CN115685205B - Low-delay target tracking method, device and system - Google Patents
Low-delay target tracking method, device and system Download PDFInfo
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- CN115685205B CN115685205B CN202211703253.6A CN202211703253A CN115685205B CN 115685205 B CN115685205 B CN 115685205B CN 202211703253 A CN202211703253 A CN 202211703253A CN 115685205 B CN115685205 B CN 115685205B
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Abstract
The invention provides a low-delay target tracking method, a low-delay target tracking device and a low-delay target tracking system, wherein the method comprises the following steps: periodically sending a linear frequency modulation signal to a mapping area within a first time length, and obtaining sensing data corresponding to the linear frequency modulation signal; modulating the perception data into communication data; within a second time period, sending the communication data to a ground terminal so that the ground terminal demodulates the communication data, acquiring an image of the mapping area within the first time period, and acquiring the latest position information of the target to be tracked; receiving uplink sensing data from the ground terminal to obtain the latest position information of the target to be tracked; and adjusting configuration information of the linear frequency modulation signals according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signals to the mapping area within the first time length and obtaining the sensing data corresponding to the linear frequency modulation signals. To achieve continuous target tracking with low latency.
Description
Technical Field
The invention relates to the technical field of satellite communication, in particular to a low-delay target tracking method, device and system.
Background
In some applications, such as high-speed flying objects or unmanned aerial vehicles, the ground terminal needs to continuously acquire the position information of the target with low time delay. The low-orbit satellite is used as a high-altitude platform, the perception of the ground target is more advantageous, and based on the perception, the ground target is scanned and imaged by using a synthetic aperture radar carried by the low-orbit satellite.
However, the frequency bands of the low-earth satellite for transmitting and receiving the communication signal and the frequency bands of the low-earth satellite for transmitting and receiving the sensing signal are close, so that the communication process and the imaging sensing process of the low-earth satellite cannot be performed simultaneously. If the ground terminal wants to obtain the perception information, at least two low-orbit satellites are usually needed to cooperate to operate, one of the at least two low-orbit satellites perceives the ground target, then the perception information is transmitted to the other low-orbit satellite, and the other low-orbit satellite processes the perception information and then sends the perception information to the ground terminal. Therefore, the communication process and the imaging sensing process of the low-orbit satellite cannot be performed simultaneously, so that the ground terminal obtains the sensing information of the target, a large time delay exists, and low-time-delay target tracking cannot be realized.
Disclosure of Invention
The invention aims to provide a low-delay target tracking method, a low-delay target tracking device and a low-delay target tracking system, and solves the technical problems that a ground terminal cannot track a target in real time with low delay and the like.
According to an aspect of the embodiments of the present invention, there is provided a low-latency target tracking method for a low-earth orbit satellite, the method including:
periodically sending a chirp signal to a mapping area within a first time length, and obtaining perception data corresponding to the chirp signal, wherein the perception data comprises image data of the mapping area within the first time length;
modulating the perception data into communication data;
within a second time period, sending the communication data to a ground terminal so that the ground terminal demodulates the communication data, obtaining an image of the mapping area within the first time period according to the demodulated communication data, and obtaining the latest position information of the target to be tracked according to the image;
receiving uplink sensing data from the ground terminal, and obtaining the latest position information of the target to be tracked from the uplink sensing data;
and adjusting configuration information of the linear frequency modulation signals according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signals to the mapping area within the first time length and obtaining the sensing data corresponding to the linear frequency modulation signals.
In some optional embodiments, the periodically transmitting chirp signals to the mapping area includes:
and within a first time span, sending the linear frequency modulation signal to the mapping area according to a preset Pulse Repetition Frequency (PRF), wherein the configuration information of the linear frequency modulation signal is obtained according to first position information of the target to be tracked in the mapping area.
In some optional embodiments, the modulation method for modulating the sensing data into the communication data is any one of the following: orthogonal frequency division multiplexing OFDM, code division multiple access modulation CDMA or multi-carrier modulation.
