CN109633574B - Wide-range high-precision Doppler measurement method for deep space exploration - Google Patents
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Abstract
The invention relates to a wide-range high-precision Doppler measurement method for deep space exploration. The analog PM _ BPSK signal at the transmitting end can form a dual signal block with a repeated period. The receiving end converts the received signal into a digital baseband signal, the FFT calculation is carried out on the digital baseband signal in the first step, and the Doppler frequency rough estimation value of the signal is obtained according to the FFT result. Secondly, according to the obtained rough estimation value, frequency rounding correction and compensation are carried out on the original digital baseband signal, and a residual carrier signal is obtained through narrow-band filtering; and carrying out conjugate complex correlation fine estimation operation based on the dual signal blocks on the residual carrier signal to obtain a Doppler fine estimation value. And fitting the rough estimated value and the fine estimated value to obtain a wide-range high-precision Doppler estimated value. Compared with the traditional Doppler estimation method, the Doppler estimation method has the advantages of taking the measurement efficiency, the measurement range and the measurement precision into consideration, along with large measurement range, high measurement precision, low software complexity and wide application prospect.
Description
Technical Field
The invention relates to the field of inter-device communication in the field of deep space exploration, in particular to a method for realizing wide-range high-precision Doppler measurement by using a subcarrier modulation mode in inter-device communication.
Background
When a vibration source such as sound, light and radio waves moves relative to an observer, the observer receives a vibration having a frequency different from that of the vibration source, which is called doppler effect. When the transmitter transmits a pulse wave of a fixed frequency to scan the space, if a moving object is encountered, the frequency difference between the frequency of the echo and the frequency of the transmitted wave is known as the Doppler frequency. According to the Doppler frequency, the radial relative movement speed of the target to the transmitter can be measured; according to the time difference between the transmitted pulse and the received pulse, the distance of the target can be measured, and the target can be positioned.
The Mars autonomous detection task belongs to a deep space detection task, and relay communication between the surround device and the lander is mainly realized by UHF (ultra high frequency) band communication. In the stages of entering Mars atmosphere, descending and landing of the lander, a UHF frequency band orbiter relay scheme is adopted, and a surround device relay communication receiver carries out real-time Doppler accurate measurement on carrier information forwarded by a UHF relay communication system of the lander while carrying out relay communication so as to realize real-time measurement on the operation orbit of the lander and finish the positioning of a landing point; after landing, the Mars train continues to measure Doppler information through the UHF waveband relay communication channel in the process of developing, patrolling and detecting the Mars surface, and real-time positioning of the Mars train is realized. Therefore, the high-precision doppler measurement technology is one of the key technologies in the mars relay communication system.
The first Mars detection relay communication in China adopts PM _ BPSK transmission signal waveforms, an independent Doppler measurement channel is not provided, and Doppler measurement with 10mHz magnitude precision is required to be realized while bidirectional communication is performed between a surround device and a lander. Based on the transmission signal waveform, how to design the repeater communication machine of the circulator can ensure that the circulator can not only transmit at a variable rate in real time but also realize high-precision Doppler measurement in real time under a large elliptical orbit, and challenges are brought to the design of a repeater communication system and a Doppler signal processing algorithm.
At present, there are many doppler measurement modes applied to a spacecraft, and the doppler measurement modes can be roughly classified into three categories according to the configuration of an uplink and a downlink of a communication system and the tracking mode of a ground station on the spacecraft: single pass, two pass, and three pass modes.
The double-pass Doppler frequency measurement is an active measurement technology, a measuring station transmits signals to a target detector, the detector is provided with a transponder, the received signals are subjected to frequency locking and then transmitted to the measuring station, and the measuring station can calculate the Doppler frequency of the detector according to the Doppler counting principle. The three-pass measurement mode is similar to the two-pass measurement mode except that signal transmission and reception are performed by two different stations, thus avoiding the cycle-skip phenomenon, but at the cost of two stations.
