CN109633574A - A kind of wide-range high-accuracy Doppler measurement method for deep space exploration - Google Patents
A kind of wide-range high-accuracy Doppler measurement method for deep space exploration Download PDFInfo
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Abstract
The present invention relates to a kind of wide-range high-accuracy Doppler measurement methods for deep space exploration.The simulation PM_BPSK signal of transmitting terminal can form period duplicate dual signal block.Receiving end will receive signal and be converted to digital baseband signal, and the first step carries out FFT calculating to digital baseband signal, the Doppler frequency rough estimate evaluation of the signal is obtained according to FFT result.Second step after carrying out frequency rounding correction, compensation to original digital baseband signal, and obtains Residual carrier signal through narrow-band filtering according to resulting rough estimate evaluation；The estimation operation of conjugation multiple correlation essence based on dual signal block is carried out to the Residual carrier signal, obtains Doppler's essence estimated value.Third step is fitted rough estimate evaluation and smart estimated value, obtains Doppler's estimated value of wide-range high-accuracy.The present invention has taken into account measurement efficiency, measurement range and measurement accuracy relative to traditional Doppler estimation, and measurement range is big, and measurement accuracy is high, and software complexity is low, is with a wide range of applications.
Description
Technical field
The present invention relates to the communications fields between deep-space detection field device, particularly utilize subcarrier between a kind of device in communication
The method of modulation system realization wide-range high-accuracy Doppler measurement.
Background technique
Work as sound, when the vibration sources such as light and radio wave and observer's relative motion, vibration frequency that observer is received
The frequency issued with vibration source is different, this phenomenon is referred to as Doppler effect.When transmitter emits a fixed frequency
Impulse wave to sky scan when, such as encounter moving target, the frequency of echo and the frequency frequency of occurrences of transmitted wave are poor, referred to as how general
Strangle frequency.According to the size of Doppler frequency, target can be measured to the diametrically movement velocity of transmitter；According to transmitting pulse
With the received time difference, the distance of target can be measured, realizes the positioning to target.
Mars autonomous exploration task belongs to deep space exploration task, and the relayed communications between device and lander mainly uses
UHF waveband communication is realized.Enter martian atmosphere, decline and landing period in lander, using uhf band orbiter, orbital vehicle relaying side
Case, the carrier information that lander UHF relay communications system is forwarded around device relayed communications receiver while relayed communications
Real-time Doppler's precise measurement is carried out, real-time measurement is carried out to lander running track to realize, and complete to determine landing point
Position；It is more to continue through the progress of UHF waveband relayed communications channel in martian surface development tour detection process for Marsokhod after landing
The real-time positioning to Marsokhod is realized in general Le information measurement.Therefore, high-precision Doppler measurement technique is Mars relayed communications system
One of key technology in system.
Mars exploration relayed communications does not provide independent using the transmission signal waveform of PM_BPSK for the first time in China
Doppler measurement channel needs to realize the how general of 10mHz order of magnitude precision while the two-way communication between device and lander
Strangle measurement.To this transmission signal waveform is based on, how to design, is just can ensure that around device big oval around device relayed communications machine
Under track can in real time rate transmission again real-time implementation high-precision doppler measurement, to relay Communication System Design with it is more
The signal processing algorithm of general Le all brings challenge.
Currently, being applied to the Doppler measurement mode of spacecraft has very much, according to the structure of the uplink downlink of communication system
Type and earth station are substantially segmented into three categories to the tracing mode of spacecraft: one way, round trip and three journey modes.
Round trip doppler frequency measurement is a kind of active measurement technology, and survey station emits signal, detector to target detector
Equipped with answering machine, to emitting again after the signal frequency locking of receiving to survey station, survey station can calculate detection by Doppler count principle
Device Doppler frequency will directly affect count results, make to measure if being certain moment the shortcomings that the method once cycle-skipping phenomenon occurs
There is deviation.Three journey measurement patterns are similar with round trip, differ only in signal transmitting and receive by two different stations Lai complete
At although in this way can be to avoid cycle-skipping phenomenon, there are two the costs stood for needs.
