CN115051745A - Beidou short message inbound signal dynamic compensation method and device of high-speed spacecraft - Google Patents

Beidou short message inbound signal dynamic compensation method and device of high-speed spacecraft Download PDF

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CN115051745A
CN115051745A CN202210499192.XA CN202210499192A CN115051745A CN 115051745 A CN115051745 A CN 115051745A CN 202210499192 A CN202210499192 A CN 202210499192A CN 115051745 A CN115051745 A CN 115051745A
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beidou
speed
doppler
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signal
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CN115051745B (en
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潘虹臣
陈林
姜博文
刘禹圻
熊钍林
杨溢
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CETC 29 Research Institute
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/1851—Systems using a satellite or space-based relay
    • H04B7/18519—Operations control, administration or maintenance
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/52—Determining velocity
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention discloses a method and a device for dynamically compensating Beidou short message inbound signals of a high-speed spacecraft, wherein the method comprises the following steps: receiving a Beidou B2B signal, and acquiring channel observation quantity and navigation messages of a Beidou B2B signal tracking channel through capturing, tracking and demodulating; navigation positioning calculation is carried out, and the position and the speed of the high-speed spacecraft and the position and the speed of the Beidou MEO are obtained; calculating relative motion Doppler and clock error Doppler by using the position and speed information of the Beidou MEO and the position and speed information of the high-speed spacecraft; the inbound satellite number is selected to compensate for the doppler of the short message transmission signal. According to the invention, Doppler compensation is carried out on the transmitting signal of the global short message communication terminal, so that the high-speed spacecraft is not limited by the Doppler search range of the Beidou global short message communication load, and the transmitting signal can normally enter; in addition, in the process of transmitting signal compensation, the method does not depend on the input of external information of the global short message communication terminal, and has strong practicability.

Description

Beidou short message inbound signal dynamic compensation method and device of high-speed spacecraft
Technical Field
The invention relates to the technical field of spacecrafts, in particular to a Beidou short message inbound signal dynamic compensation method and device of a high-speed spacecraft.
Background
The Beidou third MEO satellite carries global short message communication loads and can provide two-way message communication service for users in the space above the global earth surface by 1000 km. The low orbit high speed spacecraft can be equipped with a global short message communication terminal, and carries out intra-and-abroad quasi real-time communication by using a global short message communication service. The Doppler capture capability of the short message communication load of the Beidou No. three MEO satellite is not more than +/-1 KHz due to the limitation of satellite processing resources, and the Doppler caused by the relative motion of the low-orbit aircraft and the Beidou No. three MEO satellite is usually within +/-50 KHz, so that the inbound signal capture capability of the Beidou No. three global short message communication load is greatly improved. In addition, if the global short message communication terminal does not contain a high-precision clock or does not have the same source to the high-precision time-frequency equipment on the satellite, the Doppler caused by the clock error of the global short message communication terminal can also cause that the inbound signals can not be normally received. Therefore, if the low-orbit high-speed aircraft needs to use the global short message communication service, the Doppler compensation must be carried out on the short message inbound signals in the global short message communication terminal, so that the Doppler of the signals entering the aperture of the Beidou MEO antenna is within +/-1 KHz.
Disclosure of Invention
In view of this, the invention provides a dynamic compensation method for Beidou short message inbound signals of a high-speed spacecraft, which enables the high-speed spacecraft not to be limited by the Doppler search range of the Beidou global short message communication load by performing Doppler compensation on the transmission signals of a global short message communication terminal, and enables the transmission signals to be inbound normally.
The invention discloses a Beidou short message inbound signal dynamic compensation method of a high-speed spacecraft, which comprises the following steps:
step 1, receiving a Beidou B2B signal, and acquiring channel observation quantity and navigation messages of a Beidou B2B signal tracking channel through capturing, tracking and demodulating;
step 2, navigation positioning calculation is carried out, and the position and the speed of the high-speed spacecraft and the position and the speed of the Beidou MEO are obtained;
step 3, calculating relative motion Doppler and clock error Doppler by using the position and speed information of the Beidou MEO and the position and speed information of the high-speed spacecraft;
and 4, selecting the inbound satellite number, and compensating the Doppler of the short message transmitting signal.
