CN115144877A - Satellite signal acquisition method and device, ground terminal and medium - Google Patents

Satellite signal acquisition method and device, ground terminal and medium Download PDF

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Publication number
CN115144877A
CN115144877A CN202210724178.5A CN202210724178A CN115144877A CN 115144877 A CN115144877 A CN 115144877A CN 202210724178 A CN202210724178 A CN 202210724178A CN 115144877 A CN115144877 A CN 115144877A
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satellite
time
doppler frequency
frequency offset
current
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CN115144877B (en
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陈井玉
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Shanghai Dehuan Communication Technology Co ltd
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Shanghai Dehuan Communication Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/254—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to Doppler shift of satellite signals
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
    • 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

Abstract

The embodiment of the invention discloses a satellite signal acquisition method, a satellite signal acquisition device, a ground terminal and a medium. The method comprises the following steps: for each satellite signal acquisition, acquiring a current satellite signal based on the current satellite entry time in the original mapping relation table stored locally and the Doppler frequency offset corresponding to the current satellite entry time; determining at least one second satellite entry time and corresponding Doppler frequency offset in a second time period according to the current geographical position information of the ground terminal and the current satellite ephemeris parameters; and updating the first satellite entry time and the corresponding Doppler frequency offset in the original mapping relation table based on at least one second satellite entry time and the corresponding Doppler frequency offset. The satellite signals are obtained through the satellite entry time and the corresponding Doppler frequency offset in the original mapping relation table, so that high time cost caused by obtaining the satellite signals through calculating the Doppler frequency offset every time can be avoided, and the satellite signal obtaining efficiency is improved.

Description

Satellite signal acquisition method and device, ground terminal and medium
Technical Field
The embodiment of the invention relates to the technical field of satellite communication, in particular to a satellite signal acquisition method, a satellite signal acquisition device, a ground terminal and a medium.
Background
With the vigorous development of the satellite internet of things, the application of the low-orbit satellite communication system also enters the rapid development period. The low earth orbit satellite communication system comprises a satellite section, a ground gateway station and a ground terminal. The ground terminal needs to correct the doppler frequency offset of the satellite signal to acquire the satellite signal, so as to implement satellite communication.
Currently, each time a satellite signal is acquired, a ground terminal usually calculates and corrects a doppler frequency offset of the satellite signal by using a conventional frequency offset correction algorithm (such as a frequency offset search algorithm, a frequency offset estimation algorithm, etc.) to acquire a corresponding satellite signal. However, the traditional frequency offset correction algorithm not only occupies a large amount of computing resources of the ground terminal, but also affects the power consumption and performance of the ground terminal; because the conventional frequency offset correction algorithm is used for calculating the Doppler frequency offset of the satellite signal, the time cost of calculation processing is increased, and the efficiency of satellite signal acquisition is affected.
Disclosure of Invention
The embodiment of the invention provides a satellite signal acquisition method, a satellite signal acquisition device, a ground terminal and a medium, which are used for improving the acquisition efficiency of satellite signals.
According to an aspect of an embodiment of the present invention, there is provided a satellite signal acquisition method, including:
for each satellite signal acquisition, acquiring a current satellite signal based on a current satellite entry time in an original mapping relation table stored locally and a Doppler frequency offset corresponding to the current satellite entry time, wherein the current satellite signal comprises a current satellite ephemeris parameter, the original mapping relation table comprises at least one first satellite entry time and a corresponding Doppler frequency offset in a first time period, and the first time period is a time period with a set length starting from the previous satellite entry time;
determining at least one second satellite entry time and corresponding Doppler frequency deviation in a second time period according to the current geographical position information of the ground terminal and the current satellite ephemeris parameters, wherein the second time period is a time period with a set length beginning from the current satellite entry time;
and updating the first satellite entry time and the corresponding Doppler frequency offset in the original mapping relation table based on the at least one second satellite entry time and the corresponding Doppler frequency offset to obtain an updated original mapping relation table for acquiring the next satellite signal.
According to another aspect of the embodiments of the present invention, there is provided a satellite signal acquiring apparatus, including:
an obtaining module, configured to obtain a current satellite signal based on a current satellite entry time and a doppler frequency offset corresponding to the current satellite entry time in an original mapping relationship table stored locally, where the current satellite signal includes a current satellite ephemeris parameter, the original mapping relationship table includes at least one first satellite entry time and a corresponding doppler frequency offset in a first time period, and the first time period is a time period with a set length starting from the previous satellite entry time;
a determining module, configured to determine, according to the current geographic position information of the ground terminal and the current satellite ephemeris parameter, at least one second satellite entry time and a corresponding doppler frequency offset within a second time period, where the second time period is a time period with a set length beginning with the current satellite entry time;
an updating module, configured to update the first satellite entry time and the corresponding doppler frequency offset in the original mapping relationship table based on the at least one second satellite entry time and the corresponding doppler frequency offset, so as to obtain an updated original mapping relationship table for obtaining a next satellite signal
According to another aspect of embodiments of the present invention, there is provided a ground terminal including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the satellite signal acquisition method according to any of the embodiments of the invention.
