CN111753248A - Frequency offset time vernier measurement method and system and computer readable storage medium - Google Patents

Frequency offset time vernier measurement method and system and computer readable storage medium Download PDF

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CN111753248A
CN111753248A CN202010429440.4A CN202010429440A CN111753248A CN 111753248 A CN111753248 A CN 111753248A CN 202010429440 A CN202010429440 A CN 202010429440A CN 111753248 A CN111753248 A CN 111753248A
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吕植勇
张开拓
游锦辉
王岩
胡一婷
谭超
何奇珂
赵裕
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Abstract

The invention discloses a method and a system for measuring a frequency deviation time vernier and a computer readable storage medium, belongs to the technical field of frequency deviation measurement, and solves the problem of low measurement precision of the frequency deviation time vernier in the prior art. A frequency offset time vernier measurement method comprises the following steps: acquiring a carrier signal to obtain an initial estimated value of a carrier frequency; taking the initial estimated value of the carrier frequency as the initial value of a tracking loop, and estimating the carrier frequency again by using the tracking loop to obtain the estimated carrier frequency again; sending a sine wave signal with fixed offset with the carrier frequency to the mobile station, acquiring the frequency of the sine wave signal, and acquiring the phase discrimination value of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the estimated carrier frequency again; and obtaining a frequency deviation time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase identifying value. The frequency deviation time vernier measuring method improves the measuring precision of the frequency deviation time vernier.

Description

Frequency offset time vernier measurement method and system and computer readable storage medium
Technical Field
The present invention relates to the field of frequency offset measurement technologies, and in particular, to a method and a system for measuring a frequency offset time vernier and a computer-readable storage medium.
Background
At present, methods for measuring frequency deviation include methods such as a Bessel function zero value method, a frequency spectrum comparison method, an extreme value method, a counter average method and the like; the selection of the measurement methods is to select a certain method or a plurality of methods for use in combination according to the principles of the magnitude of the frequency offset, the range of the modulation frequency, the height of the modulation index, the convenience in use and the like, so as to complete the measurement of the frequency offset; however, in the actual measurement process, these measurement methods are susceptible to various external factors, such as: measuring speed, measuring vibration conditions of the environment, and the like; in addition, the acceleration, the speed, the angular velocity and the moving direction of the carrying tool can change frequently in the moving process, and the phenomena of multi-frequency interference, multi-path effect, jitter and the like exist, all the factors influence the measurement precision of the frequency deviation, namely, the frequency deviation time vernier is influenced, and the measurement precision of the frequency deviation time vernier is lower by using the existing scheme.
Disclosure of Invention
The present invention is directed to overcome at least one of the above technical deficiencies, and to provide a method for measuring frequency offset time vernier.
The invention provides a frequency deviation time vernier measuring method, which comprises the following steps: acquiring a carrier signal, and performing initial estimation on a carrier frequency by utilizing fast Fourier transform to obtain an initial estimation value of the carrier frequency;
taking the initial estimated value of the carrier frequency as the initial value of a tracking loop, and estimating the carrier frequency again by using the tracking loop to obtain the estimated carrier frequency again;
sending a sine wave signal with fixed offset with the carrier frequency to a mobile station, acquiring the frequency of the sine wave signal, and acquiring the phase evaluation values of the sine wave signal and the carrier wave according to the frequency of the sine wave signal and the estimated carrier frequency;
and obtaining a frequency deviation time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase identifying value.
Further, the tracking loop includes a first-order loop for tracking the phase step signal, a second-order loop for tracking the phase step signal and the phase ramp signal, and a third-order loop for tracking the phase step signal, the frequency step signal, and the frequency ramp signal.
Further, the second order loop is a frequency locked loop and the third order loop is a phase locked loop.