In some optional embodiments, the adjusting configuration information of the chirp signal according to the latest position information of the target to be tracked includes:
obtaining a second linear frequency modulation signal from the uplink sensing data;
obtaining position information of the ground terminal within a second time length from the second linear frequency modulation signal;
and adjusting the configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked and the position information of the ground terminal.
According to another aspect of the embodiments of the present invention, there is provided a low-latency target tracking method applied to a ground terminal, the method including:
receiving communication data within a second time period, wherein the communication data is obtained by periodically sending a linear frequency modulation signal to a surveying and mapping area by a low-earth-orbit satellite within the first time period and modulating perception data corresponding to the linear frequency modulation signal;
demodulating the communication data to obtain image data of the mapping area within the first time length;
obtaining an image of the mapping region over the first time duration from the image data;
obtaining the latest position information of the target to be tracked from the image in the first time period;
modulating according to the latest position information of the target to be tracked to obtain uplink perception data;
and sending the uplink sensing data to the low-orbit satellite so that the low-orbit satellite adjusts the configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to a mapping area within a first time length and obtaining the sensing data corresponding to the linear frequency modulation signal.
In some optional embodiments, the modulating according to the latest position information of the target to be tracked to obtain the uplink sensing data includes:
and modulating the latest position information of the target to be tracked by using a target modulation mode to obtain the uplink perception data, wherein the target modulation mode is a modulation mode for modulating the communication data.
In some optional embodiments, the modulating according to the latest position information of the target to be tracked to obtain the uplink sensing data further includes:
generating a second chirp having a frequency and pulse width that is the same as the frequency and pulse width of chirps transmitted by the low earth orbit satellite;
carrying the latest position information of the target to be tracked in the second linear frequency modulation signal in a phase shift keying PSK modulation mode;
and inserting a reference signal with a predefined phase into a second linear frequency modulation signal containing the latest position information of the target to be tracked so as to obtain the uplink perception data.
In some optional embodiments, the second chirp further comprises: and a verification result, wherein the verification result is obtained by decoding and verifying the communication data by the ground terminal.
According to another aspect of the embodiments of the present invention, there is provided a low-latency target tracking apparatus for a low-orbit satellite, the apparatus including:
the device comprises a first transceiver module, a second transceiver module and a third transceiver module, wherein the first transceiver module periodically transmits a chirp signal to a mapping area within a first time length and obtains perception data corresponding to the chirp signal, and the perception data comprises image data of the mapping area within the first time length; within a second time period, sending the communication data to a ground terminal so that the ground terminal demodulates the communication data, obtaining an image of the mapping area within the first time period according to the demodulated communication data, and obtaining the latest position information of the target to be tracked according to the image; receiving uplink sensing data from the ground terminal;
the first modulation module is used for modulating the perception data into communication data;
the first demodulation module is used for acquiring the latest position information of the target to be tracked from the uplink sensing data;
and the first processing module is used for adjusting the configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to the mapping area within a first time length and obtaining the perception data corresponding to the linear frequency modulation signal.
According to another aspect of the embodiments of the present invention, there is provided a low-latency target tracking apparatus for a ground terminal, the apparatus including:
the second transceiver module receives communication data in a second time period, wherein the communication data is obtained by periodically sending a linear frequency modulation signal to a surveying and mapping area by a low-earth-orbit satellite in the first time period and modulating perception data corresponding to the linear frequency modulation signal; sending the uplink sensing data to the low-orbit satellite so that the low-orbit satellite adjusts configuration information of a linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing operations of periodically sending the linear frequency modulation signal to a mapping area within a first time period and obtaining sensing data corresponding to the linear frequency modulation signal;
the second demodulation module is used for demodulating the communication data to obtain image data of the mapping area within the first time length;
a second processing module, configured to obtain an image of the mapping region within the first time duration according to the image data; obtaining the latest position information of the target to be tracked from the image in the first time period;
and the second modulation module is used for modulating according to the latest position information of the target to be tracked to obtain uplink sensing data.
According to another aspect of an embodiment of the present invention, there is provided a communication system comprising at least one low-orbit satellite and at least one ground terminal, each of the at least one low-orbit satellite being adapted to perform the method of any one of claims 1 to 4; the at least one ground terminal is configured to perform the method recited in claims 5-8.
