CN111753248B - Frequency offset time vernier measurement method, system and computer readable storage medium - Google Patents
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Abstract
The invention discloses a frequency offset time vernier measuring method, a system and a computer readable storage medium, belongs to the technical field of frequency offset measurement, and solves the problem of lower measurement accuracy of frequency offset time vernier in the prior art. A frequency offset time vernier measuring 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 re-estimating the carrier frequency by using the tracking loop to obtain a re-estimated carrier frequency; transmitting a sine wave signal with fixed offset with the carrier frequency to a mobile station, obtaining the frequency of the sine wave signal, and obtaining phase discrimination values 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 the frequency offset time vernier according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope. The method for measuring the frequency offset time vernier improves the measurement accuracy of the frequency offset time vernier.
Description
Technical Field
The present invention relates to the field of frequency offset measurement technologies, and in particular, to a frequency offset time vernier measurement method, a system and a computer readable storage medium.
Background
At present, the frequency offset measurement method comprises a Bessel function zero value method, a frequency spectrum comparison method, an extremum method, a counter average method and the like; the selection of the measurement methods is to select one or a combination of a plurality of methods for use according to the principles of the magnitude of the frequency offset, the range of the modulation frequency, the height of the modulation index, the use convenience and the like, so as to finish 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, acceleration, speed, angular velocity and motion direction of the carrying tool can change frequently in the motion process, phenomena such as multi-frequency interference, multi-path effect and shaking exist, the factors can influence the measurement accuracy of frequency offset, namely the frequency offset time vernier, and the measurement accuracy of the frequency offset time vernier is lower by using the existing scheme.
Disclosure of Invention
The invention aims to at least overcome the technical defect and provides a frequency offset time vernier measuring method.
The invention provides a frequency offset time vernier measurement method, which comprises the following steps: acquiring a carrier signal, and carrying out initial estimation on a carrier frequency 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 re-estimating the carrier frequency by using the tracking loop to obtain a re-estimated carrier frequency;
transmitting 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 phase discrimination values of the sine wave signal and a carrier wave according to the frequency of the sine wave signal and the carrier frequency estimated again;
and obtaining the frequency offset time vernier according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope.
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 locking loop, and the third-order loop is a phase locking loop.
Further, according to the frequency of the sine wave signal and the re-estimated carrier frequency, the phase discrimination values of the sine wave signal and the carrier are obtained, specifically including that the sine wave signal and the carrier signal are obtained by using a formula
Fourier transforming to obtain a transformed sine wave signalAnd carrier signal->By->Acquiring phase discrimination values of the sine wave signal and the carrier wave signal>Wherein, s is the mean value of the frequency of the sine wave signal and the carrier frequency estimated again 1 (n) is a carrier signal, s 1 (f) Is a signal after the carrier signal is discrete Fourier transformed, s 2 (n) is a sine wave signal, S 2 (f) Is a sine wave signal after discrete Fourier transform, w 1 (n) is noise signal in carrier signal transmitting process, W 1 (f) Is w 1 (n) discrete Fourier transformed signal, w 2 (n) is noise signal in the process of transmitting sine wave signal, W 2 (f) Is w 2 (N) discrete fourier transformed signals, k=0, 1,..n-1, N is the discrete number.
Further, obtaining the frequency offset time vernier according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope, which specifically comprises training the fuzzy neural network by taking the acceleration, the angular acceleration and the phase discrimination 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 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 measurement system which comprises a carrier frequency initial estimation module, a carrier frequency re-estimation module, a phase discrimination 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 estimated value of the carrier frequency;
the carrier frequency re-estimation module is used for taking the initial estimated value of the carrier frequency as the initial value of a tracking loop, and re-estimating the carrier frequency by utilizing the tracking loop to obtain re-estimated carrier frequency;
the phase discrimination value acquisition module is used for transmitting 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 phase discrimination values of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the carrier frequency estimated again;
the frequency offset time vernier obtaining module is used for obtaining the frequency offset time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase discrimination value.
