CN106658517A - Method for spectrum overlap sharing in satellite communication - Google Patents

Method for spectrum overlap sharing in satellite communication Download PDF

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Publication number
CN106658517A
CN106658517A CN201510730513.2A CN201510730513A CN106658517A CN 106658517 A CN106658517 A CN 106658517A CN 201510730513 A CN201510730513 A CN 201510730513A CN 106658517 A CN106658517 A CN 106658517A
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China
Prior art keywords
signal
satellite
terminal
parameter
downlink
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CN201510730513.2A
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Chinese (zh)
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黄理勇
李晓东
江涛
顾辉
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SHANGHAI AEROSPACE SATELLITE APPLIED CO Ltd
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SHANGHAI AEROSPACE SATELLITE APPLIED CO Ltd
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Priority to CN201510730513.2A priority Critical patent/CN106658517A/en
Publication of CN106658517A publication Critical patent/CN106658517A/en
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W16/00Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/02Resource partitioning among network components, e.g. reuse partitioning
    • H04W16/10Dynamic resource partitioning
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W16/00Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/14Spectrum sharing arrangements between different networks
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W84/00Network topologies
    • H04W84/02Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04Large scale networks; Deep hierarchical networks
    • H04W84/06Airborne or Satellite Networks

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

Abstract

The invention relates to a method for processing a signal by means of a satellite modem, and discloses a method for spectrum overlap sharing in satellite communication. According to the method of the invention, when satisfaction of a condition for using the method is determined in signal transmission by a satellite terminal, each terminal receives a combined downlink signal in transmitting an uplink signal. Because two terminals in mutual communication are grouped into one group and occupy one channel, the combined signal comprises a useful signal and a downlink signal which is obtained through forwarding a self uplink signal of the terminal by means of the satellite for the two terminals. According to the method of the invention, through estimating a downlink parameter and an adjusting parameter, the signal is analyzed from the downlink signal through filtering.

