Doppler frequency offset compensation method and system based on satellite communication

Abstract

The present application discloses a Doppler frequency offset compensation method and system based on satellite communication. It relates to the field of satellite technology. The method comprises: the gateway station calculates the Doppler frequency offset information related to the first communication signal to be sent according to the satellite ephemeris, and uses the Doppler frequency offset information to compensate the frequency offset of the first communication signal, and sends the second communication signal obtained after compensation to the satellite; the satellite compensates the frequency offset of the second communication signal according to the first residual Doppler frequency offset information, and sends the third communication signal obtained after compensation to the user terminal; and the user terminal calculates the second residual Doppler frequency offset information of the third communication signal according to the pilot signal in the third communication signal, and compensates the third communication signal according to the second residual Doppler frequency offset information to obtain the fourth communication signal. The technical problem of low accuracy of frequency offset compensation existing in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of satellite technology, and in particular to a Doppler frequency offset compensation method and system based on satellite communication. Background Art

[0002] With the development of communication needs, in order to meet the high-speed data transmission in remote areas without base station coverage, in future mobile communications, achieving communication coverage in remote areas through low-orbit satellites has become an important issue.

[0003] The publication number is CN110798422A, and the name of the invention is a method for estimating and compensating downlink sampling frequency deviation in a low-orbit satellite multi-carrier communication system, which belongs to the field of wireless communications. The downlink here refers to a transmission link that is transmitted by a gateway station, forwarded by a satellite, and received by a user terminal. The specific method is: the gateway station estimates the downlink common Doppler sampling frequency deviation based on the ephemeris, and uses the estimated value of the downlink common Doppler sampling frequency deviation to pre-compensate the downlink transmission signal by changing the sampling frequency of the sampling crystal oscillator or using a resampling digital filter; the user terminal uses the downlink synchronization signal and uses a segmented correlation algorithm to estimate the downlink residual sampling frequency deviation, and uses the estimated value of the downlink residual sampling frequency deviation to compensate the downlink received signal in the frequency domain. The method of the present invention can compensate for the downlink sampling frequency deviation with lower complexity and higher accuracy when the user terminal has no ephemeris and only the gateway station has ephemeris, thereby meeting the demodulation requirements of multi-carrier communication under large sampling frequency deviation of low-orbit satellites.

[0004] However, the above-mentioned prior art uses the gateway and the user terminal to perform frequency offset compensation twice. If the residual Doppler frequency offset information is too large, in the case of 5G using narrowband subcarriers, it is easy for the user terminal to find it difficult to calculate the accurate residual Doppler frequency offset information through the pilot signal, and thus cannot achieve accurate frequency offset compensation based on the residual Doppler frequency offset information.

[0005] The publication number is CN114189415A, and the name of the invention is frequency offset compensation method, device, medium and low orbit satellite and ground terminal, wherein the method includes: obtaining a frequency compensation value of the Doppler frequency shift of the satellite relative to the ground terminal at at least one moment, the frequency compensation value at each moment is related to the relative speed or relative position between the satellite and the ground terminal at the corresponding moment; and performing frequency offset compensation on the transmitted signal at the corresponding moment according to the frequency compensation value at at least one moment.

[0006] With respect to the technical problem of low frequency offset compensation accuracy existing in the above-mentioned prior art, no effective solution has been proposed yet. Summary of the invention

[0007] The embodiments of the present application provide a Doppler frequency offset compensation method based on satellite communication, so as to at least solve the technical problem of low frequency offset compensation accuracy existing in the prior art.

[0008] According to one aspect of an embodiment of the present application, a Doppler frequency offset compensation method based on satellite communication is provided, comprising: a gateway station calculates Doppler frequency offset information related to a first communication signal to be sent according to the satellite's ephemeris, and uses the Doppler frequency offset information to perform frequency offset compensation on the first communication signal, and sends a second communication signal obtained after compensation to the satellite; the satellite performs frequency offset compensation on the second communication signal according to the first residual Doppler frequency offset information, and sends a third communication signal obtained after compensation to a user terminal, wherein the first residual Doppler frequency offset information is received by the satellite from the user terminal in the previous cycle; and the user terminal calculates second residual Doppler frequency offset information of the third communication signal according to a pilot signal in the third communication signal, and compensates the third communication signal according to the second residual Doppler frequency offset information to obtain a fourth communication signal.

[0009] According to another aspect of an embodiment of the present application, a Doppler frequency offset compensation system based on satellite communication is also provided, including: a gateway, a satellite and a user terminal, the gateway being configured to perform the following operations: calculating Doppler frequency offset information related to a first communication signal to be sent according to the satellite's ephemeris, and using the Doppler frequency offset information to perform frequency offset compensation on the first communication signal, and sending a second communication signal obtained after compensation to the satellite, and the satellite being configured to perform the following operations: performing frequency offset compensation on the second communication signal according to the first residual Doppler frequency offset information, and sending a third communication signal obtained after compensation to the user terminal, wherein the first residual Doppler frequency offset information is received by the satellite from the user terminal in the previous cycle, and the user terminal being configured to perform the following operations: calculating second residual Doppler frequency offset information of the third communication signal according to a pilot signal in the third communication signal, and compensating the third communication signal according to the second residual Doppler frequency offset information to obtain a fourth communication signal.

[0010] According to another aspect of an embodiment of the present application, there is also provided an integrated electronic system, including a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above method.