According to another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the satellite signal acquisition method according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, firstly, for each time of obtaining a satellite signal, the current satellite signal is obtained based on the current satellite entry time and the Doppler frequency offset corresponding to the current satellite entry time in an original mapping relation table stored locally, the current satellite signal comprises a current satellite ephemeris parameter, the original mapping relation table comprises at least one first satellite entry time and the corresponding Doppler frequency offset in a first time period, and the first time period is a time period with a set length beginning from the previous satellite entry time; then determining at least one second satellite entry time and corresponding Doppler frequency deviation in a second time period according to the current geographic position information of the ground terminal and the current satellite ephemeris parameters, wherein the second time period is a time period with a set length beginning from the current satellite entry time; and finally, updating the first satellite entry time and the corresponding Doppler frequency shift in the original mapping relation table based on at least one second satellite entry time and the corresponding Doppler frequency shift to obtain an updated original mapping relation table for obtaining the next satellite signal. According to the method, the corresponding satellite signals are obtained based on the satellite entry time and the corresponding Doppler frequency offset in the original mapping relation table, so that high time cost and power consumption caused by the fact that the satellite signals are obtained by calculating the Doppler frequency offset every time can be avoided, and the satellite signal obtaining efficiency is improved. And the original mapping relation table is continuously updated to be used for acquiring the next satellite signal, so that the accuracy of Doppler frequency shift is improved, and the acquisition accuracy of the satellite signal is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
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 will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for acquiring satellite signals according to an embodiment of the present invention;
fig. 2 is a flowchart of a satellite signal acquiring method according to a second embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an implementation of a satellite signal acquisition method according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a satellite signal acquiring apparatus according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a ground terminal according to a fourth embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
With the vigorous development of the satellite internet of things, the application of the low-orbit satellite communication system also enters the rapid development period. A low earth satellite communication system may include a satellite segment, a ground gateway station, and a ground communication terminal (i.e., a ground terminal). Since the ground terminal deployment based on the satellite internet of things communication system is large-scale deployment, strict requirements on the cost, power consumption and performance of the terminal are provided. Due to its Low Orbit, low Earth Orbit (LEO) is mostly distributed on an Orbit with a height of 300km (Low Earth Orbit) -20000km (Middle Earth Orbit (MEO)), which causes the following problems:
(1) The lower the orbital altitude of the satellite, the faster the speed of the satellite, typically 7.9km/s. The shorter the Time that the ground terminal can communicate with the satellite, the 600km high orbit, the less than 10 minutes of communication Time available for the ground terminal, which requires the ground terminal to quickly acquire the satellite signal, and most low orbit satellite communication systems are Time Division Multiple Access (TDMA) based communication systems, the very short Time slots of which are usually 5ms to 100ms, which makes it very important for the ground terminal to acquire the satellite signal in a very short Time. To solve this problem, it is conventional to increase the clock frequency of the processor or algorithm and reduce the signal processing time by a high-speed method. However, the problem with high clock frequency is high power consumption, high performance system chip cost, and the stand-by time of the ground terminal is also very unfavorable.
(2) The faster the satellite speed, the higher the radio signal frequency, the greater the doppler frequency shift received by the ground terminal, and the greater the rate of change of the doppler frequency shift when the satellite enters the environment. For a demodulator of a receiver of a ground terminal in a communication system, a bandwidth for acquiring a satellite signal is usually limited, and is relatively narrow compared with a doppler frequency shift caused by a low-earth satellite, so that the satellite signal is often not acquired, or an acquisition time is very long due to an algorithm such as a frequency offset search algorithm. Meanwhile, for the uncertainty of the frequency offset of the satellite Signal, the correlation frequency offset correction algorithm adopted by the ground terminal is an algorithm which occupies system computing resources very much based on a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), a Fast Fourier Transform (FFT), or the like, and thus the cost of the ground terminal is significantly increased, which is not favorable for large-scale low-cost ground terminal deployment and application.
For a better understanding of embodiments of the present invention, the following description is made with respect to terms.
A satellite section: a space segment of a satellite communication system is formed by a constellation of one or more satellites.
Satellite communication load: a payload, which may also be referred to as a satellite, refers to an instrument or device having satellite communication capabilities; such as communication repeaters and communication antennas used on communication satellites. The satellite communication load is loaded on the satellite.
A satellite platform: a satellite may generally be made up of two parts, namely a satellite communications payload and a satellite platform. A satellite platform is an assembly of satellite service (provisioning) systems that can support one or several payloads. That is, the satellite platform is all the assurance systems that serve the payload to ensure it is working properly.
Ground gateway station: also referred to as ground stations or ground master stations. The ground station is a component of a satellite communication system, namely ground equipment which is arranged on the earth and used for space communication.
A ground communication terminal: it can also be called a ground terminal, that is, a satellite communication terminal used by a remote user. In response to a ground master station, a ground communication terminal may also be generally referred to as a small station.
Example one
Fig. 1 is a flowchart of a satellite signal acquiring method according to an embodiment of the present invention, where the embodiment is applicable to a case of acquiring a satellite signal, and the method may be executed by a satellite signal acquiring device, where the satellite signal acquiring device may be implemented in a form of hardware and/or software, and the satellite signal acquiring device may be configured in a ground terminal. As shown in fig. 1, the method includes:
s110, aiming at each time of obtaining the satellite signal, obtaining the current satellite signal based on the current satellite entry time in an original mapping relation table stored locally and the Doppler frequency deviation corresponding to the current satellite entry time, wherein the current satellite signal comprises current satellite ephemeris parameters, the original mapping relation table comprises at least one first satellite entry time and the corresponding Doppler frequency deviation in a first time period, and the first time period is a time period with a set length from the previous satellite entry time.
In this embodiment, the satellite signal can be understood as a wireless signal broadcast by a satellite. Local storage is understood to be storage space local to the ground terminal.
The time of arrival of a satellite can be understood as the time corresponding to the satellite passing through the boundary of the range covered by the satellite signal. Doppler frequency shift, also known as doppler shift, may refer to a frequency shift caused by doppler effect of two objects moving relative to each other; in satellite communications, there is a movement of phase position between the satellite and the ground terminal, thereby generating a frequency offset, i.e., a doppler frequency offset. A satellite may enter multiple times over a period of time (e.g., a day or a week), so there may be multiple times of satellite entry; one satellite inbound time may correspond to one doppler frequency offset.