Description

A kind of method shared for the spectrum overlapping in satellite communication
Technical field
The present invention relates to the method for satellite modem process signal, more particularly to a kind of method shared for the spectrum overlapping in satellite communication.
Background technology
Satellite communication has a wide coverage, and communication distance is remote, the features such as construction speed is fast, it has also become a kind of important communication means of modern society.However, frequency spectrum and power resource are very limited on satellite platform, suitable spectrum utilization mode is selected to improve the utilization ratio of frequency spectrum and power.Therefore, satellite frequency spectrum Land use systems are always an important directions of satellite communication research.At this stage satellite frequency spectrum is utilized and is mainly limited to modulation system and channel multiplexing.
Here the modulation system and multi-channel Technology of spectrum utilization under prior art in satellite communication are simply introduced.
The development of the modulation system of satellite communication spectrum utilization of the prior art is experienced successively by the relatively low BPSK (Binary of the availability of frequency spectrum Phase Shift Keying, phase-shift keying), QPSK (Quadrature Phase Shift Keyin, QPSK), OQPSK (Offset-QPSK, offset quadraphase shift keying) arrive higher 8-QAM (the Quadrature Amplitude Modulation of exponent number, quadrature amplitude modulation), 16QAM etc., but as the rising problem that the channel carrier-to-noise ratio that the raising of order of modulation brings is required limits the lifting of the availability of frequency spectrum.
Multiplex mode mainly has TDMA (Time division multiple access, time division multiple acess) system, the FDMA (Frequency of frequency division multiple access of time division multiple acess Division multiple access, frequency division multiple access) system and CDMA CDMA (Code division multiple access, CDMA) system.System identical frequency band is divided into into different time-gap in TDMA systems, each terminal is communicated in different time-gap, it needs strict time synchronized and Frequency Synchronization, system Doppler shift is required very high.Each terminal is communicated using exclusive different frequency range in FDMA systems, and the availability of frequency spectrum is relatively low.Cdma system has secrecy and noiseproof feature, is primarily adapted for use in the internal security communication of the jamproof military communication of low capacity and national government department.
Although the modulation system and multi-channel Technology to spectrum utilization of the prior art is more stable, maturation, the rising of the availability of frequency spectrum is constrained, it is difficult to adapt to the needs of Modern Satellite communication.In prior art communication, third party can be easily to crack Content of Communication after communication interception signal, and level security is relatively low.
The content of the invention
It is an object of the invention to provide a kind of method shared for the spectrum overlapping in satellite communication.The spectrum overlapping technology of sharing adopted in the method can be shared with different modulating mode and multiplex mode, the up-downgoing frequency spectrum of system is carried out into overlap and is used, and double data communication bandwidth in the case where frequency band is not increased, and improves channel service efficiency and security.
To solve above-mentioned technical problem, embodiments of the present invention provide a kind of method shared for the spectrum overlapping in satellite communication, comprise the steps of:
In start every time, each module of initialization terminal mainly includes the critical piece such as baseband processing unit and modem to ICBM SHF satellite terminal;
Whether when terminal is detected to be needed to launch upward signal to satellite, it from ring and satellite is Transparent Transponder to detect that whether present satellites terminals is;Meet condition and then start spectrum overlapping and share to launch and receive;Otherwise start conventional RF module and upward signal is launched to satellite by specific frequency spectrum;
In spectrum overlapping shared procedure, after receiving signal, enabling signal evaluation module to assess the downlink for receiving in the signal of oneself parameter;
Then up and downlink filter effect is compensated in modulation with filtration module, impact of the upward signal to downstream signal of itself is removed from composite signal.
In the satellite system using spectrum overlapping technology of sharing, the terminal in system in being in communication with each other is grouped two-by-two, identical uplink and downlink link is used to the different terminals in same group.That is, the two terminals can simultaneously use identical frequency, time slot or spread spectrum code word.And utilize the internal loopback characteristic in satellite transmission(The signal that i.e. any one ICBM SHF satellite terminal sends can be included itself and receive in any one interior ICBM SHF satellite terminal), each terminal highly reliably can separate the signal of the group another terminal from the downstream signal of mixing.Because each terminal can know exactly which the upward signal that the terminal itself is launched in satellite system, and know exactly which the processing procedure that the signal is passed through in satellite repeater.Therefore, the downstream signal that the terminal completely can be to its upward signal Jing after satellite forwarding is estimated.