[0011] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the steps of the above method are implemented.

[0012] According to another aspect of the embodiments of the present application, a computer program product is also provided, including a computer program / instruction, and the steps of the above method are implemented when the computer program / instruction is executed by a processor.

[0013] According to another aspect of an embodiment of the present application, a Doppler frequency offset compensation device based on satellite communication is also provided, including: a first compensation module, used by a gateway to calculate Doppler frequency offset information related to a first communication signal to be sent according to the satellite's ephemeris, and use the Doppler frequency offset information to perform frequency offset compensation on the first communication signal, and send the second communication signal obtained after compensation to the satellite; a second compensation module, used by the satellite to perform frequency offset compensation on the second communication signal according to the first residual Doppler frequency offset information, and send the third communication signal obtained after compensation to a user terminal, wherein the first residual Doppler frequency offset information is received by the satellite from the user terminal in the previous cycle; and a third compensation module, used by the user terminal to calculate the second residual Doppler frequency offset information of the third communication signal according to the pilot signal in the third communication signal, and compensate the third communication signal according to the second residual Doppler frequency offset information to obtain a fourth communication signal.

[0014] According to another aspect of an embodiment of the present application, a Doppler frequency offset compensation device based on satellite communication is also provided, including: a processor; and a memory, connected to the processor, for providing the processor with instructions for processing the following processing steps: the gateway calculates Doppler frequency offset information related to a first communication signal to be sent according to the satellite's ephemeris, and uses the Doppler frequency offset information to perform frequency offset compensation on the first communication signal, and sends the second communication signal obtained after compensation to the satellite; the satellite performs frequency offset compensation on the second communication signal according to the first residual Doppler frequency offset information, and sends the third communication signal obtained after compensation to the user terminal, wherein the first residual Doppler frequency offset information is received by the satellite from the user terminal in the previous cycle; and the user terminal calculates the second residual Doppler frequency offset information of the third communication signal according to the pilot signal in the third communication signal, and compensates the third communication signal according to the second residual Doppler frequency offset information to obtain a fourth communication signal.

[0015] In the embodiment of the present application, the gateway performs frequency offset compensation on the first communication signal according to the Doppler frequency offset information, and sends the obtained second communication signal to the satellite. Then, the satellite performs frequency offset compensation on the second communication signal again according to the first residual Doppler frequency offset information, and sends the obtained third communication signal to the user terminal. Then, the user terminal performs frequency offset compensation on the third communication signal again according to the second residual Doppler frequency offset information, thereby obtaining a fourth communication signal.

[0016] Therefore, the present technical solution is more conducive to eliminating the distortion of the communication signal generated during the transmission process by compensating the frequency offset of the communication signal multiple times. And compared with the prior art in which the satellite only forwards the communication signal, the satellite in the present technical solution uses the first residual Doppler frequency offset information sent by the user terminal in the previous cycle to compensate the frequency offset of the second communication signal sent by the gateway. In the case of excessive residual frequency offset, the present technical solution sends the third communication signal with higher signal quality obtained after frequency offset compensation to the user terminal through the satellite, so that the user terminal can calculate the accurate second residual Doppler frequency offset signal based on the pilot signal of the third communication signal, and thus accurately compensate the frequency offset of the third communication signal based on the second residual Doppler frequency offset information. Furthermore, the present technical solution solves the technical problem of low accuracy of frequency offset compensation in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 is a hardware structure block diagram for implementing the satellite according to Embodiment 1 of the present application;

[0019] Figure 2 is a schematic diagram of a low-orbit satellite communication system according to Embodiment 1 of the present application;

[0020] Figure 3 is a flow chart of a Doppler frequency offset compensation method based on satellite communication according to the first aspect of Embodiment 1 of the present application;

[0021] Figure 4 is another flow chart of the Doppler frequency offset compensation method based on satellite communication according to the first aspect of Embodiment 1 of the present application;

[0022] Figure 5 is a schematic diagram of a process of generating a third communication signal according to the first aspect of Embodiment 1 of the present application;

[0023] Figure 6 is a schematic diagram of a Doppler frequency offset compensation device based on satellite communication according to Embodiment 2 of the present application; and

[0024] Figure 7 It is a schematic diagram of a Doppler frequency offset compensation device based on satellite communication according to Example 3 of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] First, some nouns or terms that appear in the description of the embodiments of the present application are subject to the following explanations:

[0028] Ephemeris: also known as two-line orbital data (TLE, Two-Line Orbital Element), is an expression invented by celestrak to describe the position and speed of space objects. It is a two-line orbital data system that can accurately calculate, predict, describe, and track the time, position, speed and other operating conditions of satellites and flying objects. It can also express the precise parameters of flying objects such as celestial bodies, satellites, spacecraft, missiles, and space debris, and place flying objects in three-dimensional space, using time to describe the past, present and future of celestial bodies.

[0029] It should be noted that ephemeris error refers to the difference between the spatial position of the satellite calculated by the ephemeris and the actual position. This error is caused by many factors, including the complex perturbations of the satellite during operation and the difficulty of ground monitoring stations to fully and reliably measure these forces or understand their laws of action. Ephemeris error not only seriously affects the accuracy of single-point positioning, but is also an important source of error for precise relative positioning.