Further, the carrier frequency re-estimation module obtains 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 comprising,
for the sine wave signal and the carrier wave signal, a formula is utilized
Fourier transforming to obtain transformed sineWave signalAnd carrier signal->By->Acquiring phase discrimination values of the sine wave signal and the carrier wave signal>Wherein, s is the mean value of the frequency of the sine wave signal and the carrier frequency estimated again 1 (n) is a carrier signal, s 1 (f) Is a signal after the carrier signal is discrete Fourier transformed, s 2 (n) is a sine wave signal, S 2 (f) Is a sine wave signal after discrete Fourier transform, w 1 (n) is noise signal in carrier signal transmitting process, W 1 (f) Is w 1 (n) discrete Fourier transformed signal, w 2 (n) is noise signal in the process of transmitting sine wave signal, W 2 (f) Is w 2 (N) discrete fourier transformed signals, k=0, 1,..n-1, N is the discrete number.
Further, the frequency offset time vernier obtaining module obtains a frequency offset time vernier according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope, and specifically includes training the fuzzy neural network by taking the acceleration, the angular acceleration and the phase discrimination value of the gyroscope as input of the fuzzy neural network, obtaining time corresponding to one phase change through the trained fuzzy neural network, and taking the time corresponding to one phase change as the frequency offset time vernier.
On the other hand, the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the method for measuring frequency offset time vernier according to any one of the technical schemes.
Compared with the prior art, the invention has the beneficial effects that: the method comprises the steps of obtaining a carrier signal, and carrying out initial estimation on a carrier frequency 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 re-estimating the carrier frequency by using the tracking loop to obtain a re-estimated carrier frequency; transmitting a sine wave signal with fixed offset with carrier frequency to a mobile station, obtaining the frequency of the sine wave signal, and obtaining phase discrimination values 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 offset time cursor according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope; the measuring precision of the frequency offset time vernier is improved.
Drawings
FIG. 1 is a flow chart of a method for measuring frequency offset time vernier according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a doppler frequency offset estimation carrier frequency according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram of a vernier measurement frequency offset model in accordance with embodiment 1 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The embodiment of the invention provides a frequency offset time vernier measurement method, which is shown in a flow chart in fig. 1, and comprises the following steps:
s1, acquiring a carrier signal, and carrying out initial estimation on a carrier frequency by utilizing fast Fourier transform to obtain an initial estimated value of the carrier frequency;
s2, taking an initial estimated value of the carrier frequency as an initial value of a tracking loop, and re-estimating the carrier frequency by using the tracking loop to obtain a re-estimated carrier frequency;
step S3, a sine wave signal with fixed offset with the carrier frequency is sent to a mobile station, the frequency of the sine wave signal is obtained, and phase discrimination values of the sine wave signal and a carrier wave are obtained according to the frequency of the sine wave signal and the carrier frequency estimated again;
and S4, obtaining the frequency offset time vernier according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope.
In a specific embodiment, the frequency correction burst pulse sequence is the same as the common burst pulse sequence, and a sine wave signal with fixed offset (frequency offset) with the carrier frequency is sent, so that the carrier frequency of the mobile station can be conveniently adjusted, and the frequency offset can be measured as well, so that the carrier frequency of the mobile station can be corrected;
it should be noted that, according to the doppler effect, during the movement, the acceleration and the speed, the angular acceleration and the movement direction of the carrier change to cause a frequency deviation, the frequency deviation causes a frequency drift, and the principle of the vernier caliper is utilized, so that the inaccurate part 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 locking loop, and the third-order loop is a phase locking loop.