In the method, each terminal receives a compound down link signal.Due to be in communication with each other 2 terminals are divided into into one group, same channel is taken.Therefore for this 2 terminals, useful signal had both been included in the composite signal, also the downstream signal including terminal upward signal itself after satellite forwarding(The garbage signal namely introduced because shared using spectrum overlapping for the terminal).And this 2 signals are to overlap in frequency.In order to garbage signal is removed from composite signal, it is necessary to accurately estimate downlink parameter.Certainly, the downlink parameter of any one terminal is impossible to estimate very accurate.Thus, in the present invention, it is impossible to remove the impact of itself downstream signal from composite signal completely, but by channel parameter estimation, impact can be reduced.
Description of the drawings
Fig. 1 is the system block diagram of embodiment of the present invention;
Fig. 2 is the flow chart according to system initialization module in embodiment of the present invention;
Fig. 3 is the flow chart of the signal transmitting in embodiment of the present invention and receiver module;
Fig. 4 is the flow chart of the signal estimation module in embodiment of the present invention;
Fig. 5 is the flow chart of the parameter adjustment module in embodiment of the present invention;
Fig. 6 is the flow chart of the signal reconstruction module in embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, embodiments of the present invention are explained in detail below in conjunction with accompanying drawing.However, it will be understood by those skilled in the art that in embodiments of the present invention, in order that reader more fully understands the application and proposes many ins and outs.But, even if many variations and modification without these ins and outs and based on implementation below, it is also possible to realize each claim of the application technical scheme required for protection.
Embodiments of the present invention are related to a kind of method shared for the spectrum overlapping in satellite communication, and idiographic flow is as shown in figure 1, comprise the steps of:
Step 101, ICBM SHF satellite terminal is started shooting from normal startup mode.
Step 102, execution system initialization module when ICBM SHF satellite terminal is started shooting.It is main to include initialization baseband processing unit, modem, upconverter, power amplifier, and for low-noise amplifier, low-converter for using in demodulating process etc..
Step 103 is the modulation and demodulation module in the method.The module describes the idiographic flow that satellite communication intermediate frequency spectrum overlaps sharing method, comprises the following steps:
Step 104, signal transmitting and receiver module.When ICBM SHF satellite terminal is after step 102 completes initialization, judge whether to meet the shared condition of spectrum overlapping to start radio-frequency transmissions and receive in the module;
Step 105, in the method that spectrum overlapping is shared, the downstream signal to receiving carries out Signal estimation, and preparation eliminates repeating signal in subsequent module;
Step 106, after self Signal estimation, carries out parameter adjustment in the module, including the adjustment of time delay, frequency, phase place and gain etc.;
Step 107, self Signal estimation and the parameter adjustment of step 106 through step 105 carries out signal reconstruction in the module, i.e., the signal of the repetition that oneself sends in the downstream signal for receiving is eliminated.
Step 108, after ICBM SHF satellite terminal completes all of task, terminal closedown;Otherwise, terminal repeated work between step 104 to step 107 carries out the modulation and demodulation of signal, and sends and receives.
In order to introduce the present invention in more detail, following functional module is described one by one with reference to example, for simplicity's sake, other details unrelated to the invention are no longer illustrated and described in satellite communication.
In the present embodiment, complete first to initialize after ICBM SHF satellite terminal start just carry out follow-up signal transmitting and receive.Idiographic flow is as shown in Figure 2:
Step 201, ICBM SHF satellite terminal starts initialization;
Step 201, initializes baseband processing unit.Be required for after signal baseband processing unit to encode signal and decoded with receiving before transmission signal, so must assure that ICBM SHF satellite terminal successful initialization baseband processing unit.
Step 203, initializes modem.Modulator is responsible for modulating the signal for needing to send, and demodulator is responsible for parsing the signal for receiving.So modem must be initialized successfully, otherwise ICBM SHF satellite terminal cannot be used.
Step 204, initializes upconverter.Upconverter is responsible in the frequency spectrum frequency displacement of baseband signal to required higher carrier frequencies.
Step 205, initialization power amplifier.Wechat terminal needs to increase transmission power transmission signal, so that satellite can receive the signal.
Step 206, initializes low-noise amplifier.From satellite reception to signal due to the transmission of the normal long ranges of Jing, signal is all fainter, so needing to improve signal to noise ratio using low-noise amplifier.
Step 207, initializes low-converter.Baseband signal is obtained in order to reduce the carrier frequency of signal and directly remove carrier frequency, so must also initialize successful low-converter in ICBM SHF satellite terminal.
Step 208, completes the initialization flow process of terminal.
Above-mentioned flow process 201 to 208 completes the initialization flow process of ICBM SHF satellite terminal, and ICBM SHF satellite terminal can be with normal work.
ICBM SHF satellite terminal is completed after initialization, is possessed transmitting and is received the ability of signal, subsequently enters modulation /demodulation module 103.The module mainly includes signal transmitting and receiver module 104, signal estimation module 105, parameter adjustment module 106 and signal reconstruction module 107.