The original mapping table may be understood as a table containing mapping relationships between at least one first satellite inbound time and corresponding doppler frequency offset within a certain time period; that is, the original mapping relation table includes at least one first satellite inbound time and the corresponding doppler frequency offset in the first time period.
The first satellite inbound time may be understood as the satellite inbound time determined during the first time period. The first time period may be understood as a time period of a set length starting from the last satellite entry time. The setting of the set length is not particularly limited, and can be flexibly set according to actual requirements, for example, the set length can be one day, two days, or one week. For example, if the last satellite entry time is 2022 years, 6 months, 8 days, and 10, and the set length is one week, the first time period is a time period from 2022 years, 6 months, 8 days, and 10 to 2022 years, 6 months, 15 days, and 10.
The current satellite entry time can be understood as the current satellite entry time. The last satellite entry time may be understood as the time relative to the last satellite entry time at the current time. For example, the last satellite entry time may be 10 at 6/8/2022 years, and the second satellite entry time may be 7 at 6/9/2022 years. The current satellite signal can be understood as the satellite signal currently broadcast by the satellite entering the satellite.
In this embodiment, for each time of obtaining a satellite signal, based on the current satellite entry time in the original mapping relation table stored locally, the ground terminal may trigger itself to enter a state to be received of the satellite signal within a certain time (e.g., 5 seconds or 10 seconds) before the current satellite entry time; on the basis, at the time corresponding to the current satellite entry time, the current satellite signal is acquired based on the Doppler frequency offset corresponding to the current satellite entry time in the original mapping relation table. How the ground terminal acquires the current satellite signal based on the doppler frequency offset corresponding to the current satellite entry time is not particularly limited; for example, the ground terminal may set a doppler frequency offset corresponding to the current satellite entry time, and acquire the current satellite signal through an internal original corresponding satellite signal acquisition mechanism.
Each satellite signal may include corresponding satellite ephemeris parameters. The satellite ephemeris parameters may also be referred to as satellite ephemeris or satellite orbit extrapolation ephemeris parameters, which may be understood as parameters related to satellite motion orbit information; that is, the satellite ephemeris parameters can describe the operation state of the satellite such as position, velocity, etc. at any time. The satellite ephemeris parameters may include, but are not limited to: 6 parameters of satellite orbit or two-line orbit parameters of satellite. The current satellite ephemeris parameters may be included in the current satellite signal.
Optionally, the satellite ephemeris parameters are obtained from the satellite communication payload and are broadcast in the satellite signal.
In this embodiment, the satellite communication load obtains satellite ephemeris parameters generated by the satellite platform, and when the satellite passes through a service area, the satellite communication load broadcasts a satellite signal including the obtained satellite ephemeris parameters. Wherein, the service area can be understood as the range covered by the satellite signal of the satellite, and at least one ground terminal is contained in the service area; for example, a service area may be a coverage area of several hundred kilometers or several thousand kilometers in diameter, and service areas may be different for different satellites. Broadcast is understood to be sent by broadcast, such as communication using radio wave broadcasting.
In an embodiment, if the ground terminal acquires the satellite signal for the first time, at this time, a corresponding original mapping relationship table does not exist in the local storage of the ground terminal, and the ground terminal cannot directly acquire the satellite entry time and the corresponding doppler frequency offset from the original mapping relationship table, the satellite entry time and the corresponding doppler frequency offset may be determined by a conventional frequency offset correction algorithm (i.e., an algorithm for calculating the satellite entry time and the doppler frequency offset, such as a frequency offset search algorithm, a random frequency offset estimation algorithm, or the like), so as to acquire the corresponding satellite signal based on the determined satellite entry time and the corresponding doppler frequency offset.
It can be understood that, if the original mapping table is expired, for example, the time period of the original mapping table is from 10/8/2022/6/15/2022, and the current time is # 16/6/2022, the original mapping table is expired and failed, that is, the satellite inbound time and the doppler frequency offset in the original mapping table are not suitable for acquiring the current satellite signal. Then the time of the satellite entry and the corresponding doppler frequency offset may also be determined by a conventional frequency offset correction algorithm, so as to obtain the corresponding satellite signal based on the determined time of the satellite entry and the corresponding doppler frequency offset.
And S120, determining at least one second satellite entry time and corresponding Doppler frequency deviation in a second time period according to the current geographic position information of the ground terminal and the current satellite ephemeris parameters, wherein the second time period is a time period with a set length starting from the current satellite entry time.
In this embodiment, the geographic location information may be understood as information representing a current geographic location of the ground terminal, for example, geographic location information determined by latitude and longitude coordinates. The ground terminal can obtain the current geographic position information of the ground terminal. How to obtain the current geographical location information is not particularly limited herein. For example, the ground terminal may implement Positioning acquisition of the current geographical location information through a Positioning module (e.g., a module based on a Global Positioning System (GPS)) provided by the ground terminal.
Before the technical solutions disclosed in the embodiments of the present invention are used, the user should be informed of the type, the usage range, the usage scenario, and the like of the personal information related to the present invention in a proper manner according to the relevant laws and regulations, and the data cannot be used before the user is authorized. Namely, the data acquisition, storage, use, processing and the like in the technical scheme of the invention all conform to the relevant regulations of national laws and regulations. The acquisition, storage, use, processing and the like of the geographic position information of the ground terminal in the invention all conform to relevant regulations of national laws and regulations.
The second satellite inbound time may be understood as the satellite inbound time determined during the second time period. The second time period can be understood as a time period of a set length starting from the time of the next satellite entry. For example, if the set length is one week when the secondary satellite entry time is 2022 years 6, 9, and 7, the second time period is a time period from 6, 9, and 7 of 2022 years to 6, 16, and 7 of 2022 years.
