Programmable Logic Devices 7；Radio frequency
Filter 1 is connect with low-noise amplifier 2, and frequency mixer 3 and low-noise amplifier 2, local frequency source of secondary 8, intermediate-frequency filter 4 connect
It connects, intermediate-frequency filter 4 is connect with AGC amplifier or logafier 5, and 6 one end of analog-digital converter is put with AGC amplifier or logarithm
Big device 5 connects, and the other end is connect with Complex Programmable Logic Devices 7.
Uplink input signal completes down coversion, filtering, after amplification, completes the transformation of analog signal to digital signal, will in
Frequency digital signal transfers to Complex Programmable Logic Devices 7 to carry out Digital Signal Processing.
The digital frequency locked phaselocked loop of second step realizes carrier track
Using frequency and phase lock loop realize carrier track, frequency and phase lock loop by frequency locking ring numerically-controlled oscillator 7, multiplier 1,
Multiplier 2, integral clearing cell 3, integral clearing cell 4, frequency discriminator 5, frequency locking ring loop filter 6, phase-shift discriminator
8, the digital control vibrator 9 of phaselocked loop, cycle of phase-locked loop filter 10, frequency word adder 11, the digital control vibration of carrier track
It swings device 12 and sidetone demodulation module 13 forms.
Third step DDC realizes sidetone demodulation
The data and carrier track numerically-controlled oscillator output data of analog-digital converter acquisition carry out Digital Down Convert
(DDC) it handles, processing result is filtered extraction low frequency component by low-pass filter, the signal r after sidetone demodulationQ(n)
Mathematic(al) representation is as follows:
Wherein:
PrFor received signal power, n is data flow position number；
mR1For the main range tone modulation degree of uplink, wR1For the main ranging voice frequency of uplink,For the main range tone first phase of uplink；
mR2For uplink time range tone modulation degree, wR2For uplink time ranging voice frequency,For uplink time range tone first phase；
mTTo be remotely controlled tone system, dTIt (n) is remote-control data, wTTo be remotely controlled voice frequency,To be remotely controlled sound first phase；
J0For zero Bessel function, J1For first-order bessel function.
4th step FIR filter is completed range tone and is extracted
Main range tone and time ranging are respectively completed using the FIR bandpass filter of two different center frequencies, identical order
The filtering of sound.
Filtered main ranging sound signal r1(n) mathematic(al) representation are as follows:
Filtered secondary ranging sound signal r2(n) mathematic(al) representation are as follows:
5th step removes result using main carrier frequency locking ring integral and completes realtime power estimation
In-phase branch signal r after being removed according to main carrier integralImain(n) with quadrature branch signal rQmain(n) mathematics
Expression formula are as follows:
Main carrier received signal power Power_main is calculated, calculation formula is as follows:
6th step completes the processing of range tone power normalization
Main ranging sound signal r after calculating normalizationt1(n) and secondary ranging sound signal rt2(n), calculation formula is as follows:
Step S1 is specially that analog circuit is used to realize the low noise amplification for receiving signal, down coversion, filtering, AGC amplification
Or logarithmic amplification, and export after analog-digital converter to Complex programmable logical device.Analog circuit is converted to input signal multiple
The digital signal that miscellaneous programming device is capable of handling, meanwhile, eliminate most of dynamic of input signal amplitude.
Main carrier tracking is realized using digital frequency locked phaselocked loop in step S2, frequency locking ring reduces data by integrating to remove
Processing speed, phaselocked loop progress one improve main carrier tracking accuracy.
Main range tone filter described in step S4 and time sidetone filter are using the identical FIR filter of order, main ranging
Sound and time range tone are identical through the time delay of wave filter, will not cause the variation of main range tone and time range tone phase relation, have
Range ambiguity resolving is carried out conducive to ground control station.
Step S5 is integrated using frequency locking ring removes result progress realtime power estimation, and frequency locking ring integral is removed result and remained
Output signal power feature, data rate is low, is conducive to economize on resources.