According to another aspect of an embodiment of the present invention, there is provided a computer storage medium having at least one executable instruction stored therein, the executable instruction when executed causing a computing device to perform the low latency target tracking method according to any one of claims 1 to 8.
According to the scheme provided by the above embodiment of the present invention, a low-latency target tracking method is provided, which is used for a low-earth orbit satellite, and the method includes: periodically sending a chirp signal to a mapping area within a first time length, and obtaining perception data corresponding to the chirp signal, wherein the perception data comprises image data of the mapping area within the first time length; modulating the perception data into communication data; within a second time period, sending the communication data to a ground terminal so that the ground terminal demodulates the communication data, obtaining an image of the mapping area within the first time period according to the demodulated communication data, and obtaining the latest position information of the target to be tracked according to the image; receiving uplink sensing data from the ground terminal, and obtaining the latest position information of the target to be tracked from the uplink sensing data; and adjusting configuration information of the linear frequency modulation signals according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signals to the mapping area within the first time length and obtaining the sensing data corresponding to the linear frequency modulation signals.
Because the frequency band used by the low-orbit satellite communication is close to the frequency band used by the synthetic aperture radar imaging perception, for example, both the low-orbit satellite communication and the synthetic aperture radar can use Ka wave band to match with a phased antenna to receive and send signals, the same wave beam can be a receiving and sending wave beam of the low-orbit satellite communication signal and a receiving and sending wave beam of the imaging perception, and based on the same wave beam, the communication perception integration of the low-orbit satellite can be realized. By the scheme provided by the embodiment of the invention, the real-time target tracking can be realized, and the real-time adjustment can be carried out according to the latest position of the target or the ground terminal.
Drawings
Fig. 1A shows a flowchart of a low-latency target tracking method according to an embodiment of the present invention;
fig. 1B shows a flowchart of a specific low-latency target tracking method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of signals transmitted and received by a low earth orbit satellite during a sensing communication period according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a modulation method for modulating sensing data into communication data according to an embodiment of the present invention;
fig. 4 shows a flowchart of a low-latency target tracking method applied to a ground terminal according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a process modulation performed after a ground terminal demodulates communication data according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of signals transceived by a low earth orbit satellite during a sensing communication period according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating a process modulation performed after a ground terminal demodulates communication data according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating one of the uplink sensing data provided by the embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating an imaging of a ground terminal according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram illustrating a low-latency target tracking apparatus according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram illustrating a low-latency target tracking apparatus for a ground terminal according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1A shows a flowchart of a low-latency target tracking method according to an embodiment of the present invention. As shown in fig. 1A, the method comprises the steps of:
and step 15, adjusting configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to the surveying and mapping area within the first time length and obtaining the perception data corresponding to the linear frequency modulation signal.
Fig. 1B is a flowchart illustrating a specific low-latency target tracking method according to an embodiment of the present invention, in which a low-earth orbit satellite periodically and alternately transmits a sensing frame and a communication frame using a transceiving beam to achieve low-latency target tracking. The sensing frame comprises a linear frequency modulation signal which is periodically sent to the mapping area, a echo signal is received within a sending interval, and further the echo signal is modulated to obtain communication data. The communication frame comprises a downlink frame and an uplink frame, and the low earth orbit satellite transmits modulated communication data in the downlink frame. And the ground terminal demodulates the communication data to obtain image data of the mapping area, further obtains the latest position information of the target to be tracked, and sends modulated uplink sensing data in an uplink frame. And the low-orbit satellite receives uplink sensing data sent by the ground terminal in an uplink frame, processes the uplink sensing data, adjusts the configuration information of the linear frequency modulation signal, completes the process of primary sensing communication, and then circularly performs the operation to realize the continuous tracking of the low-delay target.
In some embodiments of the present invention, fig. 2 shows a schematic diagram of signals that are transmitted and received by a low-earth-orbit satellite in a sensing communication period according to an embodiment of the present invention, as shown in fig. 2, the low-earth-orbit satellite alternately transmits sensing frames and communication frames, each communication frame includes at least one downlink frame and at least one uplink frame, and a guard interval is included between the downlink frame and the uplink frame. One downlink frame or uplink frame includes at least one OFDM part, and the modulated signal includes a Cyclic Prefix (CP) part and an OFDM symbol part (OFDM).