The working mode of one-way Doppler measurement can greatly simplify the survey station and the equipment on the satellite, resources are saved, but the one-way Doppler speed measurement precision is directly influenced by the accuracy and stability of a satellite-borne frequency standard, a detector needs to be configured with a high-stability frequency standard as a signal source or estimate the Doppler with high precision in real time, in the past, due to the technical condition limitation, the one-way speed measurement mode is less applied, and along with the improvement of the quality of the satellite-borne frequency standard and the development of large-scale integrated devices, the one-way measurement mode is adopted, but the existing one-way measurement mode has the modes of a circuit tracking method, a long-time integration method, an ultra-long order FFT method, a two-. The loop tracking and long-time integration method is a method for extracting a deep space device by adopting a software phase-locked loop technology, such as literature 1, in the method, the software phase-locked loop technology is utilized to obtain high-precision Doppler data from residual carrier signals of a detector measurement and control beacon recorded by very long baseline interferometry, and the measurement time is 5s to 10 s. For a large elliptic orbit satellite moving at a high speed, the Doppler time of the large elliptic orbit satellite changes, so that the actual measurement error is large, and the final orbit measurement precision is influenced. If the ultra-long order FFT method considers both the wide range and the high precision index, the FFT operation of more than 217 points is needed, and the cost of required hardware resources is too large for the satellite application environment with strict requirements on power consumption and cost; a two-subsection phase measurement method, such as a patent of a two-subsection phase difference frequency estimation method and a device thereof (CN104076200A), can not give consideration to the dual requirements of measurement range and measurement precision due to the limitation of an algorithm; there are also patents: a high-precision measurement method of carrier Doppler and change rate thereof (CN201711173235) adopts three-level Doppler frequency spectrum estimation, the first two-level 2048-point FFT and the third level adopt 4096-point FFT, the final measurement precision is about 2Hz at 1.953Hz and can not reach the precision of 10mHz, the required carrier-to-noise ratio is more than 40dB, for inhibiting carrier modulation such as BPSK, QPSK and the like, the carrier-to-noise ratio is closer to the signal-to-noise ratio, therefore, the required signal-to-noise ratio is higher, meanwhile, the scheme does not consider the synchronization problem of modulation signals, if direct integration processing is carried out, the measurement is rapidly deteriorated, and therefore, the method is difficult to meet the high-precision measurement requirement under the low signal-to-noise ratio of deep space detection. The underwater sound OFDM Doppler factor accurate estimation method (CN103618686A) is characterized in that a special OFDM frame format is designed, a CW single-frequency signal is added, meanwhile, three-level Doppler frequency spectrum estimation range is gradually reduced, the accuracy is gradually improved, the first level adopts CW, the second level adopts autocorrelation and cross-correlation algorithms respectively, a searching mode is adopted to carry out third-level estimation, in addition, the required signal power is not given, and the realization complexity is relatively high, so that the high-accuracy measurement requirement under a low signal-to-noise ratio is difficult to guarantee.
Disclosure of Invention
The invention aims to provide a method for realizing wide-range high-precision fast Doppler measurement applied to deep space exploration, which is completed by two steps of rough estimation and double-fine estimation of a received signal. Firstly, the received signal is converted into a digital signal and is sampled. Performing FFT calculation and correction on the sampling signal to obtain a large-range Doppler frequency rough estimation value; then, performing frequency compensation on the received signal by using the Doppler frequency rough estimation value, and obtaining a residual carrier signal with very small frequency residual error through narrow-band filtering; then, carrying out conjugate complex correlation fine estimation based on a dual-signal block on the residual carrier signal to obtain a high-precision Doppler frequency fine estimation value; and finally, fitting the rough estimation value and the accurate estimation value, and outputting a final Doppler estimation result. The Doppler frequency offset in a wide range can be estimated with high precision by the combined design mode, and the method is low in implementation complexity and good in real-time performance.
In order to achieve the above object, the present invention adopts a wide-range high-precision doppler measurement method for deep space exploration, wherein a PM _ BPSK analog signal at a transmitting end can form a dual signal block with a repeated period, and the method obtains a doppler frequency estimation value by fitting a doppler measurement method for FFT coarse estimation and accurate estimation of the dual signal block, and comprises the steps of:
s1, processing the received analog PM _ BPSK signal to generate a digital baseband signal, and sampling frequency fs(ii) a Said periodically repeating pairIn the signal blocks, each signal block is provided with N sampling points, and the delay between the two signal blocks is D sampling points;
s2, obtaining the preliminary Doppler frequency rough estimation value g through FFT operation on the sampling signal of the digital baseband signalrough_estim；
S3, the preliminary Doppler frequency rough estimation value grough_estimPerforming frequency rounding correction to obtain a corrected result, which is a Doppler frequency coarse estimated value frough_estim(ii) a Will f isrough_estimObtaining a residual filtering signal of the PM _ BPSK signal through the compensation processing of the rough estimation value and the narrow-band filtering;
s4, carrying out conjugate complex correlation operation based on a dual signal block on the residual filtering signal to obtain a complex correlation value R;
s5, the phase discriminator carries out angle calculation on the complex correlation value R to obtain < R; the angle of R is represented by < R and is also a phase difference value, and a Doppler frequency fine estimation value f is calculated by < Rfine_estim；
S6, and the Doppler frequency rough estimated value f obtained in the steps S2 and S5rough_estimAnd a Doppler frequency fine estimation value ffine_estimFitting is carried out to obtain a final Doppler measurement result festim。
The step of generating the digital baseband signal in step S1 includes:
s11, converting the analog PM _ BPSK signal into a digital PM _ BPSK signal through a signal acquisition module;
s12, digitally mixing the digital PM _ BPSK signal with the local carrier frequency through digital down conversion processing, and generating a digital baseband signal.