The present invention realize it is following significant the utility model has the advantages that
It realizes simple, comprising: USB TT&C Transponder receiver subsystem, digital frequency locked phaselocked loop, Digital Down Convert list
Member, extraction unit, estimation unit and output unit complete carrier frequency tracking using digital frequency locked phaselocked loop, and utilize frequency locking
Ring integral, which clears data, completes carrier power estimation, completes the processing of sidetone power normalization, meanwhile, use identical order
FIR filter carries out digital filtering to main range tone and time range tone respectively, maximally reduced uplink remote control sidetone with
The influence of noise opposite side tone system, while ensure that the group delay consistency of main side sound and time sidetone.It solves USB observing and controlling to answer
Stability problem of the machine Downlink Modulation Index under high low signal is answered, while avoiding simulation sidetone flora of filters time delay is inconsistent leads
The ranging ambiguity solution problem of cause.
Technical solution and design according to the present invention can also have other any suitable changes.Skill common for this field
For art personnel, all these replacements, adjustment and improvement be should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of USB TT&C Transponder sidetone power number normalizes system characterized by comprising
USB TT&C Transponder receiver subsystem is put for realizing low noise amplification, down coversion, filtering, the AGC for receiving signal
Big or logarithmic amplification, and exported after analog-to-digital conversion；
Digital frequency locked phaselocked loop realizes main carrier tracking for receiving the output signal after analog-to-digital conversion；
Digital Down Convert unit, to the data and main carrier tracking data progress Digital Down Convert after analog-to-digital conversion
Reason, is exported；
Extraction unit is handled for the output to the Digital Down Convert unit, to extract main range tone and time range tone；
Estimation unit carries out realtime power to main range tone and time range tone for integrating removing result using main carrier frequency locking ring
Estimation；
Output unit, the power normalization for carrying out main range tone and time range tone are handled.
2. USB TT&C Transponder sidetone power number according to claim 1 normalizes system, which is characterized in that described
USB TT&C Transponder receiver subsystem, comprising: radio-frequency filter, low-noise amplifier, frequency mixer, local frequency source of secondary, intermediate frequency
Filter, AGC amplifier or logafier, analog-digital converter, Complex Programmable Logic Devices；Radio-frequency filter and low noise
Amplifier connection, frequency mixer are connect with low-noise amplifier, local frequency source of secondary, intermediate-frequency filter, and intermediate-frequency filter and AGC amplify
Device or logafier connection, analog-digital converter one end are connect with amplifier, and the other end is connect with Complex Programmable Logic Devices.
3. USB TT&C Transponder sidetone power number according to claim 2 normalizes system, which is characterized in that described
Digital frequency locked phaselocked loop is by frequency locking ring numerically-controlled oscillator interconnected, two multipliers, two integrals clearing cells, frequency
Rate discriminator, frequency locking ring loop filter, phase-shift discriminator, the digital control vibrator of phaselocked loop, cycle of phase-locked loop filter, frequency
Rate word adder, carrier track numerically-controlled oscillator and sidetone demodulation module composition.
4. USB TT&C Transponder sidetone power number according to claim 3 normalizes system, which is characterized in that described
Extraction unit carries out main range tone and time range tone using two different center frequencies, the FIR filter of identical order respectively
It extracts.
5. USB TT&C Transponder sidetone power number according to claim 1 normalizes system, which is characterized in that described
Digital Down Convert unit is also connected with low-pass filter.
6. USB TT&C Transponder sidetone power number method for normalizing according to claim 1 characterized by comprising
Low noise amplification, down coversion, filtering, AGC amplification or logarithmic amplification are carried out to signal is received, and laggard by analog-to-digital conversion
Row output；
The output signal after analog-to-digital conversion is received, realizes main carrier tracking；
To the data and main carrier tracking data progress Digital Down Convert processing after analog-to-digital conversion, exported；
The output data of Digital Down Convert processing is handled, to extract main range tone and time range tone；
It is integrated using main carrier frequency locking ring and removes result to main range tone and time range tone progress realtime power estimation；
The power normalization for carrying out main range tone and time range tone is handled.