Equipment on the greatly simplified survey station of one way Doppler measurement operating mode energy and star, saves resource, but one way is more
For general Le rate accuracy by the accuracy of spaceborne frequency marking and directly affecting for stability, detector need to configure the frequency marking conduct of high stable
Signal source or real-time estimation high-precision doppler, the past, one way tested the speed the less application of mode since technical conditions limit, with
The raising of spaceborne frequency marking quality and the development of LSI device start using one way measurement method, but existing one way is surveyed
Amount mode has loop tracks method, long-time integration method, the FFT method of overlength order, Shuangzi section to survey the modes such as phase method.Loop tracks and
Long-time integration method such as document 1 " extracts deep space device using software phlase locking loop technique ", and this method is existed using software phlase locking loop technique
The side of high-precision doppler data is obtained in the residual carrier signal of the detector observing and controlling beacon of very long baseline interferometry(VLBI record
Method, time of measuring are up to 5s to 10 seconds.For the heos satellite of high-speed motion, Doppler's moment is becoming for this
Change, measurement error actual in this way can be larger, influences final orbit measuring precision.The FFT method of overlength order is to take into account wide scope
With high-precision index, then 217 points or more of FFT operation is needed, stringent satellite application environment, which comes, to be required for power consumption, cost
It says, required hardware resource cost is too big；Shuangzi section surveys Xiang Faru patent " a kind of Shuangzi section phase difference frequency estimating methods and its dress
Set " (CN104076200A) due to the limitation of algorithm itself cannot take into account the double requirements of measurement range and measurement accuracy；
There are also patents: " high-precision measuring method (CN201711173235) of carrier doppler and its change rate ", it is how general using three-level
Strangle spectrum estimation, preceding 2048 point FFT of two-stage and the third level use 4096 point FFT, final measurement accuracy be 1.953Hz about
The precision of 10mHz is not achieved in 2Hz, and its required carrier-to-noise ratio is 40dB or more, is modulated for suppressed carriers such as BPSK, QPSK
For, carrier-to-noise ratio is closer to signal-to-noise ratio, therefore required signal-to-noise ratio is higher, while modulated signal is not accounted in scheme
Stationary problem sharply deteriorates if directly carrying out Integral Processing and will cause measurement, and therefore, this mode is difficult to meet deep space exploration
High-acruracy survey needs under low signal-to-noise ratio." underwater sound OFDM Doppler factor precise Estimation Method (CN103618686A) ", passes through
Special OFDM frame format is designed, and CW simple signal is added, while gradually being reduced using three-level Doppler frequency spectrum estimation range,
Precision steps up, and the first order uses CW, and auto-correlation and cross correlation algorithm is respectively adopted in rear two-stage, and by the way of search
Third level estimation is carried out, in addition, desired signal watt level is not provided in text, and implementation complexity is relatively high, therefore,
Equally it is difficult to ensure high-acruracy survey needs under low signal-to-noise ratio.
Summary of the invention
The purpose of the present invention is to provide a kind of quick Doppler measurements of the wide-range high-accuracy applied to deep space exploration
Implementation method, by the way that signal carries out rough estimate and double essences estimate that two steps are completed to receiving.Signal will be received first to switch to count
Word signal, and sampled.FFT calculating is carried out to sampled signal and is corrected, a wide range of Doppler frequency rough estimate evaluation is obtained；Again
Frequency compensation is carried out to signal is received to using Doppler frequency rough estimate evaluation, and through narrow-band filtering, obtains very little frequency residual error
Residual carrier signal；Then the estimation of the conjugation multiple correlation essence based on dual signal block is carried out to Residual carrier signal, obtained high-precision
Spend Doppler frequency essence estimated value；Processing finally is fitted to rough estimate evaluation and fine estimation, exports final Doppler
Estimated result.The Doppler shift of wide scope high-precision can be estimated by this co-design mode, and is realized multiple
Miscellaneous degree is low, and real-time is good.