[0030] Example 1

[0031] According to this embodiment, a method embodiment of a Doppler frequency offset compensation method based on satellite communication is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] Figure 1 A schematic diagram showing the hardware architecture of the satellite. Figure 1 As shown, satellite 200 includes an integrated electronic system, which includes: a processor, a memory, a bus management module and a communication interface. The memory is connected to the processor, so that the processor can access the memory, read the program instructions stored in the memory, read data from the memory or write data to the memory. The bus management module is connected to the processor and is also connected to a bus such as a CAN bus. Therefore, the processor can communicate with the satellite-borne peripherals connected to the bus through the bus managed by the bus management module. In addition, the processor is also connected to communication devices such as cameras, star sensors, measurement and control transponders, and data transmission equipment via the communication interface. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0033] It should be noted that Figure 1 The one or more processors and / or other data processing circuits shown in the figure may generally be referred to as "data processing circuitry" herein. The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuitry may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computing device. As involved in the embodiments of the present application, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0034] Figure 1 The memory shown in the figure can be used to store software programs and modules of application software, such as the program instruction / data storage device corresponding to the time scheduling method applied to the satellite system in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, the time scheduling method applied to the satellite system of the above-mentioned application program is realized. The memory may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.

[0035] It should be noted that, in some optional embodiments, the above Figure 1 The devices shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware elements and software elements. Figure 1 This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the above described apparatus.

[0036] Figure 2 Schematic diagram of the low-orbit satellite communication system according to this embodiment. Figure 2 As shown, the system includes: a gateway station 100; a satellite 200; and a user terminal 300.

[0037] The gateway 100 is used to send communication signals to the user terminal 300 via the satellite 200 .

[0038] The satellite 200 is used to forward the communication signal sent by the gateway 100 to the user terminal 300 .

[0039] The user terminal 300 is used to receive the communication signal sent by the gateway 100 via the satellite 200 .

[0040] Under the above operating environment, according to the first aspect of this embodiment, a Doppler frequency offset compensation method based on satellite communication is provided. The method comprises: Figure 2 The low-orbit satellite communication system shown in is implemented. Figure 3 A schematic diagram showing the process of the method is shown in FIG. Figure 3 As shown, the method includes:

[0041] S302: The gateway calculates Doppler frequency offset information related to the first communication signal to be sent according to the satellite ephemeris, and uses the Doppler frequency offset information to perform frequency offset compensation on the first communication signal, and sends the compensated second communication signal to the satellite;

[0042] S304: the satellite performs frequency offset compensation on the second communication signal according to the first residual Doppler frequency offset information, and sends a third communication signal obtained after compensation to the user terminal, wherein the first residual Doppler frequency offset information is received by the satellite from the user terminal in the previous cycle; and

[0043] S306: The user terminal calculates second residual Doppler frequency offset information of the third communication signal according to the pilot signal in the third communication signal, and compensates the third communication signal according to the second residual Doppler frequency offset information to obtain a fourth communication signal.

[0044] Specifically, refer to Figure 4 As shown, in the current cycle T t, the gateway station 100 is going to send a first communication signal to the satellite 200. Prior to this, the gateway station 100 calculates Doppler frequency deviation information related to the first communication signal to be sent according to the ephemeris of the satellite 200.

[0045] The gateway calculates the Doppler frequency deviation information F using the following formula:

[0046]

[0047]

[0048] F=f fe +f user .

[0049] in, is the satellite's velocity vector, is the connection direction between the satellite and the gateway, is the direction of the line connecting the satellite and the cell reference point D, c is the speed of light, and f s is the sampling frequency of the low-orbit satellite communication system, f fe is the Doppler frequency deviation information of the feeder link, f user is the Doppler frequency deviation information of the user link.

[0050] Further, the gateway 100 uses the Doppler frequency offset information to perform frequency offset compensation on the first communication signal to generate a second communication signal. The gateway 100 then sends the second communication signal to the satellite 200. The frequency offset compensation method is a commonly used method in the prior art and will not be described in detail herein.

[0051] Furthermore, after receiving the second communication signal sent by the gateway 100, the satellite 200 performs frequency offset compensation on the second communication signal according to the pre-stored first residual Doppler frequency offset information to generate a third communication signal. The first residual Doppler frequency offset information is the residual Doppler frequency offset information of the user terminal 300 in the previous period T t-1 The generated residual Doppler frequency offset is obtained, and the user terminal 300 sends the first residual Doppler frequency offset information to the satellite 200 .

[0052] The satellite 200 then sends the third communication signal to the user terminal 300 .

[0053] Further, after receiving the third communication signal sent by the satellite 200, the user terminal 300 determines the corresponding pilot signal according to the third communication signal. Then, the user terminal 300 calculates the second residual Doppler frequency offset information of the third communication signal according to the pilot signal. The method of calculating the residual Doppler frequency offset information according to the pilot signal is a commonly used method in the prior art and will not be described in detail here.

[0054] Further, the user terminal 300 compensates the third communication signal according to the second residual Doppler frequency offset information to generate a fourth communication signal.

[0055] Furthermore, the user terminal 300 sends the second residual Doppler frequency offset information to the satellite 200 as the next period T t+1 The residual Doppler frequency offset information used to perform frequency offset compensation on the communication signal of the satellite 200.

[0056] For example, in the next cycle T t+1 The gateway 100 calculates Doppler frequency offset information related to the fifth communication signal to be sent according to the ephemeris of the satellite 200. The gateway 100 then uses the Doppler frequency offset information to perform frequency offset compensation on the fifth communication signal to generate a sixth communication signal. The gateway 100 then sends the sixth communication signal to the satellite 200.