In a specific embodiment, loop tracking is adopted to obtain accurate carrier frequency, and the accurate estimation of the carrier frequency is performed after the initial estimation of the carrier frequency is finished through fast Fourier transform FFT; accurate estimation of Doppler shift is realized based on a loop tracking mode;
wherein, the initial carrier frequency estimated value is used as the initial value of loop tracking, and the tracking loop mainly comprises a frequency locking loop (FLL, frequency Locked Loop), a phase locking loop (PLL, phase Locked Loop) and a corresponding filter;
the measuring precision of the carrier frequency is a function of loop order, noise bandwidth Bn, carrier-to-noise ratio C/N0, integration time Tb, phase noise of a local oscillator source and Doppler acceleration; the tracking loop is used for reducing noise as much as possible, improving the estimation precision of the carrier wave and tracking dynamic signals of large Doppler speed and Doppler acceleration;
in practice, the first-order loop is used to track the phase step signal, but is more sensitive to frequency variations, in the choice of the loop order; whereas second order loops are used to track phase step signals and phase ramp signals, but are also more sensitive to jitter; the third order loop may track phase step signals, frequency step signals, and frequency ramp signals, which are also sensitive to jitter. The FLL of the second order and the PLL of the third order can be adopted to work together, the third order change of the Doppler frequency offset of the LEO is very small, and the Doppler frequency offset can be approximately zero; a schematic diagram of a doppler frequency offset estimation carrier frequency is shown in fig. 2;
the order of the tracking loop is set to be three, so that dynamic errors caused by satellite operation can be eliminated well, and the rest errors are mainly thermal errors.
Preferably, the phase discrimination values of the sine wave signal and the carrier wave are obtained according to the frequency of the sine wave signal and the re-estimated carrier wave frequency, specifically including that the sine wave signal and the carrier wave signal are obtained by using a formula
Fourier transforming to obtain a transformed sine wave signalAnd carrier signal->By->Acquiring phase discrimination values of the sine wave signal and the carrier wave signal>Wherein, s is the mean value of the frequency of the sine wave signal and the carrier frequency estimated again 1 (n) is a carrier signal, s 1 (f) Is a signal after the carrier signal is discrete Fourier transformed, s 2 (n) is a sine wave signal, S 2 (f) Is a sine wave signal after discrete Fourier transform, w 1 (n) is noise signal in carrier signal transmitting process, W 1 (f) Is w 1 (n) discrete Fourier transformed signal, w 2 (n) is noise signal in the process of transmitting sine wave signal, W 2 (f) Is w 2 (N) discrete fourier transformed signals, k=0, 1,..n-1, N is the discrete number.
The phase discrimination value at each moment is affected by noise, so as to affect the final phase difference estimation precision and obtain the converted sine wave signalAnd carrier signal->Then, obtaining phase discrimination values of the sine wave signal and the carrier wave signal by utilizing a narrow-band phase discrimination algorithm;
preferably, the frequency offset time vernier is obtained according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope, and specifically comprises the steps of training the fuzzy neural network by taking the acceleration, the angular acceleration and the phase discrimination value of the gyroscope as input of the fuzzy neural network, obtaining time corresponding to one phase change through the trained fuzzy neural network, and taking the time corresponding to the one phase change as the frequency offset time vernier.
The phase discrimination value is the frequency difference between the carrier signal and the sinusoidal signal, and the time variation value can be obtained according to the frequency difference;
a vernier measurement frequency offset model schematic diagram is shown in fig. 3; the frequency is possibly increased and reduced due to the change of the phase, in order to judge the frequency change trend, the fuzzy mathematical processing tool is utilized, the acceleration, the angular acceleration and the frequency change trend of the frequency discriminator of the gyroscope are used as input quantities, the change trend of the phase discrimination values of the acceleration, the angular acceleration, the sine wave signal and the carrier wave signal of the gyroscope are used as input quantities, the change trend of the phase change of one carrier wave signal to the frequency of the sine wave signal for a certain period of time is judged through the training of a fuzzy neural network, the time of one phase is a vernier due to the change of one phase of the period of time, the frequency deviation can be accurately measured, the vernier is a time value, the frequency value can be obtained through the measurement time, and the frequency value can be obtained more accurately than the direct measurement of the frequency change; 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 offset time vernier measurement system which comprises a carrier frequency initial estimation module, a carrier frequency re-estimation module, a phase discrimination 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 estimated value of the carrier frequency;
the carrier frequency re-estimation module is used for taking the initial estimated value of the carrier frequency as the initial value of a tracking loop, and re-estimating the carrier frequency by utilizing the tracking loop to obtain re-estimated carrier frequency;
the phase discrimination value acquisition module is used for transmitting 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 phase discrimination values of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the carrier frequency estimated again;
the frequency offset time vernier obtaining module is used for obtaining the frequency offset time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase discrimination value.