To achieve the above objectives, the present invention takes a kind of wide-range high-accuracy Doppler measurement side for deep space exploration
Method, the PM_BPSK analog signal of transmitting terminal can form period duplicate dual signal block, and this method passes through fitting FFT rough estimate evaluation
The Doppler measurement method accurately estimated with dual signal block, obtains Doppler-frequency estimation value, comprising the steps of:
S1, the simulation PM_BPSK signal of receiving is handled, generates digital baseband signal, digital baseband signal is through mould
Number converter sampling, sample frequency fs, digital baseband signal is converted into frequency domain data by time domain data；The period is duplicate
In dual signal block, each block has N number of sampled point, and the delay between two blocks is D sampled point；
S2, the sampled signal to digital baseband signal obtain the preliminary rough estimate evaluation of Doppler frequency by FFT operation
grough_estim；
S3, by the preliminary rough estimate evaluation g of Doppler frequencyrough_estim, carry out frequency and be rounded correction, how general correction result be
Strangle frequency rough estimated value frough_estim；By frough_estimBy the compensation deals of rough estimate value and narrow-band filtering, PM_BPSK is obtained
The remaining filtering signal of signal；
S4, by the remaining filtering signal, carry out the conjugate complex related operation based on dual signal block, obtain complex correlation value R；
S5, phase discriminator carry out complex correlation value R angle operation is asked to obtain ∠ R；The angle and phase difference of ∠ R expression R
Value calculates Doppler frequency essence estimated value f by ∠ Rfine_estim；
S6, by the resulting Doppler frequency rough estimate evaluation f of step S2 and step S5rough_estimEstimate with Doppler frequency essence
Value ffine_estimIt is fitted, obtains final Doppler measurements festim。
The generation step of digital baseband signal includes: in the step S1
S11, pass through signal acquisition module, simulation PM_BPSK signal is converted into digital PM_BPSK signal；
S12, it is handled by Digital Down Convert, digital PM_BPSK signal and local carrier frequency is subjected to digital mixing, generate number
Word baseband signal.
The step S2 includes:
S21, continuous N is chosenFFTThe position number of the sampled point of a digital baseband signal, each sampled point is denoted as respectively
1,2 ... NFFT；The NFFTA sampled point is known as fft block；
S22, modulus processing is carried out to the frequency domain data of each sampled point of step S21；
S23, peak value searching operation is carried out according to the modulus result of step S22, the peak position of modulus value is corresponded into sampled point
Position number multiplied by the frequency resolution of the fft block, obtain the preliminary rough estimate evaluation g of Doppler frequencyrough_estim。
Frequency described in step S3 is rounded correction and specifically refers to: frough_estim=grough_estim-(grough_estimmodδ)；
Rough estimate value compensation deals described in step S3 specifically refer to: by Doppler frequency rough estimate evaluation frough_estimWith
Then local carrier summation process carries out Digital Down Convert.
Based on the conjugate complex related operation of dual signal block, specific steps described in step S4 are as follows:
S41, it two of remaining filtering signal is intercepted continuously repeats block, be denoted as the first block and second signal respectively
Block；
S42, the time domain data signal for enabling the remaining filtering signal of transmitting terminal are x (k), and wherein k is discrete digital signal
Time index, value 0,1,2,3 ...；Its complex frequency domain equivalent signal is thenWherein ftxTo send carrier frequency
Rate, TsFor sampling time interval；
S43, in receiving end, the complex baseband signal of remaining filtering signal is denoted as r (k),Wherein frxFor
Receive carrier frequency, ε=NfΔTs=N (ftx-frx)TsTo normalize carrier frequency offset；
S44, receiving end carry out the dual signal block conjugate operation of remaining filtering signal, obtain complex correlation value R:
Wherein r (k) is the complex baseband signal of the first block, r*(k+D) postpone the second signal block of D sampling point for r (k)
The conjugation complex signal of r (k+D).