Further, obtaining the phase discrimination value of the sine wave signal and the carrier wave according to the frequency of the sine wave signal and the estimated carrier frequency again specifically comprises utilizing a formula for the sine wave signal and the carrier wave signal
Figure BDA0002499978660000021
Fourier transform is carried out to obtain a transformed sine wave signal
Figure BDA0002499978660000022
And a carrier signal
Figure BDA0002499978660000023
By
Figure BDA0002499978660000024
Obtaining the phase discrimination value of the sine wave signal and the carrier signal
Figure BDA0002499978660000025
Wherein the content of the first and second substances,
Figure BDA0002499978660000026
Figure BDA0002499978660000027
is the mean value, s, of the frequency of the sine wave signal and the re-estimated carrier frequency1(n) is a carrier signal, s1(f) For signals after discrete Fourier transform of carrier signals, s2(n) is a sine wave signal, S2(f) Is a signal of a sine wave signal after discrete Fourier transform, w1(n) is a noise signal during transmission of the carrier signal, W1(f) Is w1(n) discrete Fourier transformed signal, w2(n) is a noise signal in the transmission of the sine wave signal, W2(f) Is w2(N) discrete fourier transformed signals, k being 0, 1.
And further, obtaining a frequency offset time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase identification value, specifically, training the fuzzy neural network by taking the acceleration and the angular acceleration of the gyroscope and the phase identification value as the input of the fuzzy neural network, acquiring time corresponding to a phase change through the trained fuzzy neural network, and taking the time corresponding to the phase change as the frequency offset time vernier.
On the other hand, the invention also provides a frequency offset time vernier measuring system, which comprises a carrier frequency initial estimation module, a carrier frequency re-estimation module, a phase demodulation value acquisition module and a frequency offset time vernier acquisition module,
the carrier frequency initial estimation module is used for acquiring a carrier signal and carrying out initial estimation on the carrier frequency by utilizing fast Fourier transform to obtain an initial estimation value of the carrier frequency;
the carrier frequency re-estimation module is used for taking the initial estimation value of the carrier frequency as the initial value of the tracking loop and re-estimating the carrier frequency by using the tracking loop to obtain the re-estimated carrier frequency;
the phase discrimination value acquisition module is used for sending a sine wave signal with fixed offset with the carrier frequency to a mobile station, acquiring the frequency of the sine wave signal, and acquiring the phase discrimination value of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the carrier frequency estimated again;
and the frequency offset time vernier acquisition module is used for acquiring a frequency offset time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase evaluation value.
Further, the carrier frequency re-estimation module obtains the phase discrimination values of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the re-estimated carrier frequency, specifically including,
using formulas for the sine wave signal and the carrier wave signal
Figure BDA0002499978660000031
Fourier transform is carried out to obtain a transformed sine wave signal
Figure BDA0002499978660000032
And a carrier signal
Figure BDA0002499978660000033
By
Figure BDA0002499978660000034
Obtaining the phase discrimination value of the sine wave signal and the carrier signal
Figure BDA0002499978660000035
Wherein the content of the first and second substances,
Figure BDA0002499978660000036
Figure BDA0002499978660000037
is the mean value, s, of the frequency of the sine wave signal and the re-estimated carrier frequency1(n) is a carrier signal, s1(f) After discrete Fourier transform of carrier signalSignal, s2(n) is a sine wave signal, S2(f) Is a signal of a sine wave signal after discrete Fourier transform, w1(n) is a noise signal during transmission of the carrier signal, W1(f) Is w1(n) discrete Fourier transformed signal, w2(n) is a noise signal in the transmission of the sine wave signal, W2(f) Is w2(N) discrete fourier transformed signals, k being 0, 1.
Further, the frequency offset time vernier acquiring module acquires the frequency offset time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase identification value, and specifically includes training the fuzzy neural network by using the acceleration and the angular acceleration of the gyroscope and the phase identification value as the input of the fuzzy neural network, acquiring a time corresponding to a phase change through the trained fuzzy neural network, and using the time corresponding to the phase change as the frequency offset time vernier.
In another aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for measuring frequency offset time vernier according to any of the above technical solutions is implemented.