Preferably, the carrier frequency re-estimation module obtains 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,
for the sine wave signal and the carrier wave signal, a formula is utilized
Fourier transforming to obtain a transformed sine wave signalAnd carrier signal->By->Acquiring phase discrimination values of the sine wave signal and the carrier wave signal>Wherein, s is the mean value of the frequency of the sine wave signal and the carrier frequency estimated again 1 (n) is a carrier signal, s 1 (f) Is a signal after the carrier signal is discrete Fourier transformed, s 2 (n) is a sine wave signal, S 2 (f) Is a sine wave signal after discrete Fourier transform, w 1 (n) is noise signal in carrier signal transmitting process, W 1 (f) Is w 1 (n) discrete Fourier transformed signal, w 2 (n) is noise signal in the process of transmitting sine wave signal, W 2 (f) Is w 2 (N) discrete fourier transformed signals, k=0, 1,..n-1, N is the discrete number.
Preferably, the frequency offset time vernier obtaining module obtains a frequency offset time vernier according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope, and specifically includes training the fuzzy neural network by taking the acceleration, the angular acceleration and the phase discrimination value of the gyroscope as input of the fuzzy neural network, obtaining a 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.
Example 3
An embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the frequency offset time vernier measurement methods of embodiment 1.
It should be noted that the descriptions of examples 1 to 3 are not repeated and can be used as references to each other.
The invention discloses a frequency offset time vernier measurement method, a system and a computer readable storage medium, which are used for carrying out initial estimation on carrier frequency by utilizing fast Fourier transform by acquiring carrier signals 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 re-estimating the carrier frequency by using the tracking loop to obtain a re-estimated carrier frequency; transmitting a sine wave signal with fixed offset with carrier frequency to a mobile station, obtaining the frequency of the sine wave signal, and obtaining phase discrimination values 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 offset time cursor according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope; the measuring precision of the frequency offset time vernier is improved.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (5)
1. The frequency offset time vernier measuring method is characterized by comprising the following steps:
acquiring a carrier signal, and carrying out initial estimation on a carrier frequency 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 re-estimating the carrier frequency by using the tracking loop to obtain a re-estimated carrier frequency;
transmitting a sine wave signal with fixed offset with carrier frequency to a mobile station, obtaining the frequency of the sine wave signal, and obtaining phase discrimination values 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 offset time cursor according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope;
obtaining a frequency offset time vernier according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope, wherein the frequency offset time vernier specifically comprises the steps of taking the acceleration, the angular acceleration and the phase discrimination value according to the gyroscope as input of a fuzzy neural network, training the fuzzy neural network, obtaining time corresponding to one phase change through the trained fuzzy neural network, and taking the time corresponding to the one phase change as the frequency offset time vernier;
according to the frequency of the sine wave signal and the re-estimated carrier frequency, acquiring phase discrimination values of the sine wave signal and the carrier signal specifically comprises the following steps: for the sine wave signal and the carrier wave signal, a formula is utilized
Fourier transforming to obtain a transformed sine wave signalAnd carrier signal->By->Acquiring phase discrimination values of the sine wave signal and the carrier wave signal>Wherein->，/>，，/>，/>For the frequency of the sine wave signal and the mean value of the carrier frequency estimated again, < >>For carrier signal>Is a signal after discrete fourier transform of the carrier signal,is a sine wave signal>Is a signal of sine wave signal after discrete Fourier transform, < >>Is a noise signal during the transmission of a carrier signal, < >>Is->Discrete fourier transformed signal, +.>Is a noise signal during the transmission of a sine wave signal, < >>Is->Discrete fourier transformed signal, +.>，NIs a discrete number.