Described in step S5 by phase difference value ∠ R calculate Doppler frequency essence estimated value, in particular to
Doppler frequency rough estimate evaluation described in step S1 fit specifically referring to Doppler frequency essence estimated value:
festim=frough_estim+ffine_estim。
The beneficial effects of the present invention are: in deep space exploration relay communications system, Doppler measurement method of the invention
Relative to the single Doppler estimation of tradition, measurement efficiency, measurement range and measurement accuracy have been taken into account；It is how general relative to combining
Estimation method is strangled, measurement range is big, and measurement accuracy is high, and software complexity is low.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in description will be made simply below
It introduces, it should be apparent that, the accompanying drawings in the following description is one embodiment of the present of invention, and those of ordinary skill in the art are come
It says, without creative efforts, is also possible to obtain other drawings based on these drawings:
Fig. 1 is a kind of process for wide-range high-accuracy Doppler measurement method for deep space exploration that the present invention is implemented
Figure.
Fig. 2 is to calculate the sample point configuration block diagram with the operation of dual signal conjugate complex for Doppler measurement FFT in the present invention.
Fig. 3 is the functional block diagram for calculating Doppler in the present invention using dual signal block.
Fig. 4 is Doppler measurements analogous diagram when changing in the present invention with Signal-to-Noise.
Specific embodiment
The technical features, objects and effects for a better understanding of the present invention with reference to the accompanying drawing carry out more the present invention
To describe in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this
Patent of invention.It should be noted that being all made of very simplified form in these attached drawings and using non-accurate ratio, only use
In convenience, clearly aid in illustrating the invention patent.
To achieve the above objectives, the present invention takes a kind of wide-range high-accuracy Doppler measurement side for deep space exploration
Method, the PM_BPSK analog signal of transmitting terminal can form period duplicate dual signal block, and this method passes through to the PM_ received
Bpsk signal carry out FFT rough estimate evaluation with based on the relevant accurate estimation operation of dual signal block conjugate complex, and to rough estimate evaluation and
Smart estimated value is fitted to obtain Doppler's estimated value, as shown in Figure 1, comprising the steps of:
S1, pass through signal acquisition module, received simulation PM_BPSK signal is converted into digital PM_BPSK signal；Pass through
Digital PM_BPSK signal and local carrier frequency are carried out digital mixing, generate digital baseband signal by Digital Down Convert processing.It will count
Word baseband signal is sampled through analog-digital converter, signal sampling frequencies fs, digital baseband signal is converted to frequency domain number by time domain data
According to；
As shown in Fig. 2, the period duplicate dual signal block, through over-sampling, each block has N number of sampled point, two letters
Delay between number block is D sampled point；
S2, the sampled signal to digital baseband signal obtain the preliminary rough estimate evaluation of Doppler frequency by FFT operation
grough_estim；
As shown in Fig. 2, step S2 is specifically included:
S21, continuous N is chosenFFTThe position number of the sampled point of a digital baseband signal, each sampled point is denoted as respectively
1,2 ... NFFT；The NFFTA sampled point is known as fft block；
S22, modulus processing is carried out to the frequency domain data of each sampled point of step S21；
S23, peak value searching operation is carried out according to the modulus result of step S22, the peak position of modulus value is corresponded into sampled point
Position number multiplied by the frequency resolution of the fft block, obtain the preliminary rough estimate evaluation g of Doppler frequencyrough_estim。
S3, by the preliminary rough estimate evaluation g of Doppler frequencyrough_estim, carry out frequency and be rounded correction, how general correction result be
Strangle frequency rough estimated value frough_estim, it is rounded bearing calibration are as follows:
frough_estim=grough_estim-(grough_estimmodδ)； (1)
Wherein
By Doppler frequency rough estimate evaluation frough_estimAfter being asked with local carrier, progress rough estimate value compensation deals, then into
Row Digital Down Convert obtains the PM_BPSK signal of the frequency residual error with very little.
By the PM_BPSK signal of small range frequency residual error through narrow-band filtering, the influence for filtering out BPSK obtains remaining filtering letter
Number.
S4, by the remaining filtering signal, carry out the conjugate complex related operation based on dual signal block, obtain complex correlation value R；
Computing Principle is as shown in Figure 3.