Compared with the prior art, the invention has the beneficial effects that: the carrier frequency is initially estimated by acquiring a carrier signal and utilizing fast Fourier transform to obtain an initial estimated value of the carrier frequency; taking the initial estimated value of the carrier frequency as the initial value of a tracking loop, and estimating the carrier frequency again by using the tracking loop to obtain the estimated carrier frequency again; sending a sine wave signal with fixed offset with a carrier frequency to a mobile station, acquiring the frequency of the sine wave signal, and acquiring the phase discrimination value of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the carrier frequency estimated again; obtaining a frequency deviation time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase identifying value; the measurement precision of the frequency offset time vernier is improved.
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Fig. 1 is a schematic flow chart of a frequency offset time vernier measurement method according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a doppler frequency shift estimation carrier frequency according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram of a vernier frequency offset measurement model according to embodiment 1 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The embodiment of the invention provides a frequency offset time vernier measurement method, which has a flow schematic diagram, as shown in fig. 1, and comprises the following steps:
step S1, acquiring a carrier signal, and performing initial estimation on a carrier frequency by utilizing fast Fourier transform to obtain an initial estimation value of the carrier frequency;
step S2, taking the initial estimated value of the carrier frequency as the initial value of the tracking loop, and estimating the carrier frequency again by using the tracking loop to obtain the estimated carrier frequency again;
step S3, sending a sine wave signal with fixed offset with the carrier frequency to the mobile station, obtaining the frequency of the sine wave signal, and obtaining the phase discrimination value of the sine wave signal and the carrier wave according to the frequency of the sine wave signal and the carrier frequency estimated again;
and step S4, obtaining a frequency offset time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase detection value.
In one embodiment, the frequency-corrected burst sequence is used, and the frequency-corrected burst sequence is the same as the normal burst sequence, and sends a sine wave signal with fixed offset (frequency offset) with the carrier frequency, so as to adjust the carrier frequency of the mobile station, and can also be used for measuring the frequency offset, and further correcting the carrier frequency of the mobile station;
it should be noted that, according to the doppler effect, in the moving process, the acceleration and speed of the vehicle, the angular acceleration and the moving direction change to cause the frequency offset, and the frequency offset causes the frequency drift, and by using the principle of the vernier caliper, the part which is not accurate enough is measured by using the phase;
preferably, the tracking loop includes a first-order loop for tracking the phase step signal, a second-order loop for tracking the phase step signal and the phase ramp signal, and a third-order loop for tracking the phase step signal, the frequency step signal, and the frequency ramp signal.
Preferably, the second-order loop is a frequency locked loop, and the third-order loop is a phase locked loop.
In a specific embodiment, the accurate carrier frequency is obtained by loop tracking, and the accurate estimation of the carrier frequency is performed after the initial estimation of the carrier frequency is completed through Fast Fourier Transform (FFT); accurate estimation of the Doppler shift is achieved based on a loop tracking manner;
the initial carrier Frequency estimation value is used as an initial value of Loop tracking, and the tracking Loop mainly comprises a Frequency Locked Loop (FLL), a Phase Locked Loop (PLL) and a corresponding filter;
the measurement precision of the carrier frequency is a function of the loop order, the noise bandwidth Bn, the carrier-to-noise ratio C/N0, the integration time Tb, the phase noise of the local vibration source and the Doppler acceleration; the tracking loop is used for reducing noise as much as possible, improving the estimation precision of the carrier wave and tracking the dynamic signals of large Doppler velocity and Doppler acceleration;
in specific implementation, in the selection of the loop order, the first-order loop is used for tracking the phase step signal, but is sensitive to frequency change; the second-order loop is used for tracking a phase step signal and a phase slope signal, but is sensitive to jitter; the third order loop can track the phase step signal, the frequency step signal, and the frequency ramp signal, which is also sensitive to jitter. The two-order FLL and the three-order PLL can be adopted to work in a matching way, and the three-order change of the Doppler frequency offset of the LEO is very small and can be approximate to zero; a diagram of doppler frequency offset estimation carrier frequency, as shown in fig. 2;
the order of the tracking loop is set to be three orders, so that dynamic errors caused by satellite operation can be eliminated well, and the remaining errors are mainly thermal errors.