Specifically, after the current satellite signal and the current satellite ephemeris parameter included therein are acquired, at least one second satellite inbound time and a doppler frequency offset corresponding to each second satellite inbound time in a second time period may be determined according to the current geographic position information of the ground terminal and the acquired current satellite ephemeris parameter; one of the second satellite inbound times may correspond to one of the doppler frequency shifts.
How to determine the at least one second satellite inbound time and the corresponding doppler frequency offset within the second time period according to the current geographic position information of the ground terminal and the current satellite ephemeris parameters is not particularly limited. For example, according to the current geographic position information of the ground terminal and the orbital operation related parameters such as the time, the position, the velocity, and the like of the satellite contained in the ephemeris parameters of the current satellite, the relative geometric parameters between the ground terminal and the satellite (such as the time of entry of at least one second satellite, and the azimuth angle, the distance, the altitude, the velocity, and the like of the corresponding satellite relative to the ground terminal at each time of entry of the second satellite) may be determined through corresponding geometric calculations; on the basis, at each second satellite inbound time, the corresponding doppler frequency offset can be determined according to the relative geometric parameters between each ground terminal and the satellite, and how to determine the doppler frequency offset is not particularly limited herein.
And S130, updating the first satellite entry time and the corresponding Doppler frequency offset in the original mapping relation table based on the at least one second satellite entry time and the corresponding Doppler frequency offset to obtain an updated original mapping relation table for obtaining the next satellite signal.
In this embodiment, after determining at least one second satellite entry time and the doppler frequency offset corresponding to each second satellite entry time in the second time period, the first satellite entry time and the doppler frequency offset corresponding to each first satellite entry time in the original mapping relationship table may be updated based on the determined at least one second satellite entry time and the doppler frequency offset corresponding to each second satellite entry time, so as to obtain an updated original mapping relationship table; the updated original mapping relation table is saved in the local storage for the next acquisition of the satellite signal, that is, when the satellite signal is acquired next time, the corresponding satellite signal can be acquired based on the next satellite entry time and the corresponding doppler frequency offset in the updated original mapping relation table in the local storage.
The updating may be regarded as replacing the determined at least one second satellite inbound time and the doppler frequency offset corresponding to each second satellite inbound time with the doppler frequency offset corresponding to the first satellite inbound time and each first satellite inbound time in the original mapping relationship table to form a new mapping relationship table, that is, the updated original mapping relationship table.
In one embodiment, the current original mapping table may be updated every set time (e.g., 3 days or 5 days). If the original mapping relation table is updated, the satellite signals are obtained by using the updated original mapping relation table within 3 days; when satellite signals are acquired for the first time after 3 days, determining satellite entry time and corresponding Doppler frequency offset within a certain time period based on current geographical position information of the ground terminal and current satellite ephemeris parameters, and updating a current original mapping relation table to obtain an updated original mapping relation table; and so on.
The embodiment of the invention provides a satellite signal acquisition method, which comprises the steps of firstly, aiming at each time of acquiring a satellite signal, acquiring the current satellite signal based on the current satellite entry time and the Doppler frequency offset corresponding to the current satellite entry time in an original mapping relation table which is locally stored, wherein the current satellite signal comprises a current satellite ephemeris parameter, the original mapping relation table comprises at least one first satellite entry time and the corresponding Doppler frequency offset in a first time period, and the first time period is a time period with a set length beginning from the previous satellite entry time; then determining at least one second satellite entry time and corresponding Doppler frequency deviation in a second time period according to the current geographic position information of the ground terminal and the current satellite ephemeris parameters, wherein the second time period is a time period with a set length beginning from the current satellite entry time; and finally, updating the first satellite entry time and the corresponding Doppler frequency shift in the original mapping relation table based on at least one second satellite entry time and the corresponding Doppler frequency shift to obtain an updated original mapping relation table for obtaining the next satellite signal. According to the method, the corresponding satellite signals are obtained based on the satellite entry time and the corresponding Doppler frequency offset in the original mapping relation table, so that high time cost and power consumption caused by the fact that the satellite signals are obtained by calculating the Doppler frequency offset every time can be avoided, and the satellite signal obtaining efficiency is improved. And the original mapping relation table is continuously updated to be used for acquiring the next satellite signal, so that the accuracy of Doppler frequency shift is improved, and the acquisition accuracy of the satellite signal is improved.
Optionally, the method further includes: under the condition that the satellite signal is obtained for the first time or the original mapping relation table is invalid, determining Doppler frequency offset corresponding to the satellite signal obtained for the first time by setting a frequency offset correction algorithm; and acquiring the first satellite signal based on the Doppler frequency offset corresponding to the first acquired satellite signal.
Wherein acquiring the satellite signal for the first time may be understood as the ground terminal being used for acquiring the satellite signal for the first time. Failure of the original mapping table can be understood as expiration failure of the original mapping table, and the satellite inbound time and the corresponding doppler frequency offset in the original mapping table cannot be used at the current moment. The set frequency offset correction algorithm may refer to a preset algorithm for calculating the satellite inbound time and the doppler frequency offset, such as a random frequency offset estimation algorithm, a frequency offset search algorithm, or a multiple iteration convergence algorithm based on FPGA, DSP, or FFT, which is not limited herein. The first satellite signal may be understood as the first acquired satellite signal.
Under the condition that the satellite signal is obtained for the first time or the original mapping relation table is invalid, the Doppler frequency offset corresponding to the satellite signal obtained for the first time can be determined through setting a frequency offset correction algorithm, and the satellite signal is obtained for the first time based on the Doppler frequency offset corresponding to the satellite signal obtained for the first time.