2. The method of claim 1, wherein the tracking loop comprises a first order loop, a second order loop and a third order loop, the first order loop being used to track the phase step signal, the second order loop being used to track the phase step signal and the phase ramp signal, and the third order loop being used to track the phase step signal, the frequency step signal and the frequency ramp signal.
3. The method of claim 2, wherein the second-order loop is a frequency locked loop and the third-order loop is a phase locked loop.
4. A frequency deviation time vernier measurement system is characterized by comprising 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 estimated value of the carrier frequency;
the carrier frequency re-estimation module is used for taking the initial estimated value of the carrier frequency as the initial value of a tracking loop, and re-estimating the carrier frequency by utilizing the tracking loop to obtain re-estimated carrier frequency;
the phase discrimination value acquisition module is used for transmitting 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 phase discrimination values of the sine wave signal and the carrier signal according to the frequency of the sine wave signal and the carrier frequency estimated again;
the frequency offset time vernier obtaining module is used for obtaining a frequency offset time vernier according to the acceleration and the angular acceleration of the gyroscope and the phase discrimination value;
the frequency offset time vernier obtaining module obtains a frequency offset time vernier according to the acceleration, the angular acceleration and the phase discrimination value of the gyroscope, and specifically comprises the steps of taking the acceleration, the angular acceleration and the phase discrimination value of the gyroscope as input of a fuzzy neural network, training the fuzzy neural network, obtaining time corresponding to one phase change through the trained fuzzy neural network, and taking the time corresponding to the one phase change as the frequency offset time vernier;
the carrier frequency re-estimation module obtains 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 comprises the following steps:
for the sine wave signal and the carrier wave signal, a formula is utilized
Fourier transforming to obtain a transformed sine wave signalAnd carrier signal->By->Acquiring phase discrimination values of the sine wave signal and the carrier wave signal>Wherein->，/>，，/>，/>For the frequency of the sine wave signal and the mean value of the carrier frequency estimated again, < >>For carrier signal>Is a signal after discrete fourier transform of the carrier signal,is a sine wave signal>Is a signal of sine wave signal after discrete Fourier transform, < >>Is a noise signal during the transmission of a carrier signal, < >>Is->Discrete fourier transformed signal, +.>Is a noise signal during the transmission of a sine wave signal, < >>Is->Discrete fourier transformed signal, +.>，NIs a discrete number.
5. A computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements a method of frequency offset time vernier measurement according to any one of claims 1-3.
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| CN102238113A (en) * | 2010-05-04 | 2011-11-09 | 中兴通讯股份有限公司 | Carrier frequency offset tracking method and device |
| CN101867546A (en) * | 2010-05-24 | 2010-10-20 | 航天恒星科技有限公司 | Method for measuring and compensating satellite communication link carrier frequency offset |
| CN103701740A (en) * | 2014-01-08 | 2014-04-02 | 北京华力创通科技股份有限公司 | Method and device for carrier tracking in satellite mobile communication |
| CN105116431A (en) * | 2015-09-08 | 2015-12-02 | 中国人民解放军装备学院 | Inertial navigation platform and Beidou satellite-based high-precision and ultra-tightly coupled navigation method |
| CN105871765A (en) * | 2016-06-22 | 2016-08-17 | 南京索拉亚科技有限公司 | Wireless communication carrier wave tracking method based on FFT assistant S-PLL |
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