[0057] Furthermore, after receiving the sixth communication signal sent by the gateway 100, the satellite 200 performs frequency offset compensation on the sixth communication signal according to the pre-stored second residual Doppler frequency offset information to generate a seventh communication signal. The second residual Doppler frequency offset information is the frequency offset of the sixth communication signal in the period T t , sent by the user terminal 100 to the satellite 200.

[0058] The satellite then sends the seventh communication signal to the user terminal 300 .

[0059] Further, after receiving the seventh communication signal sent by the satellite 200, the user terminal 300 determines the corresponding pilot signal according to the seventh communication signal. Then, the user terminal 300 calculates the third residual Doppler frequency offset information of the seventh communication signal according to the pilot signal. Then, the user terminal 300 compensates the seventh communication signal according to the third residual Doppler frequency offset information to generate the seventh communication signal.

[0060] Further, the user terminal 300 sends the third residual Doppler frequency offset information to the satellite 200 as the next period T t+2 The residual Doppler frequency offset information used to perform frequency offset compensation on the communication signal of the satellite 200.

[0061] As described in the background technology, the above-mentioned prior art uses a gateway and a user terminal to perform frequency offset compensation twice. If the residual Doppler frequency offset information is too large, in the case of 5G using narrowband subcarriers, it is easy for the user terminal to find it difficult to calculate the accurate residual Doppler frequency offset information through the pilot signal, and thus cannot achieve accurate frequency offset compensation based on the residual Doppler frequency offset information.

[0062] In view of the technical problems described above, through the technical solution of the embodiment of the present application, the gateway performs frequency offset compensation on the first communication signal according to the Doppler frequency offset information, and sends the obtained second communication signal to the satellite. After that, the satellite performs frequency offset compensation on the second communication signal again according to the first residual Doppler frequency offset information, and sends the obtained third communication signal to the user terminal. After that, the user terminal performs frequency offset compensation on the third communication signal again according to the second residual Doppler frequency offset information, thereby obtaining a fourth communication signal.

[0063] Therefore, the present technical solution is more conducive to eliminating the distortion of the communication signal generated during the transmission process by compensating the frequency offset of the communication signal multiple times. And compared with the prior art in which the satellite only forwards the communication signal, the satellite in the present technical solution uses the first residual Doppler frequency offset information sent by the user terminal in the previous cycle to compensate the frequency offset of the second communication signal sent by the gateway. In the case of excessive residual frequency offset, the present technical solution sends the third communication signal with higher signal quality obtained after frequency offset compensation to the user terminal through the satellite, so that the user terminal can calculate the accurate second residual Doppler frequency offset signal based on the pilot signal of the third communication signal, and thus accurately compensate the frequency offset of the third communication signal based on the second residual Doppler frequency offset information. Furthermore, the present technical solution solves the technical problem of low accuracy of frequency offset compensation in the prior art.

[0064] Optionally, the operation of the gateway calculating the Doppler frequency deviation information related to the first communication signal to be sent according to the ephemeris of the satellite includes: calculating the Doppler frequency deviation information by the following formula:

[0065]

[0066]

[0067] F=f+f uSer。

[0068] Wherein, F is the Doppler frequency deviation information, is the velocity vector of the satellite, is the connection direction between the satellite and the gateway, is the direction of the line between the satellite and the cell reference point, c is the speed of light, fs is the sampling frequency of the low-orbit satellite communication system, ffe is the Doppler frequency deviation information of the feeder link, and fuser is the Doppler frequency deviation information of the user link.

[0069] Therefore, the technical solution calculates the Doppler frequency offset information related to the first communication signal, and thus performs frequency offset compensation before the first communication signal is sent, thereby pre-compensating the communication signal and improving the accuracy of subsequent frequency offset compensation.

[0070] Optionally, the satellite performs an operation of frequency offset compensation for the second communication signal according to the first residual Doppler frequency offset information, including: the user terminal sends the first residual Doppler frequency offset information generated in the previous cycle to the satellite; the satellite processes the first residual Doppler frequency offset information through a PID control module to generate frequency offset compensation information; and the satellite compensates the second communication signal for frequency offset according to the frequency offset compensation information.

[0071] Specifically, in the previous cycle T t-1 The user terminal 300 receives the communication signal sent by the satellite 200 and then calculates the corresponding first residual Doppler frequency offset information according to the pilot signal of the communication signal. Then, the user terminal 300 sends the first residual Doppler frequency offset information to the satellite 200.

[0072] Furthermore, after receiving the first residual Doppler frequency offset information sent by the user terminal 300, the satellite 200 inputs the first residual Doppler frequency offset information into a preset PID control module.

[0073] Furthermore, the PID control module processes the first residual Doppler frequency offset information to generate frequency offset compensation information. Then, the satellite 200 performs frequency offset compensation on the second communication signal according to the frequency offset compensation information generated by the PID control module.

[0074] Therefore, in this technical solution, the satellite uses the first residual Doppler frequency deviation information sent by the user terminal in the previous cycle to compensate for the frequency deviation of the second communication signal sent by the gateway, so that a third communication signal with higher signal quality can be obtained and sent to the user terminal, thereby improving the quality of the communication signal.