Optionally, after the first satellite signal is acquired based on the doppler frequency offset corresponding to the first acquired satellite signal, the method further includes: determining at least one third satellite entry time and Doppler frequency deviation corresponding to the third satellite entry time in a third time period according to satellite ephemeris parameters in the primary satellite signal and current geographical position information of the ground terminal, wherein the third time period is a time period with a set length starting from the acquisition time of the primary satellite signal; and forming a corresponding original mapping relation table based on the at least one third satellite inbound time and the corresponding Doppler frequency offset, and storing the original mapping relation table into a local storage for obtaining the next satellite signal.
The third time period can be understood as a time period with a set length starting from the first satellite signal acquisition time. If the first satellite signal acquisition time is 2022 years, 6.10.8, and the set length is one week, the third time period is a time period from 2022 years, 6.10.8 to 2022 years, 6.17.8. The third satellite inbound time may be understood as the satellite inbound time determined during the third time period. The third time period may include at least one third inbound time, and one third inbound time may correspond to one doppler frequency offset.
Determining at least one third satellite entry time and Doppler frequency deviation corresponding to the third satellite entry time in a third time period according to satellite ephemeris parameters in the primary satellite signal and current geographical position information of the ground terminal; forming a corresponding original mapping relation table based on the determined at least one third satellite entry time and the corresponding Doppler frequency offset, wherein the currently formed original mapping relation table comprises the at least one third satellite entry time and the Doppler frequency offset corresponding to each third satellite entry time; and saving the original mapping relation table to a local storage for the next acquisition of the satellite signal.
Example two
Fig. 2 is a flowchart of a satellite signal acquisition method according to a second embodiment of the present invention, which is further detailed based on the above embodiments. In this embodiment, a process of triggering the ground terminal to enter a to-be-received state before acquiring the current satellite signal, and a process of determining at least one second satellite inbound time and a corresponding doppler frequency offset in a second time period according to the current geographic position information of the ground terminal and the current satellite ephemeris parameter are specifically described. It should be noted that technical details that are not described in detail in the present embodiment may be referred to any of the above embodiments. As shown in fig. 2, the method includes:
and S210, determining the current satellite entry time according to the original mapping relation table in the local storage.
In this embodiment, the original mapping relationship table includes at least one first satellite entry time and a corresponding doppler frequency offset in a first time period, where the first time period is a time period of a set length beginning with the previous satellite entry time. The ground terminal can obtain the current satellite entry time according to the original mapping relation table in the local storage.
And S220, triggering the ground terminal to enter a state to be received within a set time before the time of the secondary satellite entering.
In this embodiment, the state to be received may be a state waiting for receiving the current satellite signal. The set time is understood to be a preset time, such as 5 seconds or 10 seconds, and is not limited herein.
In order to avoid unnecessary power consumption caused by the fact that the ground terminal is in the state of waiting for receiving for a long time, the ground terminal is in the dormant state when no satellite exists, and the ground terminal can be triggered to enter the state of waiting for receiving from the dormant state within the set time before the time when the satellite enters the field.
And S230, acquiring a current satellite signal based on the current satellite entry time in the original mapping relation table and the Doppler frequency offset corresponding to the current satellite entry time, wherein the current satellite signal comprises a current satellite ephemeris parameter.
In this embodiment, when the satellite enters the environment, the current satellite signal including the current satellite ephemeris parameter may be obtained based on the current satellite entry time in the original mapping table and the doppler frequency offset corresponding to the current satellite entry time.
S240, determining at least one second satellite entry time in a second time period, and a satellite entry azimuth, a satellite speed, a satellite altitude and a distance between the satellite and the ground terminal corresponding to each second satellite entry time according to the current geographic position information of the ground terminal and the current satellite ephemeris parameter.
In this embodiment, the second time period is a time period with a set length beginning with the current satellite entry time.
According to the current geographic position information of the ground terminal and the motion state information of the satellite time, the position, the speed and the like contained in the ephemeris parameters of the current satellite, corresponding geometric calculation is carried out to determine at least one second satellite entry time in a second time period, and a satellite entry azimuth, a satellite speed, a satellite altitude and the distance of the satellite relative to the ground terminal, which correspond to each second satellite entry time. The satellite entry time may correspond to a satellite entry azimuth, a satellite velocity, a satellite altitude, and a satellite distance from the ground terminal.
The satellite inbound azimuth can be understood as a relative azimuth between the satellite inbound time and the ground terminal. The satellite velocity is understood to be the speed at which the satellite enters the environment. Satellite altitude may be understood as the altitude of the satellite relative to the ground level. The distance of a satellite from a ground terminal is understood to be the relative distance between the location of the satellite and the geographical location of the ground terminal.
And S250, aiming at each second satellite entry time, determining the Doppler frequency offset corresponding to the second satellite entry time according to the satellite entry azimuth, the satellite speed, the satellite altitude and the distance between the satellite and the ground terminal corresponding to the second satellite entry time.
In this embodiment, for each second satellite entry time, the doppler frequency offset corresponding to the second satellite entry time may be calculated according to the satellite entry azimuth, the satellite velocity, the satellite altitude, and the distance between the satellite and the ground terminal corresponding to the second satellite entry time. A second satellite inbound time corresponds to a doppler frequency offset. The determination of the doppler frequency shift corresponding to the second satellite entry time according to the satellite entry azimuth, the satellite velocity, the satellite altitude and the distance between the satellite and the ground terminal corresponding to the second satellite entry time is not particularly limited. For example, the orbit elevation angle corresponding to the second satellite entry time may be determined according to the satellite entry azimuth corresponding to the second satellite entry time, the satellite altitude, and the distance of the satellite relative to the ground terminal; on the basis, based on the determined orbit elevation angle and the satellite speed, the Doppler frequency offset corresponding to the inbound time of the second satellite can be obtained through corresponding calculation.