Furthermore, the high-speed spacecraft carries a global short message communication terminal, and global short message communication terminal software in the global short message communication terminal comprises FPGA software and CPU software; the FPGA software comprises a receiver baseband signal processing module and a transmitter baseband signal processing module, wherein the receiver baseband signal processing module is used for processing a baseband signal of a Beidou B2B signal, and the transmitter baseband signal processing module is used for processing a baseband signal of a short message signal; and the CPU software performs navigation calculation and service control.
Furthermore, the receiver baseband signal processing module is provided with at least eight tracking channels, and the transmitter baseband signal processing module is provided with a signal generating channel.
Further, the step 1 specifically includes:
the global short message communication terminal captures Beidou B2B signals in an antenna field of view, the tracking channel tracks and demodulates the captured Beidou B2B signals, and channel observed quantities of the Beidou B2B signals and the demodulated navigation messages are obtained.
Further, the channel observations and navigation messages are transmitted to the CPU software; the channel observations comprise: satellite PRN number, pseudorandom code phase, carrier-to-noise ratio, carrier doppler.
Further, the step 2 specifically includes:
step 21, when the number of the Beidou MEOs received in the tracking channel is more than or equal to 4, carrying out PVT (virtual reality) calculation by using the navigation message of the Beidou B2B signal by using CPU (Central processing Unit) software to obtain the position and speed information of each Beidou MEO in the tracking channel and the position and speed information of the high-speed spacecraft;
and step 22, unifying the position and speed information of the Beidou MEO and the position and speed information of the high-speed spacecraft into a Beidou coordinate system.
Further, the step 3 specifically includes:
step 31, selecting the Beidou MEO with the highest load ratio in the tracking channel by the CPU software, and calculating the position of the selected Beidou MEO in real time to be (x) BD ,y BD ,z BD ) At a speed of
Figure BDA0003634678490000034
Carrier Doppler is f d (ii) a The CPU software calculates the position of the high-speed spacecraft in real time as (x) LEO ,y LEO ,z LEO ) At a speed of
Figure BDA0003634678490000035
；
Step 32, projecting velocity v in the connecting line direction of the Beidou MEO and the high-speed spacecraft m Expressed as:
Figure BDA0003634678490000031
step 33, the frequency of the Beidou B2B signal is f B2b Relative motion Doppler f, light velocity c m Expressed as:
Figure BDA0003634678490000032
step 34, at the frequency point of the B2B signal, the clock difference Doppler is f c ＝f d -f m (ii) a When f is c When the number is positive, the signal generation clock of the Beidou MEO is faster than that of the high-speed spacecraft.
Further, when Doppler compensation is needed, a transmitter baseband signal processing module in FPGA software uses the latest clock difference Doppler calculation result provided by CPU software.
Further, the step 4 specifically includes:
step 41, when the global short message communication terminal needs to send a short message signal, the CPU software first selects the beidou MEO with the highest carrier-to-noise ratio in the tracking channel as the inbound satellite, and the real-time carrier doppler in the tracking channel corresponding to the inbound satellite is
Figure BDA0003634678490000033
Step 42, Doppler in the Beidou B2B signal consists of relative motion Doppler and clock error Doppler and needs to be compensated respectively; wherein, relative motion Doppler needs reverse compensation, and clock difference Doppler needs forward compensation; the frequency of the Beidou B2B signal is f B2b Frequency of short message signal f sm Code rate of short message signal is f PRN (ii) a Carrier Doppler f finally compensated at transmitter baseband signal processing module carr_com Comprises the following steps:
Figure BDA0003634678490000041
wherein f is c Doppler due to clock error;
and finally, the code Doppler compensated by the baseband signal processing module of the transmitter is as follows:
Figure BDA0003634678490000042
wherein f is PRN_com Is the compensated code doppler.