The step S2 includes:
s21, selecting continuous NFFTSampling points of the digital baseband signal, and the position serial number of each sampling point is respectively marked as 1,2 and … NFFT(ii) a Said N isFFTThe sampling points are called FFT blocks;
s22, performing modulo processing on the frequency domain data of each sampling point in the step S21;
s23, according to the result of the step S22, the peak value searching operation is carried out, and the modulus value is calculatedMultiplying the position serial number of the corresponding sampling point of the peak position by the frequency resolution of the FFT block to obtain a preliminary Doppler frequency rough estimation value grough_estim。
The frequency rounding correction in step S3 specifically includes: f. ofrough_estim＝grough_estim-(grough_estim mod)；
The rough estimation value compensation processing described in step S3 specifically includes: the Doppler frequency is roughly estimated frough_estimSumming with the local carrier and then digitally downconverting.
The conjugate complex correlation operation based on the dual signal block described in step S4 includes the following specific steps:
s41, intercepting two continuous repeated signal blocks of the residual filtering signal, and respectively recording the two continuous repeated signal blocks as a first signal block and a second signal block;
s42, making the time domain data signal of the residual filtering signal at the transmitting end be x (k), wherein k is the time index of the discrete digital signal, and the value is 0,1,2,3, …; the complex frequency domain equivalent signal is
Wherein f istxFor transmitting carrier frequencies, TsIs a sampling time interval;
s43, at the receiving end, the complex baseband signal of the residual filtering signal is recorded as r (k),
wherein f isrxFor receiving carrier frequency, ═ NfΔTs＝N(ftx-frx)TsIs a normalized carrier frequency deviation;
s44, the receiving end performs double-signal block conjugate operation of the residual filtering signal to obtain a complex correlation value R:
where r (k) is the complex baseband signal of the first signal block, r*(k + D + N) is the conjugate complex signal of r (k) of the second signal block r (k + D + N) delayed by D samples.
Step S5, calculating a Doppler frequency accurate estimation value by the phase difference value < R
The fitting of the coarse doppler frequency estimation value and the fine doppler frequency estimation value in step S1 specifically includes: f. ofestim＝frough_estim+ffine_estim。
The invention has the beneficial effects that: in a deep space exploration relay communication system, compared with the traditional single Doppler estimation method, the Doppler measurement method has the advantages that the measurement efficiency, the measurement range and the measurement precision are considered; compared with a combined Doppler estimation method, the method has the advantages of large measurement range, high measurement precision and low software complexity.
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In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are an embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts according to the drawings:
fig. 1 is a flow chart of a wide-range high-precision doppler measurement method for deep space exploration, which is implemented by the invention.
Fig. 2 is a block diagram of the structure of the sampling point used for the FFT calculation and the complex conjugate operation of the dual signal in the present invention.
Figure 3 is a schematic block diagram of the present invention for calculating doppler using dual signal blocks.
Figure 4 is a simulation of the doppler measurements as a function of signal to noise ratio in the present invention.
Detailed Description
For a better understanding of the technical features, objects, and effects of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention. It should be noted that these drawings are in a very simplified form and that non-precise ratios are used in each, and are only used for convenience and clarity to aid in describing the present invention.