Optionally, determining a doppler frequency offset corresponding to the second satellite entry time according to the satellite entry azimuth, the satellite velocity, the satellite altitude and the distance between the satellite and the ground terminal corresponding to the second satellite entry time includes: determining an orbit elevation angle corresponding to the second satellite entry time according to the satellite entry azimuth angle and the satellite height corresponding to the second satellite entry time and the distance between the satellite and the ground terminal; and determining the Doppler frequency offset corresponding to the inbound time of the second satellite based on the orbit elevation angle and the satellite speed.
The orbital elevation angle is an included angle between the satellite position and the horizon where the ground terminal is located. And determining the orbit elevation angle corresponding to the second satellite entry time through corresponding geometric calculation according to the satellite entry azimuth angle corresponding to the second satellite entry time, the satellite height and the distance between the satellite and the ground terminal. There is no particular limitation on how the track elevation is determined. A second satellite inbound time may correspond to an orbital elevation.
After determining the orbital elevation angle, a doppler frequency offset corresponding to the second satellite inbound time can be determined based on the orbital elevation angle and the satellite velocity. There is no limitation on how the doppler frequency offset corresponding to the time of arrival of the second satellite is determined based on the orbital elevation angle and the satellite velocity.
For example, the calculation formula for determining the doppler frequency offset corresponding to the time of arrival of the second satellite based on the determined orbital elevation angle and the satellite velocity can be expressed as:
Figure BDA0003710303330000161
wherein f is d Can represent the Doppler frequency shift corresponding to the second satellite inbound time; f may represent the frequency of the satellite signal (as a known quantity); v may represent satellite velocity; c may represent an electromagnetic wave propagation speed c =3 × 10 5 Km/s; theta may represent the track elevation angle.
And S260, updating the first satellite entry time and the corresponding Doppler frequency shift in the original mapping relation table based on the at least one second satellite entry time and the corresponding Doppler frequency shift to obtain an updated original mapping relation table for obtaining the next satellite signal.
The second embodiment of the invention provides a satellite signal acquisition method, which embodies the process of triggering a ground terminal to enter a state to be received before acquiring a current satellite signal, and the process of determining at least one second satellite inbound time and corresponding Doppler frequency offset in a second time period according to the current geographic position information of the ground terminal and the ephemeris parameters of the current satellite. According to the method, the ground terminal is triggered to enter the state to be received within the set time before the time of the secondary satellite entering, so that unnecessary power consumption caused by the fact that the ground terminal is in the state to be received for a long time can be avoided, and the electric quantity of the ground terminal is saved. And the new satellite entry time and the corresponding Doppler frequency deviation are determined according to the satellite ephemeris parameters in the satellite signals acquired each time so as to update the original mapping relation table for acquiring the next satellite signals, so that the accuracy of the Doppler frequency deviation can be improved, and the efficiency and the accuracy of satellite signal acquisition are improved.
The present invention is exemplified below.
The method provided by the invention can relate to but is not limited to a low-orbit satellite communication System, a marine satellite communication System, a very high frequency Data Exchange System (VDES), a satellite Data Collection System (DCS), a narrow-band satellite internet of things communication System, a broadband low-orbit satellite System communication System and the like, can realize the rapid correction of Doppler frequency deviation of satellite signals, improve the Doppler frequency deviation correction speed and precision, reduce the occupation amount of logic resources of signal processing of a ground terminal, reduce the complexity of the System, reduce the power consumption and the cost of the ground terminal, and can obviously improve the capability of a receiving System of the ground terminal for rapidly capturing the satellite signals.
In the embodiment of the invention, because the ephemeris extrapolation algorithm of the ground terminal can predict the orbit time to be accurate to the second level, the accuracy is very high, and the calculated Doppler frequency offset of the satellite signal is also more accurate. And by setting the original mapping relation table, the condition that the Doppler frequency offset is calculated by the traditional frequency offset correction algorithm to obtain the satellite signal every time can be avoided, the complexity of ground terminal communication baseband signal processing (such as FPGA/DSP) is reduced, the requirement on logic resources of signal processing is saved, and the power consumption and the cost of the system are reduced. The corresponding track parameter calculation is completed in the single chip microcomputer, and the resources and the power consumption of the system cannot be obviously increased.
In this embodiment, a baseband signal processing algorithm unit in the receiver of the ground terminal reads the doppler frequency offset when the satellite enters the environment in the original mapping relationship table stored locally, so as to realize rapid acquisition, receiving and demodulation of the satellite signal.
Fig. 3 is a schematic diagram illustrating an implementation of a satellite signal acquisition method according to a second embodiment of the present invention.
As shown in fig. 3, the implementation process of satellite signal acquisition is:
s310, the satellite platform generates satellite ephemeris parameters, and the satellite communication load acquires the satellite ephemeris parameters and broadcasts the satellite ephemeris parameters in a service area.
S320, under the condition that the ground terminal acquires the satellite signal for the first time or the original mapping relation table is invalid, calculating Doppler frequency offset by setting a frequency offset correction algorithm to acquire a corresponding satellite signal, wherein the satellite signal comprises satellite ephemeris parameters.
S330, the ground terminal determines parameters such as satellite entry time, orbit elevation angle and satellite speed in a certain period of time in the future according to the current geographic position information and the current satellite ephemeris parameters.
S340, the ground terminal calculates Doppler frequency offset corresponding to satellite entry time in a certain period of time in the future according to parameters such as an orbit elevation angle, satellite speed and the like, forms an original mapping relation table and stores the original mapping relation table in a local storage for obtaining satellite signals at the next time.
And S350, enabling the satellite to enter the next time.