[0075] Optionally, the satellite processes the first residual Doppler frequency offset information through a PID control module to generate frequency offset compensation information, including: the satellite generates PID parameters according to the first residual Doppler frequency offset information through the PID control module; and the satellite generates frequency offset compensation information according to the PID parameters and the first residual Doppler frequency offset information through the PID control module.

[0076] Specifically, the satellite 200 inputs the first residual Doppler frequency information into a PID control module, wherein the PID control module includes a proportional unit, an integral unit, and a differential unit.

[0077] Furthermore, the proportional unit of the PID control module receives the first residual Doppler frequency offset information, and generates a proportional weight according to the first residual Doppler frequency offset information.

[0078] The integration unit of the PID control module receives the first residual Doppler frequency offset information, and generates an integration weight according to the first residual Doppler frequency offset information.

[0079] The differential unit of the PID control module receives the first residual Doppler frequency offset information, and generates a differential weight according to the first residual Doppler frequency offset information.

[0080] Further, the PID control module of the satellite 200 generates frequency offset compensation information according to the proportional weight, the integral weight, the differential weight and the first residual Doppler frequency offset information.

[0081] Therefore, the technical solution utilizes the PID control module of the satellite to generate weight values ​​corresponding to the proportion, integration and differentiation according to the first residual Doppler frequency information, thereby flexibly generating frequency deviation compensation information.

[0082] Optionally, the operation of the satellite generating PID parameters according to the first residual Doppler frequency deviation information through the PID control module includes: the satellite generates corresponding proportional characteristic information, integral characteristic information and differential characteristic information according to the first residual Doppler frequency deviation information through the PID control module; and the satellite determines the PID parameters according to the proportional characteristic information, integral characteristic information and differential characteristic information through the PID control module, wherein the PID parameters include proportional weights, integral weights and differential weights.

[0083] Specifically, the proportional unit of the PID control module determines the proportional characteristic information CP according to the proportional characteristic information calculation formula. t The calculation formula of the proportional feature information is:

[0084] CP t =FC t .

[0085] Among them, CP t Indicates that in the current cycle T t The proportional feature information, FC t Indicates that in the current cycle T t The first residual Doppler frequency offset information.

[0086] Furthermore, the integral unit of the PID control module determines the integral characteristic information CI according to the integral characteristic information calculation formula. t The integral characteristic information calculation formula is:

[0087]

[0088] CI t Indicates that in the current cycle T t The integral characteristic information, FC i represents the residual Doppler frequency deviation information in the i-th period.

[0089] Furthermore, the differential unit of the PID control module determines the differential characteristic information CD according to the differential characteristic information calculation formula tThe calculation formula of differential feature information is:

[0090] CD t =FC t -FC t-1 .

[0091] CD t Indicates that in the current cycle T t Differential characteristic information, FC t-1 Indicates the last cycle T t-1 The residual Doppler frequency deviation information.

[0092] Furthermore, the PID control module inputs the proportional characteristic information, the integral characteristic information and the differential characteristic information into a preset logistic regression model, thereby outputting the proportional weight WP, the integral weight WI and the differential weight WD through the logistic regression model. The proportional weight corresponds to the proportional characteristic information, the integral weight corresponds to the integral characteristic information, and the differential weight corresponds to the differential characteristic information.

[0093] More specifically, the PID control module determines the proportional weight WP using a first logistic regression model, wherein the formula of the first logistic regression model is as follows:

[0094]

[0095]

[0096] Among them, GP t is the linear regression parameter corresponding to the proportional weight WP. a0 1 ~a3 1 is a linear regression coefficient, which can be determined by training through machine learning methods, for example.

[0097] Furthermore, the PID control module determines the integral weight WI using the second logistic regression model, wherein the formula of the second logistic regression model is as follows:

[0098]

[0099]

[0100] Among them, GI t is the linear regression parameter corresponding to the integral weight WI. a0 2 ~a3 2 is a linear regression coefficient, which can be determined by training through machine learning methods, for example.

[0101] And, the PID control module determines the differential weight WD using the third logistic regression model, wherein the formula of the third logistic regression model is as follows:

[0102]

[0103]

[0104] Among them, GD t is the linear regression parameter corresponding to the differential weight WD. a0 3 ~a3 3 is a linear regression coefficient, which can be determined by training through machine learning methods, for example.

[0105] Therefore, the technical solution can train the logistic regression model using machine learning methods such as gradient descent, so that the trained model can more accurately determine the proportional weight, integral weight and differential weight according to the proportional feature information, integral feature information and differential feature information. Therefore, the parameters of the PID control module can be better optimized in real time, so that the PID control module can more accurately perform frequency deviation compensation in a shorter time.

[0106] Optionally, the operation of the satellite generating frequency deviation compensation information according to the PID parameters and the first residual Doppler frequency deviation information through the PID control module includes: the satellite determines the proportional value according to the proportional characteristic information through the PID control module; the satellite determines the integral value according to the integral characteristic information through the PID control module; the satellite determines the differential value according to the differential characteristic information through the PID control module; and the satellite uses the proportional weight, the integral weight and the differential weight to perform weighted summation on the proportional value, the integral value and the differential value through the PID control module to determine the frequency deviation compensation information.

[0107] Specifically, refer to Figure 5 As shown, the proportional unit of the PID control module converts the proportional characteristic information CP t The proportional value KP is determined, and the proportional weight WP corresponding to the proportional value KP is determined.