Preferably, the phase discrimination value of the sine wave signal and the carrier wave is obtained according to the frequency of the sine wave signal and the estimated carrier frequency, and specifically includes using a formula for the sine wave signal and the carrier wave signal
Figure BDA0002499978660000051
Fourier transform is carried out to obtain a transformed sine wave signal
Figure BDA0002499978660000052
And a carrier signal
Figure BDA0002499978660000053
By
Figure BDA0002499978660000054
Obtaining the phase discrimination value of the sine wave signal and the carrier signal
Figure BDA0002499978660000055
Wherein the content of the first and second substances,
Figure BDA0002499978660000056
Figure BDA0002499978660000057
is the mean value, s, of the frequency of the sine wave signal and the re-estimated carrier frequency1(n) is a carrier signal, s1(f) For signals after discrete Fourier transform of carrier signals, s2(n) is a sine wave signal, S2(f) Is a signal of a sine wave signal after discrete Fourier transform, w1(n) is a noise signal during transmission of the carrier signal, W1(f) Is composed ofw1(n) discrete Fourier transformed signal, w2(n) is a noise signal in the transmission of the sine wave signal, W2(f) Is w2(N) discrete fourier transformed signals, k being 0, 1.
It should be noted that the phase discrimination value at each time is affected by noise, so that the final phase difference estimation accuracy is affected, and a converted sine wave signal is obtained
Figure BDA0002499978660000058
And a carrier signal
Figure BDA0002499978660000059
Then, utilizing a narrow-band phase discrimination algorithm to obtain phase discrimination values of the sine wave signal and the carrier wave signal;
preferably, the frequency offset time vernier is obtained according to the acceleration and the angular acceleration of the gyroscope and the phase identifying value, and the method specifically includes training the fuzzy neural network by using the acceleration and the angular acceleration of the gyroscope and the phase identifying value as the input of the fuzzy neural network, acquiring a time corresponding to a phase change through the trained fuzzy neural network, and using the time corresponding to the phase change as the frequency offset time vernier.
It should be noted that the phase identifying value is a frequency difference between the carrier signal and the sinusoidal signal, and a time variation value can be obtained according to the frequency difference;
the vernier frequency offset model is shown in fig. 3; since the frequency may be increased or decreased by the change of the phase, in order to discriminate the frequency change tendency, the acceleration and angular acceleration of the gyroscope and the frequency change tendency of the discriminator are used as input quantities by using a fuzzy mathematical processing tool, by using a fuzzy mathematical processing tool, the acceleration and angular acceleration of the gyroscope, the phase discrimination variation trend of a sine wave signal and a carrier signal are used as input quantities, the variation trend of the phase variation of one carrier signal to the frequency of the sine wave signal within a certain period of time is judged through the training of a fuzzy neural network, because the frequency deviation can be accurately measured by changing one phase within a period of time, the time of one phase is a vernier, the frequency deviation can be accurately measured, the frequency value can be obtained by obtaining the time value by the vernier, and the frequency value obtained by measuring the time is more accurate than the frequency change directly measured; the accuracy of the frequency offset is improved, and the positioning accuracy is also improved.
Example 2
The embodiment of the invention provides a frequency deviation time vernier measuring system, which comprises a carrier frequency initial estimation module, a carrier frequency re-estimation module, a phase discrimination value acquisition module and a frequency deviation time vernier acquisition module,
the carrier frequency initial estimation module is used for acquiring a carrier signal and carrying out initial estimation on the carrier frequency by utilizing fast Fourier transform to obtain an initial estimation value of the carrier frequency;
the carrier frequency re-estimation module is used for taking the initial estimation value of the carrier frequency as the initial value of the tracking loop and re-estimating the carrier frequency by using the tracking loop to obtain the re-estimated carrier frequency;
the phase discrimination value acquisition module is used for sending a sine wave signal with fixed offset with the carrier frequency to a mobile station, acquiring the frequency of the sine wave signal, and acquiring the phase discrimination value of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the carrier frequency estimated again;
and the frequency offset time vernier acquisition module is used for acquiring a frequency offset time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase evaluation value.