The invention also discloses a Beidou short message inbound signal dynamic compensation device of the high-speed spacecraft, which comprises the following components:
the receiving and processing module is used for receiving the Beidou B2B signals and acquiring channel observation quantity and navigation messages of a Beidou B2B signal tracking channel through capturing, tracking and demodulating;
the first resolving module is used for performing navigation positioning resolving to obtain the position and the speed of the high-speed spacecraft and the position and the speed of the Beidou MEO;
the second resolving module is used for resolving relative motion Doppler and clock error Doppler by using the position and speed information of the Beidou MEO and the position and speed information of the high-speed spacecraft;
and the compensation module is used for selecting the inbound satellite number and compensating the Doppler of the short message transmitting signal.
Due to the adoption of the technical scheme, the invention has the following advantages: (1) according to the invention, Doppler compensation is carried out on the transmitting signal of the global short message communication terminal, so that the high-speed spacecraft is not limited by the Doppler search range of the Beidou global short message communication load, and the transmitting signal can enter the station normally; (2) the invention does not depend on the external information input of the global short message communication terminal in the process of compensating the transmitted signal, and has strong practicability.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings.
Fig. 1 is a schematic flow chart of a method for dynamically compensating a beidou short message inbound signal of a high-speed spacecraft according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a software architecture applicable to a doppler compensation method according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, it being understood that the examples described are only some of the examples and are not intended to limit the invention to the embodiments described herein. All other embodiments available to those of ordinary skill in the art are intended to be within the scope of the embodiments of the present invention.
The objects of the present invention mainly include:
(1) through the receiving processing of the B2B signal, the channel Doppler after the joint action of the relative motion Doppler and the clock difference Doppler is obtained;
(2) the navigation positioning calculation is utilized to complete the relative movement Doppler calculation in real time, and then the clock error Doppler is calculated;
(3) when the low-orbit aircraft transmits a short message inbound signal, the relative motion Doppler and the clock error Doppler are respectively compensated.
The first embodiment is as follows:
referring to fig. 1, the present invention provides an embodiment of a method for dynamically compensating a beidou short message inbound signal of a high-speed spacecraft, which includes:
101: receiving a Beidou B2B signal, and acquiring channel observation quantity and navigation messages of a Beidou B2B signal tracking channel through capturing, tracking and demodulating;
102: navigation positioning calculation is carried out, and the position and the speed of the high-speed spacecraft and the position and the speed of the Beidou MEO are obtained;
103: calculating relative motion Doppler and clock error Doppler by using the position and speed information of the Beidou MEO and the position and speed information of the high-speed spacecraft;
104: the inbound satellite number is selected to compensate for the doppler of the short message transmission signal.
The high-speed spacecraft carries a global short message communication terminal, and global short message communication terminal software in the global short message communication terminal comprises FPGA software and CPU software; the FPGA software comprises a receiver baseband signal processing module and a transmitter baseband signal processing module, wherein the receiver baseband signal processing module is used for processing a baseband signal of a Beidou B2B signal, and the transmitter baseband signal processing module is used for processing a baseband signal of a short message signal; and the CPU software performs navigation resolving and service control.
The receiver baseband signal processing module is provided with at least eight tracking channels, and the transmitter baseband signal processing module is provided with a signal generating channel.
Step 101 specifically includes:
the global short message communication terminal captures Beidou B2B signals in an antenna field of view, the tracking channel tracks and demodulates the captured Beidou B2B signals, and channel observed quantity of the Beidou B2B signals and demodulated navigation messages are obtained.
The channel observed quantity and the navigation message are transmitted to CPU software; the channel observations include: satellite PRN number, pseudorandom code phase, carrier-to-noise ratio, carrier doppler.
Step 102 specifically includes:
step 2-1: when the number of the Beidou MEOs received in the tracking channel is more than or equal to 4, the CPU software utilizes the navigation message of the Beidou B2B signal to carry out PVT resolving, and the position and speed information of each Beidou MEO in the tracking channel and the position and speed information of the high-speed spacecraft are obtained;
step 2-2: and unifying the position and speed information of the Beidou MEO and the position and speed information of the high-speed spacecraft into a Beidou coordinate system.