In order to achieve the above object, the present invention adopts a wide-range high-precision doppler measurement method for deep space exploration, wherein a PM _ BPSK analog signal at a transmitting end can form a dual-signal block with a repeated period, the method obtains a doppler estimation value by performing FFT coarse estimation value and accurate estimation operation based on dual-signal block conjugate complex correlation on a received PM _ BPSK signal, and fitting the coarse estimation value and the accurate estimation value, as shown in fig. 1, the method comprises the steps of:
s1, converting the received analog PM _ BPSK signal into a digital PM _ BPSK signal through a signal acquisition module; through digital down-conversion processing, the digital PM _ BPSK signal and the local carrier frequency are subjected to digital frequency mixing to generate a digital baseband signal. Wherein the signal sampling frequency fs；
As shown in fig. 2, the dual signal blocks with repeated cycles are sampled, each signal block has N sampling points, and the delay between two signal blocks is D sampling points;
s2, obtaining the preliminary Doppler frequency rough estimation value g through FFT operation on the sampling signal of the digital baseband signalrough_estim；
As shown in fig. 2, step S2 specifically includes:
s21, selecting continuous NFFTSampling points of the digital baseband signal, and the position serial number of each sampling point is respectively marked as 1,2 and … NFFT(ii) a Said N isFFTThe sampling points are called FFT blocks;
s22, performing modulo processing on the frequency domain data of each sampling point in the step S21;
s23, according to the modulus result of S22, peak searching operation is carried out, the position serial number of the sampling point corresponding to the peak position of the modulus is multiplied by the frequency resolution of the FFT block, and the preliminary Doppler frequency rough estimation value g is obtainedrough_estim。
S3, the preliminary Doppler frequency rough estimation value grough_estimPerforming frequency rounding correction to obtain a corrected result, which is a Doppler frequency coarse estimated value frough_estimThe rounding correction method comprises the following steps:
frough_estim＝grough_estim-(grough_estimmod)； (1)
wherein
The Doppler frequency is roughly estimated frough_estimAfter the local carrier is solved, the compensation processing of a rough estimation value is carried out, and then the digital down-conversion is carried out, so that the PM _ BPSK signal with a very small frequency residual error is obtained.
And (3) carrying out narrow-band filtering on the PM _ BPSK signal of the small-range frequency residual error, and filtering out the influence of BPSK to obtain a residual filtering signal.
S4, carrying out conjugate complex correlation operation based on a dual signal block on the residual filtering signal to obtain a complex correlation value R; the calculation principle is shown in fig. 3.
The method comprises the following specific steps:
s41, intercepting two continuous repeated signal blocks of the residual filtering signal, and respectively recording the two continuous repeated signal blocks as a first signal block and a second signal block;
s42, making the time domain data signal of the residual filtering signal at the transmitting end be x (k), wherein k is the time index of the discrete digital signal, and the value is 0,1,2,3, …; the complex frequency domain equivalent signal is
Wherein f istxFor transmitting carrier frequencies, TsIs a sampling time interval;
s43, at the receiving end, the complex baseband signal of the residual filtering signal is recorded as r (k),
wherein f isrxFor receiving carrier frequency，＝NfΔTs＝N(ftx-frx)TsIs a normalized carrier frequency deviation;
s44, the receiving end performs double-signal block conjugate operation of the residual filtering signal to obtain a complex correlation value R:
where r (k) is the complex baseband signal of the first signal block, r*(k + D + N) is the conjugate complex signal of r (k) of the second signal block r (k + D + N) delayed by D samples.
S5, the phase discriminator carries out angle calculation on the complex correlation value R to obtain < R; the angle of R is also the phase difference value, and the Doppler frequency fine estimation value is calculated by the angle R. Firstly, the estimated value of the normalized Doppler frequency deviation is obtained according to the formula (3)
Comprises the following steps:
let the Doppler estimate be ffine_estimThen, then
Knowing the Doppler frequency factor range of
In practice, the Doppler estimation range is
The value in equation (1) is also |/ffine_estimAnd the value principle is as shown in formula (5).
S6, and the Doppler frequency rough estimated value f obtained in the steps S2 and S5rough_estimAnd a Doppler frequency fine estimation value ffine_estimFitting is carried out to obtain a final Doppler measurement result festim＝frough_estim+ffine_estim。
Examples illustrate that: assuming that the doppler frequency offset of a transmitting end in a deep space relay communication system is 23.123456kHz, we need to estimate the actual doppler frequency offset according to a received signal, and the closer the estimated result is to the original doppler frequency offset, the better the measurement method is. In the embodiment of the present application, the sampling rate fsThe frequency is 102400Hz, the FFT point number is 4096, and the minimum frequency resolution of the FFT is 25 Hz; the length N of the double signal block is 10240 points, the sampling time is 100ms, the delay D is 1280 sampling points, and the calculation is carried out