Preferably, the carrier frequency re-estimation module obtains the phase discrimination values of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the re-estimated carrier frequency, and specifically includes,
using formulas for the sine wave signal and the carrier wave signal
Figure BDA0002499978660000061
Fourier transform is carried out to obtain a transformed sine wave signal
Figure BDA0002499978660000062
And a carrier signal
Figure BDA0002499978660000063
By
Figure BDA0002499978660000064
Obtaining the phase discrimination value of the sine wave signal and the carrier signal
Figure BDA0002499978660000065
Wherein the content of the first and second substances,
Figure BDA0002499978660000071
Figure BDA0002499978660000072
is the mean value, s, of the frequency of the sine wave signal and the re-estimated carrier frequency1(n) is a carrier signal, s1(f) For signals after discrete Fourier transform of carrier signals, s2(n) is a sine wave signal, S2(f) Is a signal of a sine wave signal after discrete Fourier transform, w1(n) is a noise signal during transmission of the carrier signal, W1(f) Is w1(n) discrete Fourier transformed signal, w2(n) is a noise signal in the transmission of the sine wave signal, W2(f) Is w2(N) discrete fourier transformed signals, k being 0, 1.
Preferably, the frequency offset time vernier acquiring module acquires the frequency offset time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase identifying value, and specifically includes training the fuzzy neural network by using the acceleration and the angular acceleration of the gyroscope and the phase identifying value as the input of the fuzzy neural network, acquiring a time corresponding to a phase change through the trained fuzzy neural network, and using the time corresponding to the phase change as the frequency offset time vernier.
Example 3
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for measuring a frequency offset time vernier according to any one of embodiments 1 is implemented.
It should be noted that the descriptions of examples 1 to 3 are not repeated and can be referred to each other.
The invention discloses a frequency deviation time vernier measuring method, a system and a computer readable storage medium, wherein a carrier signal is obtained, and the carrier frequency is initially estimated by utilizing fast Fourier transform to obtain an initial estimated value of the carrier frequency; taking the initial estimated value of the carrier frequency as the initial value of a tracking loop, and estimating the carrier frequency again by using the tracking loop to obtain the estimated carrier frequency again; sending a sine wave signal with fixed offset with a carrier frequency to a mobile station, acquiring the frequency of the sine wave signal, and acquiring the phase discrimination value of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the carrier frequency estimated again; obtaining a frequency deviation time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase identifying value; the measurement precision of the frequency offset time vernier is improved.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims (9)

1. A frequency offset time vernier measurement method is characterized by comprising the following steps:
acquiring a carrier signal, and performing initial estimation on a carrier frequency by utilizing fast Fourier transform to obtain an initial estimation value of the carrier frequency;
taking the initial estimated value of the carrier frequency as the initial value of a tracking loop, and estimating the carrier frequency again by using the tracking loop to obtain the estimated carrier frequency again;
sending a sine wave signal with fixed offset with a carrier frequency to a mobile station, acquiring the frequency of the sine wave signal, and acquiring the phase discrimination value of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the carrier frequency estimated again;
and obtaining a frequency deviation time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase identifying value.
2. The method of frequency offset time vernier measurement of claim 1 wherein said tracking loop comprises a first order loop for tracking a phase step signal, a second order loop for tracking a phase step signal and a phase ramp signal, and a third order loop for tracking a phase step signal, a frequency step signal and a frequency ramp signal.
3. The method of frequency offset time vernier measurement of claim 2 wherein said second order loop is a frequency locked loop and said third order loop is a phase locked loop.