Step 103 specifically comprises:
step 3-1: the CPU software selects the Beidou MEO with the highest load ratio in the tracking channel, and the position of the selected Beidou MEO is calculated in real time as (x) BD ,y BD ,z BD ) Velocity is (v) xBD ,v yBD ,v zBD ) Carrier Doppler is f d (ii) a The CPU software solves the position (x) of the high-speed spacecraft in real time LEO ,y LEO ,z LEO ) At a speed of
Figure BDA0003634678490000071
Wherein x is BD 、y BD 、z BD Respectively the position of the Beidou MEO on the x axis, the position of the Y axis and the position of the z axis;
Figure BDA0003634678490000072
the speed of the Beidou MEO on the x axis, the speed of the y axis and the speed of the z axis are respectively; x is the number of LEO 、y LEO 、z LEO The position of the high-speed spacecraft on the x axis, the position of the y axis and the position of the z axis are respectively;
Figure BDA0003634678490000073
the speed of the high-speed spacecraft on an x axis, the speed of a y axis and the speed of a z axis are respectively;
step 3-2: velocity projection v in connecting direction of Beidou MEO and high-speed spacecraft m Expressed as:
Figure BDA0003634678490000074
step 3-3: the frequency of the Beidou B2B signal is f B2b The speed of light is c, relative motion Doppler f m Expressed as:
Figure BDA0003634678490000075
step 3-4: at the frequency point of the B2B signal, the clock difference Doppler is f c ＝f d -f m (ii) a When f is c When the signal is positive, the signal generation clock of the Beidou MEO is faster than the clock of the high-speed spacecraft.
Relative motion Doppler f caused by relative motion of high-speed spacecraft and Beidou MEO m Is constantly changing; along with the change of temperature, voltage and the like, the frequency output by a crystal oscillator in the global short message communication terminal can slowly change, so that the clock error Doppler caused by clock error is slowly changed, and the relative movement Doppler f m Sum-clock-difference Doppler f c The use requirement can be met by updating with the frequency of seconds. When Doppler compensation is needed, a transmitter baseband signal processing module in FPGA software uses the latest clock difference Doppler f provided by CPU software c And calculating a result.
Step 104 specifically includes:
step 4-1: when a global short message communication terminal needs to send a short message signal, CPU software firstly selects the Beidou MEO with the highest carrier-to-noise ratio in a tracking channel as an inbound satellite, and real-time carrier Doppler in the tracking channel corresponding to the inbound satellite is
Figure BDA0003634678490000081
Step 4-2: the Doppler in the Beidou B2B signal consists of relative motion Doppler and clock difference Doppler, and needs to be carried outRespectively compensating; wherein, the relative motion Doppler needs reverse compensation, and the clock correction Doppler needs forward compensation; the frequency of the Beidou B2B signal is f B2b Frequency of short message signal f sm Code rate of short message signal is f PRN (ii) a Carrier Doppler f finally compensated at transmitter baseband signal processing module carr_com Comprises the following steps:
Figure BDA0003634678490000082
wherein f is c Doppler due to clock error;
and finally, the code Doppler compensated by the baseband signal processing module of the transmitter is as follows:
Figure BDA0003634678490000083
wherein f is PRN_com Is the compensated code doppler.
The compensation values of the carrier Doppler and the code Doppler are derived from carrier Doppler, positioning and speed measurement results, the measurement errors of the compensation values are equivalent to the errors of the carrier Doppler, positioning and speed measurement results, and the compensation errors are 10Hz in magnitude under the common condition and are far smaller than the carrier Doppler search range of the Beidou MEO +/-1 KHz.