In some embodiments of the invention, the periodically transmitting chirp signals to the mapping area includes:
and in a first time period, sending the linear frequency modulation signal to the mapping area according to a preset Pulse Repetition Frequency (PRF), wherein the configuration information of the linear frequency modulation signal is obtained according to first position information of the target to be tracked in the mapping area.
In this embodiment, the configuration information of the chirp signal is obtained according to first position information of the target to be tracked in the mapping area, where the first position information is obtained according to a last communication sensing period.
In some embodiments of the present invention, fig. 3 is a flowchart illustrating a modulation method for modulating sensing data into communication data according to an embodiment of the present invention, and as shown in fig. 3, the sensing-sensing integrated controller is configured to control a time slot for transmitting a chirp signal and a downlink frame downward from a low earth orbit satellite. And, the low earth orbit satellite demodulates and quantizes the radar echo signal, and then re-modulates the radar echo signal onto a plurality of OFDM symbols of the downlink frame, and completes the modulation of the communication data according to the flow shown in fig. 3.
In some embodiments of the present invention, the modulation method for modulating the sensing data into the communication data is any one of the following: orthogonal frequency division multiplexing OFDM, code division multiple access modulation CDMA or multi-carrier modulation.
In this embodiment, fig. 3 shows one modulation scheme that is optional in the present invention, but the present invention is not limited to this modulation scheme, and other modulation schemes may be used.
In some embodiments of the present invention, the adjusting configuration information of the chirp signal according to the latest position information of the target to be tracked includes:
obtaining a second linear frequency modulation signal from the uplink sensing data;
obtaining position information of the ground terminal within a second time length from the second linear frequency modulation signal;
and adjusting the configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked and the position information of the ground terminal.
In this embodiment, in addition to adjusting the configuration information according to the latest position information of the target to be tracked, the configuration information of the chirp signal may also be adjusted together according to the position information of the ground terminal.
Fig. 4 shows a flowchart of a low-latency target tracking method applied to a ground terminal according to an embodiment of the present invention, and as shown in fig. 4, the method includes the following steps:
a step 43 of obtaining an image of the mapping region within the first time period from the image data;
and step 46, sending the uplink sensing data to the low-orbit satellite, so that the low-orbit satellite adjusts configuration information of a linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to a mapping area within a first time length and obtaining the sensing data corresponding to the linear frequency modulation signal.
In some embodiments of the present invention, after the ground terminal receives the communication data, the ground terminal demodulates the communication data to obtain a radar image. Fig. 5 shows a flowchart of demodulating, processing and modulating the communication data by the ground terminal according to an embodiment of the present invention, as shown in fig. 5, the ground terminal firstly demodulates the communication data by OFDM to obtain an echo signal, and further, the ground terminal inputs the echo signal to a radar imaging algorithm (for example, an RD or CS algorithm) to obtain a radar imaging image. Further, the ground terminal inputs the image to an image processing module, which extracts target information according to a predetermined method, for example, extracts a moving target vehicle. Further, the ground terminal generates position information of the target to be tracked according to the pixel position in the radar image where the extracted target is located. Further, the ground terminal performs steps such as modulation, IFFT, CP addition, and the like on the generated position information, and finally transmits the position information in the uplink frame of the communication frame.
In some embodiments of the present invention, the modulating according to the latest position information of the target to be tracked to obtain uplink sensing data includes:
and modulating the latest position information of the target to be tracked by using a target modulation mode to obtain the uplink perception data, wherein the target modulation mode is a modulation mode for modulating the communication data.
In this embodiment, there may be many modulation modes for obtaining the uplink sensing data through modulation, and fig. 5 illustrates one of the selectable modulation modes according to the present invention, but the present invention is not limited to this modulation mode, and other modulation modes may also be used, but the modulation modes need to be consistent with those of the low-orbit satellite.