When ICBM SHF satellite terminal needs the signal that transmitting modulation is completed, as shown in figure 3, comprising the following steps that:
Step 301, starts radio system and prepares transmitting and receive signal.
Step 302, determines whether from loop systems.In the system using spectrum overlapping sharing method, satellite link needs to meet following two conditions and can just use the method:
A). the signal that any one terminal in satellite system sends can be included any one terminal of itself and receive;
B). satellite adopts Transparent Transponder.That is, satellite repeater only carries out bandpass filtering, frequency conversion and signal to upward signal amplifying, each earth station is subsequently forwarded to.
For fixed satellite earth station system that is most of existing and being about to build in the works, all meet above-mentioned two condition.
Characteristic when ICBM SHF satellite terminal can be designed according to its own system knows whether itself is from loop systems.
Step 303, if from loop systems, carrying out step 304;Otherwise execution step 311 launches flow process using conventional RF signal.
Step 304, judges whether satellite repeater is Transparent Transponder.Whether it is Transparent Transponder, is the characteristic of satellite repeater itself.ICBM SHF satellite terminal inquires about whether the transponder supports transparent forwarding characteristic by the query statement of transfer characteristic to satellite.Whether be Transparent Transponder after, in ICBM SHF satellite terminal arrange flag bit save, follow-up that the flag bit is directly read from terminal and the data need not be obtained by satellite communication if obtaining.
Step 305, if satellite repeater is Transparent Transponder, meets in this step using two conditions of spectrum overlapping sharing method, subsequent execution step 306, prepares to adopt spectrum overlapping sharing method;Otherwise execution step 311 launches flow process using conventional RF signal.
Step 306, after the condition of spectrum overlapping sharing method is met, ICBM SHF satellite terminal starts to search for and reside in unified frequency sending and receiving antenna.In invention, ICBM SHF satellite terminal transmitting must be dwelt on same frequency spectrum with the antenna for receiving signal.
Step 307, judges whether dual-mode antenna is resident successful in previous step.If it is successful, execution step 308, otherwise needs to retry, because only that residing in could use on same frequency spectrum the method.When search, resident failure, into step 309 retry mechanism is prepared.
Step 308, after the judgement of above-mentioned several steps, now possesses the condition using spectrum overlapping sharing method, by radio-frequency antenna transmission signal, while receiving signal by radio-frequency antenna.
Step 309, after judging search in step 307, residing in same frequency spectrum failure, needs to retry, but retries no more than certain threshold value.Judge whether number of retries reaches threshold value in this step.The threshold value sets in ICBM SHF satellite terminal.If number of retries exceedes threshold value, normal signal transmitting is performed by step 310;Otherwise return to step 306 re-searches for and resides in same frequency spectrum.
Step 310, when condition is unsatisfactory in above-mentioned judgement, it is not possible to the method shared using spectrum overlapping, is to ensure satellite communication capabilities, is needed using conventional RF method sending signal.
Step 311, terminates the transmitting of single signal and receives.It is a cyclic process that signal is launched with reception, and a single pass is only described in module 104, is the repetition of the multiple flow process in practice.
Normal signal launches flow process and signal transmitting and is received as known technology, repeats no more here.
Above-mentioned steps 301 to 311, when ICBM SHF satellite terminal needs sending signal, first judge currently whether meet the condition using spectrum overlapping sharing method, if it is satisfied, then subsequently using spectrum overlapping technology of sharing synchronized transmission and receiving signal;Otherwise using conventional radio frequency method sending signal.
In the ICBM SHF satellite terminal using spectrum overlapping sharing method, each ICBM SHF satellite terminal sends a upward signal, while receiving a downstream signal from another terminal.Therefore the downstream signal that each party receives is the superposition of intercommunication signal.Because each terminal can know exactly which the upward signal for itself being sent, and know exactly which the forwarding of the signal, processing procedure, so the terminal can be estimated oneself sending the downstream signal being forwarded back to completely, and offset and filter from the signal of superposition, so as to correctly recover the signal data that other side sends.In the satellite communication system using spectrum overlapping sharing method, each terminal receives a compound down link signal.Garbage signal of the useful signal and terminal upward signal itself that it sends including opposite end after satellite forwarding.And it is to overlap that the two signals (depend on multi-access mode) in frequency or time or code word.In order to useless spontaneous emissions are removed from composite signal, it is necessary to accurately estimate link parameter.These parameters mainly include amplitude, frequency drift, Doppler frequency shift, propagation delay, unknown carrier phase and timing of signal etc..
It is concrete as shown in Figure 4:
Step 401, terminal receives down link signal.When terminal receives downstream signal, if the method shared using spectrum overlapping, need to estimate signal parameter;If receiving signal, direct demodulation process signal using conventional method.