The second embodiment:
the invention provides an embodiment of a Beidou short message inbound signal dynamic compensation device of a high-speed spacecraft, which comprises the following steps:
the receiving and processing module is used for receiving the Beidou B2B signals and acquiring channel observation quantity and navigation messages of a Beidou B2B signal tracking channel through capturing, tracking and demodulating;
the first resolving module is used for performing navigation positioning resolving to obtain the position and the speed of the high-speed spacecraft and the position and the speed of the Beidou MEO;
the second resolving module is used for resolving relative motion Doppler and clock error Doppler by using the position and speed information of the Beidou MEO and the position and speed information of the high-speed spacecraft;
and the compensation module is used for selecting the inbound satellite number and compensating the Doppler of the short message transmitting signal.
Example three:
referring to FIG. 2, the following example is used to further illustrate the present invention:
the method is realized on a certain short message terminal of a certain low-orbit aircraft, and the Doppler compensation is realized on the transmitted signal through the application of the method. The short message terminal transmits the extension telemetering information to the ground through the satellite measurement and control channel, and the implementation process of the invention can be observed.
The method comprises the steps that firstly, after the equipment is started to work, a navigation signal in an antenna field of view is captured and tracked, and after twenty seconds, channels 1-5 successfully track the satellites of PRN 32, PRN 35, PRN 36, PRN 37 and PRN 44, and the observed quantity and the demodulated text of the satellite signal channels are obtained.
And secondly, performing navigation positioning settlement by using the navigation message acquired in the first step to acquire the position and the speed of the low-orbit high-speed spacecraft and the position and the speed of the Beidou satellite.
And thirdly, comparing carrier-to-noise ratios of channels 1-5, wherein the carrier-to-noise ratio of channel 2 is the highest and is 49.1dBHz, and respectively calculating the relative motion Doppler and the clock difference Doppler on B2B according to the position velocity of the PRN 35 satellite corresponding to channel 2 and the position velocity of the low-orbit satellite according to the formulas (1) and (2).
And fourthly, selecting the PRN 35 satellite corresponding to the channel 2 with the highest carrier-to-noise ratio as an inbound satellite, calculating the carrier Doppler compensated by the baseband processing module of the transmitter to be-16.742 KHz according to the formula (3), and successfully receiving the confirmation information of the PRN 35 satellite, which indicates that the Doppler compensation is successfully carried out on the short message transmitting signal.
The above examples illustrate the application of the invention to high speed spacecraft, but the invention is equally applicable to low speed ground equipment. By applying the invention, after the transmitted signal compensates Doppler, the residual error is not more than +/-1 KHz, and the successful inbound of the short message signal can be ensured.
While the foregoing description shows and describes a preferred embodiment of the invention, it is to be understood, as noted above, that the invention is not limited to the form disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and may be modified within the scope of the inventive concept described herein by the above teachings or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A Beidou short message inbound signal dynamic compensation method of a high-speed spacecraft is characterized by comprising the following steps:
step 1: receiving a Beidou B2B signal, and acquiring channel observation quantity and navigation messages of a Beidou B2B signal tracking channel through capturing, tracking and demodulating;
and 2, step: navigation positioning calculation is carried out, and the position and the speed of the high-speed spacecraft and the position and the speed of the Beidou MEO are obtained;
and 3, step 3: calculating relative motion Doppler and clock error Doppler by using the position and speed information of the Beidou MEO and the position and speed information of the high-speed spacecraft;
and 4, step 4: the inbound satellite number is selected to compensate for the doppler of the short message transmission signal.
2. The method according to claim 1, wherein the high-speed spacecraft carries a global short message communication terminal, and global short message communication terminal software in the global short message communication terminal comprises FPGA software and CPU software; the FPGA software comprises a receiver baseband signal processing module and a transmitter baseband signal processing module, wherein the receiver baseband signal processing module is used for processing a baseband signal of a Beidou B2B signal, and the transmitter baseband signal processing module is used for processing a baseband signal of a short message signal; and the CPU software performs navigation calculation and service control.
3. The method of claim 2, wherein the receiver baseband signal processing module sets at least eight tracking channels and the transmitter baseband signal processing module sets one signal generation channel.