[0108] The integration unit integrates the characteristic information CI t The integral value KI is determined, and the integral weight WI corresponding to the integral value KI is determined.

[0109] The differential unit converts the differential characteristic information CD t The differential value KD is determined, and the differential weight WD corresponding to the differential value KD is determined.

[0110] Furthermore, the PID control module uses the proportional weight WP, the integral weight WI and the differential weight WD to perform weighted summation on the proportional value KP, the integral value KI and the differential value KD to determine the frequency offset compensation information UF, wherein the weighted summation formula is:

[0111] UF=KP*WP+KI*WI+KD*WD.

[0112] Therefore, this technical solution utilizes the satellite's PID control module to comprehensively adjust the three parts of proportion, integration, and differentiation, which can not only quickly respond to changes in frequency deviation, but also effectively reduce overshoot and ensure the stability of the system.

[0113] In addition, according to the second aspect of the present embodiment, a Doppler frequency offset compensation system based on satellite communication is provided, including: a gateway, a satellite and a user terminal, the gateway is configured to perform the following operations: according to the satellite's ephemeris, calculate the Doppler frequency offset information related to the first communication signal to be sent, and use the Doppler frequency offset information to compensate the first communication signal for frequency offset, and send the second communication signal obtained after compensation to the satellite, and the satellite is configured to perform the following operations: according to the first residual Doppler frequency offset information, compensate the second communication signal for frequency offset, and send the third communication signal obtained after compensation to the user terminal, wherein the first residual Doppler frequency offset information is received by the satellite from the user terminal in the previous period, and the user terminal is configured to perform the following operations: according to the pilot signal in the third communication signal, calculate the second residual Doppler frequency offset information of the third communication signal, and compensate the third communication signal according to the second residual Doppler frequency offset information to obtain a fourth communication signal.

[0114] Thus, according to the second aspect of this embodiment, the gateway performs frequency offset compensation on the first communication signal according to the Doppler frequency offset information, and sends the obtained second communication signal to the satellite. Then, the satellite performs frequency offset compensation on the second communication signal again according to the first residual Doppler frequency offset information, and sends the obtained third communication signal to the user terminal. Then, the user terminal performs frequency offset compensation on the third communication signal again according to the second residual Doppler frequency offset information, thereby obtaining a fourth communication signal.

[0115] Therefore, the present technical solution is more conducive to eliminating the distortion of the communication signal generated during the transmission process by compensating the frequency offset of the communication signal multiple times. And compared with the prior art in which the satellite only forwards the communication signal, the satellite in the present technical solution uses the first residual Doppler frequency offset information sent by the user terminal in the previous cycle to compensate the frequency offset of the second communication signal sent by the gateway. In the case of excessive residual frequency offset, the present technical solution sends the third communication signal with higher signal quality obtained after frequency offset compensation to the user terminal through the satellite, so that the user terminal can calculate the accurate second residual Doppler frequency offset signal based on the pilot signal of the third communication signal, and thus accurately compensate the frequency offset of the third communication signal based on the second residual Doppler frequency offset information. Furthermore, the present technical solution solves the technical problem of low accuracy of frequency offset compensation in the prior art.

[0116] In addition, reference Figure 1As shown, according to the third aspect of this embodiment, there is provided an integrated electronic system, including a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the above method.

[0117] In addition, reference Figure 1 As shown, according to the fourth aspect of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0118] In addition, reference Figure 1 As shown, according to the fifth aspect of this embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0119] Therefore, according to this embodiment, the gateway performs frequency offset compensation on the first communication signal according to the Doppler frequency offset information, and sends the obtained second communication signal to the satellite. Then, the satellite performs frequency offset compensation on the second communication signal again according to the first residual Doppler frequency offset information, and sends the obtained third communication signal to the user terminal. Then, the user terminal performs frequency offset compensation on the third communication signal again according to the second residual Doppler frequency offset information, thereby obtaining a fourth communication signal.

[0120] Therefore, the present technical solution is more conducive to eliminating the distortion of the communication signal generated during the transmission process by compensating the frequency offset of the communication signal multiple times. And compared with the prior art in which the satellite only forwards the communication signal, the satellite in the present technical solution uses the first residual Doppler frequency offset information sent by the user terminal in the previous cycle to compensate the frequency offset of the second communication signal sent by the gateway. In the case of excessive residual frequency offset, the present technical solution sends the third communication signal with higher signal quality obtained after frequency offset compensation to the user terminal through the satellite, so that the user terminal can calculate the accurate second residual Doppler frequency offset signal based on the pilot signal of the third communication signal, and thus accurately compensate the frequency offset of the third communication signal based on the second residual Doppler frequency offset information. Furthermore, the present technical solution solves the technical problem of low accuracy of frequency offset compensation in the prior art.

[0121] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0123] Example 2

[0124] Figure 6 FIG. 6 shows a Doppler frequency offset compensation device 600 based on satellite communication according to this embodiment, and the device 600 corresponds to the method according to the first aspect of embodiment 1. Figure 6 As shown, the device 600 includes: a first compensation module 610, which is used by the gateway to calculate the Doppler frequency offset information related to the first communication signal to be sent according to the satellite's ephemeris, and use the Doppler frequency offset information to compensate the first communication signal for frequency offset, and send the second communication signal obtained after compensation to the satellite; a second compensation module 620, which is used by the satellite to compensate the second communication signal for frequency offset according to the first residual Doppler frequency offset information, and send the third communication signal obtained after compensation to the user terminal, wherein the first residual Doppler frequency offset information is received by the satellite from the user terminal in the previous cycle; and a third compensation module 630, which is used by the user terminal to calculate the second residual Doppler frequency offset information of the third communication signal according to the pilot signal in the third communication signal, and compensate the third communication signal according to the second residual Doppler frequency offset information to obtain a fourth communication signal.