7. USB TT&C Transponder sidetone power number method for normalizing according to claim 6, which is characterized in that described
Digital Down Convert treated signal rQ(n) algorithm is used:
Wherein:
PrFor received signal power, n is data flow position number；
mR1For the main range tone modulation degree of uplink, wR1For the main ranging voice frequency of uplink,For the main range tone first phase of uplink；
mR2For uplink time range tone modulation degree, wR2For uplink time ranging voice frequency,For uplink time range tone first phase；
mTTo be remotely controlled tone system, dTIt (n) is remote-control data, wTTo be remotely controlled voice frequency,To be remotely controlled sound first phase；
J0For zero Bessel function, J1For first-order bessel function.
8. USB TT&C Transponder sidetone power number method for normalizing according to claim 6, which is characterized in that described
Main ranging sound signal rt1(n) and secondary ranging sound signal rt2(n) power normalization, which calculates, uses algorithm:
Wherein, Power_main is power estimation value；
mR1For the main range tone modulation degree of uplink, mR2For uplink time range tone modulation degree；
r1It (n) is the main ranging sound signal extracted from input signal, r2(n) the secondary ranging sound signal extracted from input signal；
J0For zero Bessel function, J1For first-order bessel function.
9. USB TT&C Transponder sidetone power number method for normalizing according to claim 6, which is characterized in that use
Two different center frequencies, the FIR filter of identical order carry out the extraction of main range tone and time range tone respectively.
10. USB TT&C Transponder sidetone power number method for normalizing according to claim 6, which is characterized in that described
Power estimation is according to the in-phase branch signal r after main carrier integral removingImain(n) with quadrature branch signal rQmain(n) mathematics
Expression formula are as follows:
Main carrier received signal power Power_main is calculated, calculation formula is as follows:
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| CN111007551A (en) * | 2019-12-25 | 2020-04-14 | 南京天际易达通信技术有限公司 | Multi-tone ranging ambiguity-resolving method in USB side tone ranging system |
| CN111131113A (en) * | 2020-01-02 | 2020-05-08 | 上海航天电子有限公司 | Modulation degree control system for downstream ranging signal of PM system |
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| CN102025388A (en) * | 2010-11-12 | 2011-04-20 | 北京航空航天大学 | Emulational USB intermediate frequency responser used for satellite test and control |
| CN108199761A (en) * | 2017-12-13 | 2018-06-22 | 上海航天电子有限公司 | USB answering machine baseband digitized methods |
| CN109450519A (en) * | 2018-10-30 | 2019-03-08 | 航天东方红卫星有限公司 | A kind of spaceborne total digitalization USB answering machine |
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| EP1342316A1 (en) * | 2000-12-05 | 2003-09-10 | Robert Bosch Gmbh | Playback device for audio signals that are transmitted over potentially disturbed channels |
| CN102025388A (en) * | 2010-11-12 | 2011-04-20 | 北京航空航天大学 | Emulational USB intermediate frequency responser used for satellite test and control |
| CN108199761A (en) * | 2017-12-13 | 2018-06-22 | 上海航天电子有限公司 | USB answering machine baseband digitized methods |
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| CN111007551A (en) * | 2019-12-25 | 2020-04-14 | 南京天际易达通信技术有限公司 | Multi-tone ranging ambiguity-resolving method in USB side tone ranging system |
| CN111131113A (en) * | 2020-01-02 | 2020-05-08 | 上海航天电子有限公司 | Modulation degree control system for downstream ranging signal of PM system |
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| Publication number | Publication date |
|---|---|
| CN110138470B (en) | 2021-06-15 |
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