Step 402, judges whether be currently from loop systems.It is determined that crossing and flag bit being stored in ICBM SHF satellite terminal in step 302 in a upper module, so only needing to read the flag bit in this step.
Step 403, if from loop systems, then carrying out subsequent step 404;Otherwise execution step 412 performs conventional resolution flow process.
Step 404, judges whether satellite repeater is Transparent Transponder.As step 402, it is determined that whether cross is Transparent Transponder in the step 304 in a upper module, and flag bit is put and has saved.So only needing to read the flag bit in this step.
Step 405, if satellite is Transparent Transponder, execution step 406;Otherwise execution step 412 performs conventional resolution flow process.
Step 406, calculates the amplitude of signal.
Step 407, calculates the frequency drift of signal.
Step 408, calculates the Doppler frequency shift of signal.
Step 409, calculates the propagation delay of signal.
Step 410, calculates phase place and the timing of signal.
Parameter in satellite-signal includes the parameters such as signal amplitude, frequency drift, Doppler frequency shift, propagation delay, phase place and timing.These parameters are the major parameters of modulation and demodulation signal, so these parameters of the upward signal for oneself being sent included in downstream signal must be estimated accurately as far as possible.
Step 411, step 406 is completed self Signal parameter estimation is completed to after 410, that is,.
Step 412, if being unsatisfactory for condition in step 403 and 405, then cannot use spectrum overlapping sharing method, then into this step, conventionally demodulate the signal for receiving.
Step 401 describes ICBM SHF satellite terminal and receives after down link signal to the flow process of self Signal parameter estimation to 412.The flow process is mainly used to the parameter of the erasure signal for calibrating locally generated, is allowed to consistent with the signal parameter of downlink;After completing the flow process, you can into next module.
After self Signal estimation being completed in a upper module, it is necessary to carry out reverse signal suppression to the uplink signal in the signal that receives.
In the parameter adjustment module of module 106, the parameter obtained according to the assessment of self signal in a upper module adjusting the signal for receiving, to remove the upward signal that ICBM SHF satellite terminal itself sends from the signal for receiving.
Specially shown in Fig. 5:
Step 501, terminal receives down link signal.
Step 502, judges whether to complete self parameter Estimation.Self parameter evaluation is the necessary condition that reverse signal suppresses.
Step 503, if having completed self parameter Estimation, execution step 504;The otherwise return signal evaluation module of execution step 509.
Step 504, judges to have completed self Signal estimation in previous step.The signal time delay of the parameter adjustment downlink for being obtained according to signal evaluation module in this step.
Step 505, debugs the frequency of down link signal.
Step 506, adjusts the phase place of signal.
Step 507, adjusts the gain of down link signal.
Step 508, completes the parameter adjustment to down link signal.
Step 509, after finding not completing self Signal estimation in a upper module in step 503, it is impossible to carry out signal parameter adjustment in this module, so return signal estimation module in this step.
Above-mentioned steps are the parameter evaluations that obtained according to a upper module adjusting the parameter of downlink, and step 501 to step 509 completes the adjustment to down link signal parameter.
Above two modules have been respectively completed self Signal estimation and the adjustment to downlink parameter, next Downlink signals can be reconstructed so as to revert to the data that satellite is sended over.Concrete steps are as shown in Figure 6:
Step 601, terminal receives down link signal.
Step 602, judges whether complete parameter adjustment in previous module.The signal that could parse the satellite for receiving after parameter adjustment from down link signal must be completed.
Step 603, completes parameter adjustment, and execution step 604 carries out signal reconstruction;The otherwise return parameters adjusting module of execution step 607.
Step 604, filtering.Other outside significant wave ripple is filtered.
Step 605, after filtering after, demodulate downstream signal.
Step 606, completes downlink process of analysis, obtains the signal that real satellite is forwarded.
Step 607, in step 603 if it is determined that parameter adjustment is not completed, then cannot carry out follow-up signal reconstruction, it is necessary to which return parameters adjusting module carries out parameter adjustment.
Above-mentioned steps 601 to 607 just complete signal reconstruction flow process, and ICBM SHF satellite terminal has been resolved to the signal of real satellite transmission from the downlink for receiving.
Above-mentioned flow process, simply flow process of the ICBM SHF satellite terminal when once sending and receiving, is the repetition of the multiple flow process in practice.
Above the step of various methods are divided, and are intended merely to describe clear, a step can be merged into when realizing or some steps are split, and are decomposed into multiple steps, as long as comprising identical logical relation, all in the protection domain of this patent;To either adding inessential modification in algorithm in flow process or introducing inessential design, but the core design of its algorithm and flow process is not changed all in the protection domain of the patent.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention, and in actual applications, can in the form and details to it, various changes can be made, without departing from the spirit and scope of the present invention.