Specific steps are as follows:
S41, it two of remaining filtering signal is intercepted continuously repeats block, be denoted as the first block and second signal respectively
Block；
S42, the time domain data signal for enabling the remaining filtering signal of transmitting terminal are x (k), and wherein k is discrete digital signal
Time index, value 0,1,2,3 ...；Its complex frequency domain equivalent signal is thenWherein ftxTo send carrier frequency
Rate, TsFor sampling time interval；
S43, in receiving end, the complex baseband signal of remaining filtering signal is denoted as r (k),
Wherein frxTo receive carrier frequency, ε=NfΔTs=N (ftx-frx)TsTo normalize carrier frequency offset；
S44, receiving end carry out the dual signal block conjugate operation of remaining filtering signal, obtain complex correlation value R:
Wherein r (k) is the complex baseband signal of the first block, r*(k+D) postpone the second signal block of D sampling point for r (k)
The conjugation complex signal of r (k+D).
S5, phase discriminator carry out complex correlation value R angle operation is asked to obtain ∠ R；The angle and phase difference of ∠ R expression R
Value calculates Doppler frequency essence estimated value by ∠ R.The estimation of normalization Doppler frequency deviation ε is obtained according to formula (3) first
ValueAre as follows:
Doppler's essence estimated value is denoted as ffine_estim, then
Know that Doppler frequency factor range isActual, the range of Doppler's essence estimation isThe value of δ is also both in formula (1) | ffine_estim|, value principle such as formula (5) is described.
S6, by the resulting Doppler frequency rough estimate evaluation f of step S2 and step S5rough_estimEstimate with Doppler frequency essence
Value ffine_estimIt is fitted, obtains final Doppler measurements festim=frough_estim+ffine_estim。
Example explanation: assuming that in deep space relay communications system, the Doppler shift of transmitting terminal is 23.123456kHz, we
It needs to estimate practical Doppler shift the result estimated and original Doppler shift are closer according to reception signal,
Then illustrate that our measurement method is better.In this application embodiment, sample rate fsFor 102400Hz, use FFT points for 4096,
FFT minimum frequency resolution ratio is 25Hz；Dual signal block length N is 10240 points, sampling time 100ms, and delay D adopts for 1280
Sampling point passes through calculatingDual signal block cycle estimator range is 40Hz.Rough estimate after FFT operation
Value is 23.125kHz, is handled through frequency correction, 23125-23125%40=23125-5=23120, Doppler frequency rough estimate
Value is 23.12kHz.After frequency compensated and down coversion, residual frequency 3.456Hz.It is through dual signal block essence estimated value
3.4551HZ.Since dual signal block essence estimated value will receive the influence of noise in actual channel, with the song of signal-to-noise ratio variation
Line such as Fig. 4 institute, when signal-to-noise ratio is greater than 8dB, Doppler shift estimated accuracy is better than 10mHz, and Doppler estimates that signal is adopted twice
Time required for collecting are as follows:
4096/102.4kHz+1280/102.4kHz+10240/102.4kHz*2=252.5ms FPGA operation is using high
Times clock such as 80MHz clock operation, then calculating the time is Millisecond, and total time is less than 260ms.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (8)
1. a kind of wide-range high-accuracy Doppler measurement method for deep space exploration, the PM_BPSK analog signal energy of transmitting terminal
Period duplicate dual signal block is formed, this method is surveyed by the Doppler that fitting FFT rough estimate evaluation and dual signal block are accurately estimated
Amount method obtains Doppler-frequency estimation value, which is characterized in that includes step:
S1, received simulation PM_BPSK signal is handled, generates digital baseband signal, digital baseband signal turns through modulus
Parallel operation sampling, sample frequency fs, digital baseband signal is converted into frequency domain data by time domain data；After sampled, the period
In duplicate dual signal block, each block has N number of sampled point, and the delay between two blocks is D sampled point；
S2, the sampled signal to digital baseband signal obtain the preliminary rough estimate evaluation of Doppler frequency by FFT operation
grough_estim；
S3, by the preliminary rough estimate evaluation g of Doppler frequencyrough_estim, carry out frequency and be rounded correction, correction result is Doppler's frequency
Rate rough estimate evaluation frough_estim；By frough_estimBy the compensation deals of rough estimate value and narrow-band filtering, PM_BPSK signal is obtained
Remaining filtering signal；
S4, by the remaining filtering signal, carry out the conjugate complex related operation based on dual signal block, obtain complex correlation value R；
S5, phase discriminator carry out complex correlation value R angle operation is asked to obtain ∠ R；∠ R indicates the angle and phase difference value of R, by
∠ R calculates Doppler frequency essence estimated value ffine_estim；
S6, by the resulting Doppler frequency rough estimate evaluation f of step S2 and step S5rough_estimWith Doppler frequency essence estimated value
ffine_estimIt is fitted, obtains final Doppler measurements festim。
2. being used for the wide-range high-accuracy Doppler measurement method of deep space exploration as described in claim 1, which is characterized in that institute
The generation step for stating digital baseband signal in step S1 includes:
S11, pass through signal acquisition module, simulation PM_BPSK signal is converted into digital PM_BPSK signal；
S12, it is handled by Digital Down Convert, digital PM_BPSK signal and local carrier frequency is subjected to digital mixing, generate digital base
Band signal.