In some embodiments of the present invention, the modulating according to the latest position information of the target to be tracked to obtain uplink sensing data further includes:
generating a second chirp signal having a frequency and pulse width that are the same as the frequency and pulse width of a chirp signal transmitted by the low earth orbit satellite;
carrying the latest position information of the target to be tracked in the second linear frequency modulation signal in a phase shift keying PSK modulation mode;
and inserting a reference signal with a predefined phase into a second linear frequency modulation signal containing the latest position information of the target to be tracked so as to obtain the uplink perception data.
In this embodiment, the ground terminal may modulate with a chirp signal in addition to modulating the latest position information of the target to be tracked to obtain the uplink sensing data. Fig. 6 is a schematic diagram illustrating signals transmitted and received by a low-earth satellite during a sensing communication period, and as shown in fig. 6, a ground terminal periodically transmits a chirp signal within an uplink frame, so that the low-earth satellite obtains current position information of the ground terminal.
In this embodiment, fig. 7 shows a flowchart of demodulating, processing and modulating communication data by a ground terminal according to an embodiment of the present invention, and as shown in fig. 7, the ground terminal demodulates the communication data to obtain an echo signal, and further inputs the echo signal to a radar imaging algorithm (for example, an RD or CS algorithm) to obtain a radar imaging image. Further, the ground terminal inputs the image to an image processing module, which extracts target information according to a predetermined method, for example, extracts a moving target vehicle. Further, the ground terminal generates position information of the target to be tracked according to the pixel position in the radar image where the extracted target is located. Further, the ground terminal modulates the second chirp signal by PSK.
The ground terminal firstly generates a second linear frequency modulation signal which has the same frequency and pulse width with the linear frequency modulation signal transmitted by the low-orbit satellite, and the synthetic aperture radar imaging is processed by the amplitude of the linear frequency modulation signal, so that the modulation mode needs to ensure the amplitude to be consistent, namely, the phase of the linear frequency modulation signal is used for carrying scanning parameters. Suppose that
Binary information being the position information of the object to be tracked, the complex signal modulated, for example PSK, is->
. Further assume that an unmodulated chirp signal is
Then the terrestrial terminal modulated chirp signal can be expressed as:
wherein->
And the rect is a rectangular pulse signal and the K is a linear frequency modulation factor. To obtain a channel response, a reference signal having a predefined phase can be inserted into the modulated signal stream, i.e. the modulated signal stream is->
。
Fig. 8 is a schematic diagram illustrating one of the uplink sensing data provided by the embodiment of the present invention, as shown in fig. 8, the uplink sensing data is a modulated second chirp signal, and then the uplink sensing data is transmitted to the low earth orbit satellite. And the low-orbit satellite receives the uplink sensing data and demodulates the uplink sensing data to obtain a second linear frequency modulation signal, and the low-orbit satellite inputs the second linear frequency modulation signal to a synthetic aperture radar imaging algorithm to obtain the position of the ground terminal in imaging. At this time, since the ground terminal sends the chirp signal, which is equivalent to that there is only one strong reflection point in the mapping area, the imaging result is a pixel point with a large amplitude value only in one image, and the pixel point corresponds to the position information of the ground terminal, and fig. 9 shows one of the ground terminal imaging diagrams provided by the embodiments of the present invention. Meanwhile, the low-orbit satellite can also obtain the latest position information of the target to be tracked and the position information of the ground terminal, and the configuration information of the linear frequency modulation signal in the next communication sensing period is adjusted according to the information, so that the target to be tracked is continuously tracked.
In some embodiments of the invention, the second chirp further comprises: and a verification result, wherein the verification result is obtained by decoding and verifying the communication data by the ground terminal.
In this embodiment, the low earth orbit satellite transmits the echo signal through the downlink frame in the downlink frame, and the signal is channel coded using a Cyclic Redundancy Check (Cyclic Redundancy Check). Therefore, the ground terminal can perform channel decoding on the received downlink frame and check the correctness of the data packet, and the ground terminal can feed back the receiving result when a check error occurs. Therefore, in the second chirp signal, the verification result is also included. Thus, the signal stream for modulating the Chirp signal is
Wherein->
And checking the received downlink frame.