Claims (6)

1. a kind of method that spectrum overlapping in satellite communication is shared, it is characterised in that comprise the steps of:
In start every time, first completion system is initialized ICBM SHF satellite terminal;
Whether when terminal is detected needs to send upward signal, it from loop systems and satellite repeater is Transparent Transponder first to judge that whether satellite system is;When the condition is satisfied, uplink and downlink antenna is resided in same frequency;
Parameter in estimating the signal when satellite receives the signal of downlink while upward signal is sent;And the parameter of the parameter adjustment downlink according to estimation;
Complete after filtering, to demodulate the useful signal in downlink finally according to the parameter after adjustment.
2. the method that a kind of spectrum overlapping in satellite communication according to claim 1 is shared, it is characterised in that:
ICBM SHF satellite terminal judges whether satellite repeater is Transparent Transponder by sending the upward signal of particular command to satellite repeater, the return value is stored in ICBM SHF satellite terminal after return value is obtained local.
3. the method that a kind of spectrum overlapping in satellite communication according to claim 1 is shared, it is characterised in that:
When receiving down link signal, time delay, frequency, phase place, the signal gain of signal is adjusted according to the parameter estimated.
4. the method that a kind of spectrum overlapping in satellite communication according to claim 1 is shared, it is characterised in that:
ICBM SHF satellite terminal is first filtered when carrying out signal reconstruction to downlink parameter, then re-demodulation down link signal.
5. the method that a kind of spectrum overlapping in satellite communication according to claim 1 is shared, it is characterised in that:
When judging that search is unsuccessful with resident same frequency in transmitting with receiver module, needs judge whether to exceed number of retries, when more than number of retries, are sent using normal signal transmission flow;Otherwise retried.
6. the method that a kind of spectrum overlapping in satellite communication according to claim 5 is shared, it is characterised in that:
The threshold value of number of retries is 50 times.
CN201510730513.2A 2015-11-03 2015-11-03 Method for spectrum overlap sharing in satellite communication Pending CN106658517A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112073116A (en) * 2020-09-16 2020-12-11 电信科学技术第一研究所有限公司 Frame structure of satellite carrier superposition signal and demodulation method thereof
CN112819082A (en) * 2021-02-09 2021-05-18 南京邮电大学 Satellite spectrum sensing data reconstruction method based on deep learning
CN116155369A (en) * 2023-04-20 2023-05-23 成都爱瑞无线科技有限公司 Satellite communication method, satellite device, terminal and storage medium

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112073116A (en) * 2020-09-16 2020-12-11 电信科学技术第一研究所有限公司 Frame structure of satellite carrier superposition signal and demodulation method thereof
CN112073116B (en) * 2020-09-16 2022-04-29 电信科学技术第一研究所有限公司 Frame structure of satellite carrier superposition signal and demodulation method thereof
CN112819082A (en) * 2021-02-09 2021-05-18 南京邮电大学 Satellite spectrum sensing data reconstruction method based on deep learning
CN116155369A (en) * 2023-04-20 2023-05-23 成都爱瑞无线科技有限公司 Satellite communication method, satellite device, terminal and storage medium
CN116155369B (en) * 2023-04-20 2023-08-29 成都爱瑞无线科技有限公司 Satellite communication method, satellite device, terminal and storage medium

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