4. The method according to claim 3, wherein the step 1 specifically comprises:
the global short message communication terminal captures Beidou B2B signals in an antenna field of view, the tracking channel tracks and demodulates the captured Beidou B2B signals, and channel observed quantities of the Beidou B2B signals and the demodulated navigation messages are obtained.
5. The method of claim 4, wherein the channel observations and navigation messages are transmitted to the CPU software; the channel observations comprise: satellite PRN number, pseudorandom code phase, carrier-to-noise ratio, carrier doppler.
6. The method according to claim 3, wherein the step 2 specifically comprises:
step 2-1: when the number of the Beidou MEOs received in the tracking channel is more than or equal to 4, the CPU software utilizes the navigation message of the Beidou B2B signal to carry out PVT resolving to obtain the position and speed information of each Beidou MEO in the tracking channel and the position and speed information of the high-speed spacecraft;
step 2-2: and unifying the position and speed information of the Beidou MEO and the position and speed information of the high-speed spacecraft into a Beidou coordinate system.
7. The method according to claim 3, wherein step 3 specifically comprises:
step 3-1: the CPU software selects the Beidou MEO with the highest load ratio in the tracking channel, and the position of the selected Beidou MEO is calculated in real time as (x) BD ,y BD ,z BD ) At a speed of
Figure FDA0003634678480000021
Carrier Doppler is f d (ii) a CPU software implementationThe position of the high-speed spacecraft is calculated to be (x) by time LEO ,y LEO ,z LEO ) At a speed of
Figure FDA0003634678480000022
Step 3-2: velocity projection v in connecting direction of Beidou MEO and high-speed spacecraft m Expressed as:
Figure FDA0003634678480000023
step 3-3: the frequency of the Beidou B2B signal is f B2b The speed of light is c, relative motion Doppler f m Expressed as:
Figure FDA0003634678480000024
step 3-4: at the frequency point of the B2B signal, the clock difference Doppler is f c ＝f d -f m (ii) a When f is c When the signal is positive, the signal generation clock of the Beidou MEO is faster than the clock of the high-speed spacecraft.
8. The method of claim 7, wherein the transmitter baseband signal processing module in the FPGA software uses the latest clock difference doppler calculation provided by the CPU software when doppler compensation is needed.
9. The method according to claim 3, wherein the step 4 specifically comprises:
step 4-1: when a global short message communication terminal needs to send a short message signal, CPU software firstly selects the Beidou MEO with the highest carrier-to-noise ratio in a tracking channel as an inbound satellite, and real-time carrier Doppler in the tracking channel corresponding to the inbound satellite is
Figure FDA0003634678480000031
Step 4-2: the Doppler in the Beidou B2B signal consists of a relative motion Doppler part and a clock difference Doppler part, and compensation is needed to be carried out respectively; wherein, the relative motion Doppler needs reverse compensation, and the clock correction Doppler needs forward compensation; the frequency of the Beidou B2B signal is f B2b Frequency of short message signal f sm Code rate of short message signal is f PRN (ii) a Carrier Doppler f finally compensated at transmitter baseband signal processing module carr_com Comprises the following steps:
Figure FDA0003634678480000032
wherein f is c Doppler due to clock error;
and finally, the code Doppler compensated by the baseband signal processing module of the transmitter is as follows:
Figure FDA0003634678480000033
wherein f is PRN_com Is the compensated code doppler.
10. The utility model provides a big dipper short message inbound signal dynamic compensation arrangement of high speed spacecraft which characterized in that includes:
the receiving and processing module is used for receiving the Beidou B2B signals and acquiring channel observation quantity and navigation messages of a Beidou B2B signal tracking channel through capturing, tracking and demodulating;
the first resolving module is used for performing navigation positioning resolving to obtain the position and the speed of the high-speed spacecraft and the position and the speed of the Beidou MEO;
the second resolving module is used for resolving relative motion Doppler and clock error Doppler by using the position and speed information of the Beidou MEO and the position and speed information of the high-speed spacecraft;
and the compensation module is used for selecting the inbound satellite number and compensating the Doppler of the short message transmitting signal.
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