[0125] Optionally, the first compensation module 610 includes: a first calculation submodule, configured to calculate Doppler frequency offset information using the following formula:

[0126]

[0127]

[0128] F=f+f 1user * 。

[0129] Where F is the Doppler frequency deviation information, is the satellite's velocity vector, is the connection direction between the satellite and the gateway, is the direction of the line between the satellite and the cell reference point, c is the speed of light, fs is the sampling frequency of the low-orbit satellite communication system, ffe is the Doppler frequency deviation information of the feeder link, and fuser is the Doppler frequency deviation information of the user link.

[0130] Optionally, the second compensation module 620 includes: a first generating submodule, which is used by the user terminal to send the first residual Doppler frequency deviation information generated in the previous cycle to the satellite; a second generating submodule, which is used by the satellite to process the first residual Doppler frequency deviation information through a PID control module to generate frequency deviation compensation information; and a first compensation submodule, which is used by the satellite to perform frequency deviation compensation on the second communication signal according to the frequency deviation compensation information.

[0131] Optionally, the second generating submodule includes: a first generating unit, used for the satellite to generate PID parameters according to the first residual Doppler frequency offset information through the PID control module; and a second generating unit, used for the satellite to generate frequency offset compensation information according to the PID parameters and the first residual Doppler frequency offset information through the PID control module.

[0132] Optionally, the first generating unit includes: the satellite generates corresponding proportional characteristic information, integral characteristic information and differential characteristic information according to the first residual Doppler frequency deviation information through a PID control module; and the satellite determines PID parameters according to the proportional characteristic information, integral characteristic information and differential characteristic information through the PID control module, wherein the PID parameters include proportional weight, integral weight and differential weight.

[0133] Optionally, the second generating unit includes: the satellite determines the proportional value according to the proportional characteristic information through the PID control module; the satellite determines the integral value according to the integral characteristic information through the PID control module; the satellite determines the differential value according to the differential characteristic information through the PID control module; and the satellite uses the proportional weight, the integral weight and the differential weight to perform weighted summation on the proportional value, the integral value and the differential value through the PID control module to determine the frequency deviation compensation information.

[0134] Therefore, according to this embodiment, the gateway performs frequency offset compensation on the first communication signal according to the Doppler frequency offset information, and sends the obtained second communication signal to the satellite. Then, the satellite performs frequency offset compensation on the second communication signal again according to the first residual Doppler frequency offset information, and sends the obtained third communication signal to the user terminal. Then, the user terminal performs frequency offset compensation on the third communication signal again according to the second residual Doppler frequency offset information, thereby obtaining a fourth communication signal.

[0135] Therefore, the present technical solution is more conducive to eliminating the distortion of the communication signal generated during the transmission process by compensating the frequency offset of the communication signal multiple times. And compared with the prior art in which the satellite only forwards the communication signal, the satellite in the present technical solution uses the first residual Doppler frequency offset information sent by the user terminal in the previous cycle to compensate the frequency offset of the second communication signal sent by the gateway. In the case of excessive residual frequency offset, the present technical solution sends the third communication signal with higher signal quality obtained after frequency offset compensation to the user terminal through the satellite, so that the user terminal can calculate the accurate second residual Doppler frequency offset signal based on the pilot signal of the third communication signal, and thus accurately compensate the frequency offset of the third communication signal based on the second residual Doppler frequency offset information. Furthermore, the present technical solution solves the technical problem of low accuracy of frequency offset compensation in the prior art.

[0136] Example 3

[0137] Figure 7 FIG. 7 shows a Doppler frequency offset compensation device 700 based on satellite communication according to this embodiment, and the device 700 corresponds to the method according to the first aspect of embodiment 1. Figure 7 As shown, the device 700 includes: a processor 710; and a memory 720, which is connected to the processor 710 and is used to provide the processor 710 with instructions for processing the following processing steps: the gateway calculates Doppler frequency offset information related to a first communication signal to be sent according to the satellite's ephemeris, and uses the Doppler frequency offset information to perform frequency offset compensation on the first communication signal, and sends a second communication signal obtained after compensation to the satellite; the satellite performs frequency offset compensation on the second communication signal according to the first residual Doppler frequency offset information, and sends a third communication signal obtained after compensation to the user terminal, wherein the first residual Doppler frequency offset information is received by the satellite from the user terminal in the previous cycle; and the user terminal calculates the second residual Doppler frequency offset information of the third communication signal according to the pilot signal in the third communication signal, and compensates the third communication signal according to the second residual Doppler frequency offset information to obtain a fourth communication signal.

[0138] Optionally, the operation of the gateway calculating the Doppler frequency deviation information related to the first communication signal to be sent according to the ephemeris of the satellite includes: calculating the Doppler frequency deviation information by the following formula:

[0139]

[0140]

[0141] F=f fe +f user .

[0142] Where F is the Doppler frequency deviation information, is the satellite's velocity vector, is the connection direction between the satellite and the gateway, is the direction of the line between the satellite and the cell reference point, c is the speed of light, and f s is the sampling frequency of the low-orbit satellite communication system, f fe is the Doppler frequency deviation information of the feeder link, f user is the Doppler frequency deviation information of the user link.