The two-signal block estimation period ranges from 40 Hz. The rough estimation value after the FFT operation is 23.125kHz, 23125-. After frequency compensation and down-conversion, the residual frequency was 3.456 Hz. The two-signal block fine estimate is 3.4551 HZ. Because the fine estimation value of the dual signal block is affected by noise in an actual channel, the curve of the fine estimation value changing along with the signal-to-noise ratio is as shown in fig. 4, when the signal-to-noise ratio is greater than 8dB, the estimation accuracy of the doppler frequency offset is better than 10mHz, and the time required for acquiring the two doppler estimation signals is as follows:
4096/102.4kHz +1280/102.4kHz +10240/102.4kHz × 2-252.5 ms, and if the FPGA adopts a high-power clock such as an 80MHz clock for operation, the calculation time is in millisecond level, and the total time is less than 260 ms.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A wide-range high-precision Doppler measurement method for deep space exploration is characterized by comprising the following steps of:
s1, processing the received analog PM _ BPSK signal to generate a digital baseband signal, and sampling frequency fs(ii) a After sampling, in the double signal blocks with repeated periods, each signal block is provided with N sampling points, and the delay between the two signal blocks is D sampling points;
s2, obtaining the preliminary Doppler frequency rough estimation value g through FFT operation on the sampling signal of the digital baseband signalrough_estim；
S3, the preliminary Doppler frequency rough estimation value grough_estimPerforming frequency rounding correction to obtain a corrected result, which is a Doppler frequency coarse estimated value frough_estim(ii) a Will f isrough_estimObtaining a residual filtering signal of the PM _ BPSK signal through the compensation processing of the rough estimation value and the narrow-band filtering;
s4, carrying out conjugate complex correlation operation based on a dual signal block on the residual filtering signal to obtain a complex correlation value R;
s5, the phase discriminator carries out angle calculation on the complex correlation value R to obtain < R; the angle of R is represented by < R and is also a phase difference value, and a Doppler frequency fine estimation value f is calculated by < Rfine_estim；
S6, and the Doppler frequency rough estimated value f obtained in the steps S2 and S5rough_estimAnd a Doppler frequency fine estimation value ffine_estimFitting is carried out to obtain a final Doppler measurement result festim。
2. The doppler measurement method with wide range and high accuracy for deep space exploration according to claim 1, wherein the generating of the digital baseband signal in step S1 comprises:
s11, converting the analog PM _ BPSK signal into a digital PM _ BPSK signal through a signal acquisition module;
s12, digitally mixing the digital PM _ BPSK signal with the local carrier frequency through digital down conversion processing, and generating a digital baseband signal.
3. The wide-range high-precision doppler measurement method for deep space exploration according to claim 1, wherein said step S2 includes:
s21, selecting continuous NFFTSampling points of the digital baseband signal, and the position serial number of each sampling point is respectively marked as 1,2 and … NFFT(ii) a Said N isFFTThe sampling points are called FFT blocks;
s22, performing modulo processing on the frequency domain data of each sampling point in the step S21;
s23, according to the modulus result of S22, peak searching operation is carried out, the position serial number of the sampling point corresponding to the peak position of the modulus is multiplied by the frequency resolution of the FFT block, and the preliminary Doppler frequency rough estimation value g is obtainedrough_estim。
4. The method as claimed in claim 1, wherein the frequency rounding correction in step S3 specifically includes: f. ofrough_estim＝grough_estim-(grough_estimmod); wherein
5. The method as claimed in claim 1, wherein the step S3 of compensating the rough estimation specifically includes: the Doppler frequency is roughly estimated frough_estimSumming with the local carrier and then digitally downconverting.
6. The method for measuring doppler with wide range and high accuracy in deep space exploration according to claim 1, wherein said conjugate complex correlation operation based on dual signal blocks of step S4 comprises the following steps:
s41, intercepting two continuous repeated signal blocks of the residual filtering signal, and respectively recording the two continuous repeated signal blocks as a first signal block and a second signal block;
s42, making the time domain data signal of the residual filtering signal at the transmitting end be x (k), wherein k is the time index of the discrete digital signal, and the value is 0,1,2,3, …; the complex frequency domain equivalent signal is
Wherein f istxFor transmitting carrier frequencies, TsIs a sampling time interval;
s43, at the receiving end, the complex baseband signal of the residual filtering signal is recorded as r (k),
wherein f isrxFor receiving carrier frequency, ═ NfΔTs＝N(ftx-frx)TsIs a normalized carrier frequency deviation;
s44, the receiving end performs double-signal block conjugate operation of the residual filtering signal to obtain a complex correlation value R:
where r (k) is the complex baseband signal of the first signal block, r*(k + D + N) is the conjugate complex signal of r (k) of the second signal block r (k + D + N) delayed by D samples.
7. The wide-range high-precision Doppler measurement method for deep space exploration according to claim 1, wherein the precise Doppler frequency estimation value is calculated by the phase difference value < R in step S5, specifically speaking, the precise Doppler frequency estimation value is calculated by the phase difference value < R
8. Broad range for deep space exploration according to claim 1The high-precision doppler measurement method is characterized in that fitting the coarse doppler frequency estimation value and the fine doppler frequency estimation value in step S1 specifically includes: f. ofestim＝frough_estim+ffine_estim。
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