Fig. 10 is a schematic structural diagram of a low-latency target tracking apparatus 100 according to an embodiment of the present invention, and as shown in fig. 10, the apparatus includes:
the first transceiver module 101 is configured to periodically transmit a chirp signal to a mapping region within a first time period, and obtain sensing data corresponding to the chirp signal, where the sensing data includes image data of the mapping region within the first time period; within a second time period, sending the communication data to a ground terminal so that the ground terminal demodulates the communication data, obtaining an image of the mapping area within the first time period according to the demodulated communication data, and obtaining the latest position information of the target to be tracked according to the image; receiving uplink sensing data from the ground terminal;
a first modulation module 102, configured to modulate the sensing data into communication data;
the first demodulation module 103 is configured to obtain latest position information of the target to be tracked from the uplink sensing data;
the first processing module 104 is configured to adjust configuration information of a chirp signal according to the latest position information of the target to be tracked, and repeatedly perform operations of periodically sending the chirp signal to a mapping area within a first time period and obtaining sensing data corresponding to the chirp signal.
Fig. 11 shows a schematic structural diagram of a low-latency target tracking apparatus 110 for a ground terminal according to an embodiment of the present invention, as shown in fig. 11, the apparatus includes:
the second transceiver module 111 receives communication data in a second time period, wherein the communication data is obtained by periodically sending a chirp signal to a surveying and mapping area by a low-earth-orbit satellite in the first time period and modulating perception data corresponding to the chirp signal; sending the uplink sensing data to the low-orbit satellite so that the low-orbit satellite adjusts configuration information of a linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to a mapping area within a first time length and obtaining sensing data corresponding to the linear frequency modulation signal;
a second demodulation module 112, configured to demodulate the communication data to obtain image data of the mapping region in the first time period;
a second processing module 113, configured to obtain an image of the mapping region within the first time duration from the image data; obtaining the latest position information of the target to be tracked from the image within the first time period;
and the second modulation module 114 modulates the uplink sensing data according to the latest position information of the target to be tracked.
It should be noted that this embodiment is an apparatus embodiment corresponding to the above method embodiment, and all the implementations in the above method embodiment are applicable to this apparatus embodiment, and the same technical effects can be achieved.
The embodiment of the invention provides a communication system, which comprises at least one low-orbit satellite and at least one ground terminal, wherein each low-orbit satellite in the at least one low-orbit satellite is used for executing a low-time-delay target tracking method in any method embodiment; the at least one ground terminal is configured to perform the low-latency target tracking method in any of the above method embodiments.
The embodiment of the invention provides a computer storage medium, wherein at least one executable instruction is stored in the storage medium, and when the executable instruction is executed, the computing equipment executes the low-delay target tracking method in any method embodiment.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A low-latency target tracking method for use with low-earth orbit satellites, the method comprising:
periodically sending a chirp signal to a mapping area within a first time length, and obtaining perception data corresponding to the chirp signal, wherein the perception data comprises image data of the mapping area within the first time length;
modulating the perception data into communication data;
within a second time period, sending the communication data to a ground terminal so that the ground terminal demodulates the communication data, obtaining an image of the mapping area within the first time period according to the demodulated communication data, and obtaining the latest position information of the target to be tracked according to the image;
receiving uplink sensing data from the ground terminal, and obtaining the latest position information of the target to be tracked from the uplink sensing data;
adjusting configuration information of a linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to a mapping area within a first time length and obtaining sensing data corresponding to the linear frequency modulation signal;
the adjusting the configuration information of the chirp signal according to the latest position information of the target to be tracked comprises: obtaining a second linear frequency modulation signal from the uplink sensing data; obtaining position information of the ground terminal within a second time length from the second linear frequency modulation signal; and adjusting the configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked and the position information of the ground terminal.
2. The low-latency target tracking method according to claim 1, wherein the periodically sending chirp signals to a mapping region comprises:
and in a first time period, sending the linear frequency modulation signal to the mapping area according to a preset Pulse Repetition Frequency (PRF), wherein the configuration information of the linear frequency modulation signal is obtained according to first position information of the target to be tracked in the mapping area.