4. The method of claim 1, wherein obtaining the phase detection values of said sine wave signal and said carrier signal according to the frequency of said sine wave signal and the estimated carrier frequency comprises using a formula for said sine wave signal and said carrier signal
Figure FDA0002499978650000011
Fourier transform is carried out to obtain a transformed sine wave signal
Figure FDA0002499978650000012
And a carrier signal
Figure FDA0002499978650000013
By
Figure FDA0002499978650000014
Obtaining the phase discrimination value of the sine wave signal and the carrier signal
Figure FDA0002499978650000015
Wherein the content of the first and second substances,
Figure FDA0002499978650000016
Figure FDA0002499978650000017
Figure FDA0002499978650000018
is the mean value, s, of the frequency of the sine wave signal and the re-estimated carrier frequency1(n) is a carrier signal, s1(f) For signals after discrete Fourier transform of carrier signals, s2(n) is a sine wave signal, S2(f) Is a signal of a sine wave signal after discrete Fourier transform, w1(n) is a noise signal during transmission of the carrier signal, W1(f) Is w1(n) discrete Fourier transformed signal, w2(n) is a noise signal in the transmission of the sine wave signal, W2(f) Is w2(N) discrete fourier transformed signals, k being 0, 1.
5. The method of claim 1, wherein the frequency offset time vernier measurement is obtained according to the acceleration and the angular acceleration of the gyroscope and the phase-identifying value, and specifically comprises training the fuzzy neural network by using the acceleration and the angular acceleration of the gyroscope and the phase-identifying value as inputs of the fuzzy neural network, obtaining a time corresponding to a phase change through the trained fuzzy neural network, and using the time corresponding to the phase change as the frequency offset time vernier.
6. A frequency offset time vernier measurement system is characterized by comprising a carrier frequency initial estimation module, a carrier frequency re-estimation module, a phase demodulation value acquisition module and a frequency offset time vernier acquisition module,
the carrier frequency initial estimation module is used for acquiring a carrier signal and carrying out initial estimation on the carrier frequency by utilizing fast Fourier transform to obtain an initial estimation value of the carrier frequency;
the carrier frequency re-estimation module is used for taking the initial estimation value of the carrier frequency as the initial value of the tracking loop and re-estimating the carrier frequency by using the tracking loop to obtain the re-estimated carrier frequency;
the phase discrimination value acquisition module is used for sending a sine wave signal with fixed offset with the carrier frequency to a mobile station, acquiring the frequency of the sine wave signal, and acquiring the phase discrimination value of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the carrier frequency estimated again;
and the frequency offset time vernier acquisition module is used for acquiring a frequency offset time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase evaluation value.
7. The system according to claim 6, wherein the carrier frequency re-estimation module obtains the phase detection values of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the re-estimated carrier frequency, and specifically comprises,
using formulas for the sine wave signal and the carrier wave signal
Figure FDA0002499978650000021
Fourier transform is carried out to obtain a transformed sine wave signal
Figure FDA0002499978650000022
And a carrier signal
Figure FDA0002499978650000023
By
Figure FDA0002499978650000024
Obtaining the said sine wave signal and carrier signalPhase value
Figure FDA0002499978650000025
Wherein the content of the first and second substances,
Figure FDA0002499978650000026
Figure FDA0002499978650000027
Figure FDA0002499978650000028
is the mean value, s, of the frequency of the sine wave signal and the re-estimated carrier frequency1(n) is a carrier signal, s1(f) For signals after discrete Fourier transform of carrier signals, s2(n) is a sine wave signal, S2(f) Is a signal of a sine wave signal after discrete Fourier transform, w1(n) is a noise signal during transmission of the carrier signal, W1(f) Is w1(n) discrete Fourier transformed signal, w2(n) is a noise signal in the transmission of the sine wave signal, W2(f) Is w2(N) discrete fourier transformed signals, k being 0, 1.
8. The system according to claim 6, wherein the frequency offset time vernier obtaining module obtains the frequency offset time vernier according to the acceleration, the angular acceleration and the phase estimation value of the gyroscope, and specifically includes training the fuzzy neural network by using the acceleration, the angular acceleration and the phase estimation value of the gyroscope as the input of the fuzzy neural network, obtaining a time corresponding to a phase change through the trained fuzzy neural network, and using the time corresponding to the phase change as the frequency offset time vernier.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the frequency offset time vernier measurement method according to any one of claims 1 to 5.
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