S360, judging whether the ground terminal acquires the satellite signal for the first time or the original mapping relation table is invalid, if so, returning to execute S320; otherwise, S370 is performed.
And S370, the ground terminal reads the next satellite entry time and the corresponding Doppler frequency offset in the original mapping relation table stored locally to acquire the corresponding satellite signal, and tracks and completes demodulation and reception of the satellite signal.
S380, the ground terminal calculates new satellite entry time and corresponding Doppler frequency shift in a certain period of time in the future according to the satellite ephemeris parameters in the satellite signals and the current geographic position information so as to update an original mapping relation table for obtaining the next satellite signals.
And S390, the ground terminal completes the task of acquiring the satellite signal, enters a dormant state and waits for the next time of triggering and awakening the satellite to enter the country.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a satellite signal acquiring apparatus according to a third embodiment of the present invention.
As shown in fig. 4, the apparatus includes:
an obtaining module 410, configured to obtain, for each time of obtaining a satellite signal, a current satellite signal based on a current satellite entry time in an original mapping relation table stored locally and a doppler frequency offset corresponding to the current satellite entry time, where the current satellite signal includes a current satellite ephemeris parameter, the original mapping relation table includes at least one first satellite entry time and a corresponding doppler frequency offset in a first time period, and the first time period is a time period with a set length beginning with the previous satellite entry time;
a determining module 420, configured to determine at least one second satellite entry time and a corresponding doppler frequency offset within a second time period according to the current geographic location information of the ground terminal and the current satellite ephemeris parameter, where the second time period is a time period with a set length beginning with the current satellite entry time;
an updating module 430, configured to update the first satellite entry time and the corresponding doppler frequency offset in the original mapping relationship table based on the at least one second satellite entry time and the corresponding doppler frequency offset, so as to obtain an updated original mapping relationship table for obtaining a next satellite signal.
The third embodiment of the present invention provides a satellite signal acquiring apparatus, first, an acquiring module 410 is used to acquire a current satellite signal for each time, based on a current satellite entry time and a doppler frequency offset corresponding to the current satellite entry time in an original mapping relationship table stored locally, where the current satellite signal includes a current satellite ephemeris parameter, the original mapping relationship table includes at least one first satellite entry time and a corresponding doppler frequency offset in a first time period, and the first time period is a time period with a set length starting from the previous satellite entry time; then, by using the determining module 420, according to the current geographic position information of the ground terminal and the current satellite ephemeris parameters, at least one second satellite entry time and corresponding doppler frequency offset within a second time period are determined, where the second time period is a time period of a set length starting with the current satellite entry time; finally, through the updating module 430, the first satellite entry time and the corresponding doppler frequency offset in the original mapping relationship table are updated based on the at least one second satellite entry time and the corresponding doppler frequency offset, so as to obtain an updated original mapping relationship table for obtaining the next satellite signal. The device acquires the corresponding satellite signal through satellite entry time and the corresponding Doppler frequency offset based on the original mapping relation table, and can avoid high time cost and power consumption caused by acquiring the satellite signal through calculating the Doppler frequency offset every time, so that the acquisition efficiency of the satellite signal is improved. And the original mapping relation table is continuously updated to be used for acquiring the next satellite signal, so that the accuracy of Doppler frequency shift is improved, and the acquisition accuracy of the satellite signal is improved.
Optionally, the satellite ephemeris parameters are obtained from a satellite communication load and are included in the satellite signal for broadcasting.
Optionally, the apparatus further comprises:
the first frequency offset determining module is used for determining Doppler frequency offset corresponding to the satellite signal which is obtained for the first time by setting a frequency offset correction algorithm under the condition that the satellite signal which is obtained for the first time or the original mapping relation table is invalid;
and the signal acquisition module is used for acquiring a first satellite signal based on the Doppler frequency offset corresponding to the first acquired satellite signal.
Optionally, the apparatus further comprises:
a second frequency offset determining module, configured to determine, according to a satellite ephemeris parameter in the first satellite signal and current geographic location information of the ground terminal, at least one third satellite entry time in a third time period and a doppler frequency offset corresponding to the third satellite entry time after obtaining the first satellite signal based on the doppler frequency offset corresponding to the first obtained satellite signal, where the third time period is a time period of a set length starting with the first satellite signal obtaining time;
and the relation table forming module is used for forming a corresponding original mapping relation table based on the at least one third satellite inbound time and the corresponding Doppler frequency deviation, and storing the original mapping relation table into the local storage for obtaining the next satellite signal.
Optionally, the determining module 420 specifically includes:
the parameter determining unit is used for determining at least one second satellite entry time in a second time period, a satellite entry azimuth angle, a satellite speed, a satellite altitude and a distance between a satellite and the ground terminal, wherein the satellite entry azimuth angle, the satellite speed and the satellite altitude correspond to each second satellite entry time;
and a frequency offset determining unit, configured to determine, for each second satellite entry time, a doppler frequency offset corresponding to the second satellite entry time according to the satellite entry azimuth, the satellite velocity, the satellite altitude, and a distance between the satellite and the ground terminal, which correspond to the second satellite entry time.
Optionally, the frequency offset determining unit specifically includes:
an orbit elevation angle determining subunit, configured to determine, according to the satellite entry azimuth corresponding to the second satellite entry time, the satellite altitude, and a distance of the satellite from the ground terminal, an orbit elevation angle corresponding to the second satellite entry time;
and the frequency offset determining subunit is used for determining the Doppler frequency offset corresponding to the second satellite inbound time based on the orbit elevation angle and the satellite velocity.