3. being used for the wide-range high-accuracy Doppler measurement method of deep space exploration as described in claim 1, which is characterized in that institute
Stating step S2 includes:
S21, continuous N is chosenFFTThe position number of the sampled point of a digital baseband signal, each sampled point is denoted as 1 respectively,
2 ... NFFT；The NFFTA sampled point is known as fft block；
S22, modulus processing is carried out to the frequency domain data of each sampled point of step S21；
S23, peak value searching operation is carried out according to the modulus result of step S22, the peak position of modulus value is corresponded to the position of sampled point
Serial number is set multiplied by the frequency resolution of the fft block, obtains the preliminary rough estimate evaluation g of Doppler frequencyrough_estim。
4. such as claim 1 or the wide-range high-accuracy Doppler measurement method for deep space exploration, which is characterized in that
Frequency described in step S3 is rounded correction and specifically refers to: frough_estim=grough_estim-(grough_estimmodδ)；Wherein
5. such as claim 1 or the wide-range high-accuracy Doppler measurement method for deep space exploration, which is characterized in that
Rough estimate value compensation deals described in step S3 specifically refer to: by Doppler frequency rough estimate evaluation frough_estimWith local carrier
Then summation process carries out Digital Down Convert.
6. being used for the wide-range high-accuracy Doppler measurement method of deep space exploration as described in claim 1, which is characterized in that step
Conjugate complex related operation based on dual signal block described in rapid S4, specific steps are as follows:
S41, it two of remaining filtering signal is intercepted continuously repeats block, be denoted as the first block and second signal block respectively；
S42, the time domain data signal for enabling the remaining filtering signal of transmitting terminal are x (k), and wherein k is the time of discrete digital signal
Index, value 0,1,2,3 ...；Its complex frequency domain equivalent signal is thenWherein ftxTo send carrier frequency, Ts
For sampling time interval；
S43, in receiving end, the complex baseband signal of remaining filtering signal is denoted as r (k),Wherein frxTo receive
Carrier frequency, ε=NfΔTs=N (ftx-frx)TsTo normalize carrier frequency offset；
S44, receiving end carry out the dual signal block conjugate operation of remaining filtering signal, obtain complex correlation value R:
Wherein r (k) is the complex baseband signal of the first block, r*(k+D) postpone the second signal block r (k+ of D sampling point for r (k)
D conjugation complex signal).
7. being used for the wide-range high-accuracy Doppler measurement method of deep space exploration as described in claim 1, which is characterized in that step
Described in rapid S5 by phase difference value ∠ R calculate Doppler frequency essence estimated value, in particular to
8. being used for the wide-range high-accuracy Doppler measurement method of deep space exploration as described in claim 1, which is characterized in that step
Doppler frequency rough estimate evaluation described in rapid S1 fit specifically referring to Doppler frequency essence estimated value: festim=
frough_estim+ffine_estim。
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| CN112152677A (en) * | 2019-06-28 | 2020-12-29 | 清华大学 | Space-based opportunistic signal Doppler frequency estimation method, device, equipment and medium |
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