3. The low-latency target tracking method according to claim 1, wherein the modulation mode for modulating the sensing data into the communication data is any one of the following: orthogonal frequency division multiplexing OFDM, code division multiple access modulation CDMA or multi-carrier modulation.
4. A low-delay target tracking method is applied to a ground terminal, and comprises the following steps:
receiving communication data within a second time period, wherein the communication data are obtained by periodically sending a linear frequency modulation signal to a mapping area by a low-orbit satellite within the first time period and modulating sensing data corresponding to the linear frequency modulation signal;
demodulating the communication data to obtain image data of the mapping area within the first time length;
obtaining an image of the mapping region over the first time duration from the image data;
obtaining the latest position information of the target to be tracked from the image in the first time period;
modulating according to the latest position information of the target to be tracked to obtain uplink perception data, wherein the method comprises the following steps: generating a second chirp having a frequency and pulse width that is the same as the frequency and pulse width of chirps transmitted by the low earth orbit satellite; carrying the latest position information of the target to be tracked in the second linear frequency modulation signal in a phase shift keying PSK modulation mode; inserting a reference signal with a predefined phase into a second linear frequency modulation signal containing the latest position information of the target to be tracked to obtain the uplink sensing data;
and sending the uplink sensing data to the low-orbit satellite so that the low-orbit satellite adjusts the configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to a mapping area within a first time length and obtaining the sensing data corresponding to the linear frequency modulation signal.
5. The low-latency target tracking method according to claim 4, wherein the modulating according to the latest position information of the target to be tracked to obtain uplink sensing data comprises:
and modulating the latest position information of the target to be tracked by using a target modulation mode to obtain the uplink perception data, wherein the target modulation mode is a modulation mode for modulating the communication data.
6. The low-latency target tracking method according to claim 4, wherein the second chirp signal further comprises: and a verification result, wherein the verification result is obtained by decoding and verifying the communication data by the ground terminal.
7. A low-latency target tracking apparatus, for use with low-earth orbit satellites, the apparatus comprising:
the device comprises a first transceiver module, a second transceiver module and a third transceiver module, wherein the first transceiver module periodically transmits a chirp signal to a mapping area within a first time length and obtains sensing data corresponding to the chirp signal, and the sensing data comprises image data of the mapping area within the first time length; within a second time period, sending communication data to a ground terminal so that the ground terminal demodulates the communication data, obtaining an image of the mapping area within the first time period according to the demodulated communication data, and obtaining the latest position information of the target to be tracked according to the image; receiving uplink sensing data from the ground terminal;
the first modulation module is used for modulating the perception data into communication data;
the first demodulation module is used for acquiring the latest position information of the target to be tracked from the uplink perception data;
and the first processing module is used for adjusting the configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to the mapping area within a first time length and obtaining the perception data corresponding to the linear frequency modulation signal.
8. A low-latency target tracking apparatus, for use in a ground terminal, the apparatus comprising:
the second transceiver module receives communication data in a second time period, wherein the communication data is obtained by periodically sending a linear frequency modulation signal to a surveying and mapping area by a low-earth-orbit satellite in the first time period and modulating perception data corresponding to the linear frequency modulation signal; sending uplink sensing data to the low-orbit satellite so that the low-orbit satellite adjusts configuration information of a linear frequency modulation signal according to the latest position information of a target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to a surveying and mapping area within a first time length and obtaining sensing data corresponding to the linear frequency modulation signal;
the second demodulation module is used for demodulating the communication data to obtain image data of the mapping area within the first time length;
a second processing module for obtaining an image of the mapping region over the first time duration from the image data; obtaining the latest position information of the target to be tracked from the image in the first time period;
and the second modulation module is used for modulating according to the latest position information of the target to be tracked to obtain uplink perception data.
9. A communication system comprising at least one low earth orbit satellite and at least one ground terminal, each of the at least one low earth orbit satellite being configured to perform the method of any of claims 1-3; the at least one ground terminal is configured to perform the method of any of claims 4-6.
10. A computer storage medium having stored therein at least one executable instruction that when executed causes a computing device to perform the low latency target tracking method of any one of claims 1-6.
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