Optionally, the apparatus further comprises:
the system comprises an inbound time determining module, a local storage module and a processing module, wherein the inbound time determining module is used for determining the current satellite inbound time according to an original mapping relation table before the current satellite inbound time in the original mapping relation table stored locally and the Doppler frequency offset corresponding to the current satellite inbound time are obtained;
and the triggering module is used for triggering the ground terminal to enter a state to be received within a set time before the arrival time of the current satellite, wherein the state to be received is a state waiting for receiving the signal of the current satellite.
The satellite signal acquisition device provided by the embodiment of the invention can execute the satellite signal acquisition method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 5 is a schematic structural diagram of a ground terminal according to a fourth embodiment of the present invention. Ground terminals are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The ground terminal may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the ground terminal 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the ground terminal 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the ground terminal 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the ground terminal 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the satellite signal acquisition method.
In some embodiments, the satellite signal acquisition method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed on the ground terminal 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the satellite signal acquisition method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the satellite signal acquisition method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A satellite signal acquisition method applied to a ground terminal is characterized by comprising the following steps:
for each time of obtaining a satellite signal, obtaining the current satellite signal based on the current satellite entry time in an original mapping relation table stored locally and the Doppler frequency offset corresponding to the current satellite entry time, wherein the current satellite signal comprises current satellite ephemeris parameters, the original mapping relation table comprises at least one first satellite entry time and the corresponding Doppler frequency offset in a first time period, and the first time period is a time period with a set length from the previous satellite entry time;
determining at least one second satellite entry time and corresponding Doppler frequency deviation in a second time period according to the current geographical position information of the ground terminal and the current satellite ephemeris parameters, wherein the second time period is a time period with a set length beginning from the current satellite entry time;
and updating the first satellite entry time and the corresponding Doppler frequency offset in the original mapping relation table based on the at least one second satellite entry time and the corresponding Doppler frequency offset to obtain an updated original mapping relation table for acquiring the next satellite signal.
2. The method of claim 1 wherein the satellite ephemeris parameters are obtained from a satellite communications payload and are broadcast in the satellite signal.
3. The method of claim 1, further comprising:
under the condition that the satellite signal is obtained for the first time or the original mapping relation table is invalid, determining Doppler frequency offset corresponding to the satellite signal obtained for the first time by setting a frequency offset correction algorithm;
and acquiring a first satellite signal based on the Doppler frequency offset corresponding to the first acquisition of the satellite signal.
4. The method of claim 3, further comprising, after acquiring a first satellite signal based on a Doppler frequency offset corresponding to the first acquisition of the satellite signal:
determining at least one third satellite entry time and Doppler frequency deviation corresponding to the third satellite entry time in a third time period according to satellite ephemeris parameters in the primary satellite signal and current geographical position information of the ground terminal, wherein the third time period is a time period with a set length starting from the acquisition time of the primary satellite signal;
and forming a corresponding original mapping relation table based on the at least one third satellite inbound time and the corresponding Doppler frequency offset, and storing the original mapping relation table into the local storage for obtaining the next satellite signal.
5. The method according to claim 1, wherein the determining at least one second satellite inbound time and the doppler frequency offset corresponding to the second satellite inbound time in a second time period according to the current geographic location information of the ground terminal and the current satellite ephemeris parameters comprises:
determining at least one second satellite entry time in a second time period, a satellite entry azimuth angle, a satellite speed, a satellite altitude and a distance between a satellite and the ground terminal, wherein the satellite entry azimuth angle, the satellite speed and the satellite altitude correspond to each second satellite entry time;
and determining the Doppler frequency offset corresponding to the second satellite entry time according to the satellite entry azimuth corresponding to the second satellite entry time, the satellite speed, the satellite altitude and the distance from the satellite to the ground terminal for each second satellite entry time.
6. The method of claim 5, wherein determining the Doppler frequency offset corresponding to the second satellite entry time according to the satellite entry azimuth corresponding to the second satellite entry time, the satellite velocity, the satellite altitude, and the distance of the satellite from the ground terminal comprises:
determining an orbit elevation angle corresponding to the second satellite entry time according to the satellite entry azimuth corresponding to the second satellite entry time, the satellite altitude and the distance between the satellite and the ground terminal;
and determining a Doppler frequency offset corresponding to the second satellite inbound time based on the orbit elevation angle and the satellite speed.
7. The method of claim 1, wherein before acquiring the current satellite signal based on the current satellite entry time in the locally stored original mapping table and the doppler frequency offset corresponding to the current satellite entry time, further comprising:
determining the current satellite entry time according to the original mapping relation table;
and triggering the ground terminal to enter a state to be received within a set time before the arrival time of the current satellite, wherein the state to be received is a state waiting for receiving the signal of the current satellite.
8. A satellite signal acquisition apparatus disposed in a ground terminal, the apparatus comprising:
an obtaining module, configured to obtain a current satellite signal based on a current satellite entry time and a doppler frequency offset corresponding to the current satellite entry time in an original mapping relationship table stored locally, where the current satellite signal includes a current satellite ephemeris parameter, the original mapping relationship table includes at least one first satellite entry time and a corresponding doppler frequency offset in a first time period, and the first time period is a time period with a set length starting from the previous satellite entry time;
a determining module, configured to determine, according to the current geographic position information of the ground terminal and the current satellite ephemeris parameter, at least one second satellite entry time and a corresponding doppler frequency offset within a second time period, where the second time period is a time period with a set length beginning with the current satellite entry time;
and the updating module is used for updating the first satellite entry time and the corresponding Doppler frequency offset in the original mapping relation table based on the at least one second satellite entry time and the corresponding Doppler frequency offset to obtain an updated original mapping relation table for obtaining the next satellite signal.
9. A ground terminal, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the satellite signal acquisition method of any one of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a processor to perform the satellite signal acquisition method of any one of claims 1-7 when executed.
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