[0143] Optionally, the satellite performs an operation of frequency offset compensation for the second communication signal according to the first residual Doppler frequency offset information, including: the user terminal sends the first residual Doppler frequency offset information generated in the previous cycle to the satellite; the satellite processes the first residual Doppler frequency offset information through a PID control module to generate frequency offset compensation information; and the satellite compensates the second communication signal for frequency offset according to the frequency offset compensation information.

[0144] Optionally, the satellite processes the first residual Doppler frequency offset information through a PID control module to generate frequency offset compensation information, including: the satellite generates PID parameters according to the first residual Doppler frequency offset information through the PID control module; and the satellite generates frequency offset compensation information according to the PID parameters and the first residual Doppler frequency offset information through the PID control module.

[0145] Optionally, the operation of the satellite generating PID parameters according to the first residual Doppler frequency deviation information through the PID control module includes: the satellite generates corresponding proportional characteristic information, integral characteristic information and differential characteristic information according to the first residual Doppler frequency deviation information through the PID control module; and the satellite determines the PID parameters according to the proportional characteristic information, integral characteristic information and differential characteristic information through the PID control module, wherein the PID parameters include proportional weights, integral weights and differential weights.

[0146] Optionally, the operation of the satellite generating frequency deviation compensation information according to the PID parameters and the first residual Doppler frequency deviation information through the PID control module includes: the satellite determines the proportional value according to the proportional characteristic information through the PID control module; the satellite determines the integral value according to the integral characteristic information through the PID control module; the satellite determines the differential value according to the differential characteristic information through the PID control module; and the satellite uses the proportional weight, the integral weight and the differential weight to perform weighted summation on the proportional value, the integral value and the differential value through the PID control module to determine the frequency deviation compensation information.

[0147] Therefore, according to this embodiment, the gateway performs frequency offset compensation on the first communication signal according to the Doppler frequency offset information, and sends the obtained second communication signal to the satellite. Then, the satellite performs frequency offset compensation on the second communication signal again according to the first residual Doppler frequency offset information, and sends the obtained third communication signal to the user terminal. Then, the user terminal performs frequency offset compensation on the third communication signal again according to the second residual Doppler frequency offset information, thereby obtaining a fourth communication signal.

[0148] Therefore, the present technical solution is more conducive to eliminating the distortion of the communication signal generated during the transmission process by compensating the frequency offset of the communication signal multiple times. And compared with the prior art in which the satellite only forwards the communication signal, the satellite in the present technical solution uses the first residual Doppler frequency offset information sent by the user terminal in the previous cycle to compensate the frequency offset of the second communication signal sent by the gateway. In the case of excessive residual frequency offset, the present technical solution sends the third communication signal with higher signal quality obtained after frequency offset compensation to the user terminal through the satellite, so that the user terminal can calculate the accurate second residual Doppler frequency offset signal based on the pilot signal of the third communication signal, and thus accurately compensate the frequency offset of the third communication signal based on the second residual Doppler frequency offset information. Furthermore, the present technical solution solves the technical problem of low accuracy of frequency offset compensation in the prior art.

[0149] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0150] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0151] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0152] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0153] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0154] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0155] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A Doppler frequency offset compensation method based on satellite communication, characterized in that: include: The gateway calculates Doppler frequency offset information related to a first communication signal to be sent according to the ephemeris of the satellite, and uses the Doppler frequency offset information to perform frequency offset compensation on the first communication signal, and sends a second communication signal obtained after compensation to the satellite; The satellite performs frequency offset compensation on the second communication signal according to the first residual Doppler frequency offset information, and sends a third communication signal obtained after compensation to the user terminal, wherein the first residual Doppler frequency offset information is received by the satellite from the user terminal in the previous period; as well as The user terminal calculates the second residual Doppler frequency offset information of the third communication signal according to the pilot signal in the third communication signal, and compensates the third communication signal according to the second residual Doppler frequency offset information to obtain a fourth communication signal, wherein The operation of the satellite performing frequency offset compensation on the second communication signal according to the first residual Doppler frequency offset information includes: the user terminal sends the first residual Doppler frequency offset information generated in the previous cycle to the satellite; the satellite processes the first residual Doppler frequency offset information through a PID control module to generate frequency offset compensation information; and the satellite performs frequency offset compensation on the second communication signal according to the frequency offset compensation information, wherein The operation of the satellite processing the first residual Doppler frequency offset information through the PID control module to generate frequency offset compensation information includes: the satellite generating PID parameters according to the first residual Doppler frequency offset information through the PID control module; and the satellite generating the frequency offset compensation information according to the PID parameters and the first residual Doppler frequency offset information through the PID control module, wherein The operation of the satellite generating PID parameters according to the first residual Doppler frequency offset information through the PID control module includes: the satellite generates corresponding proportional characteristic information, integral characteristic information and differential characteristic information according to the first residual Doppler frequency offset information through the PID control module; and the satellite determines the PID parameters according to the proportional characteristic information, the integral characteristic information and the differential characteristic information through the PID control module, wherein the PID parameters include proportional weights, integral weights and differential weights, wherein The operation of the satellite generating the frequency offset compensation information according to the PID parameters and the first residual Doppler frequency offset information through the PID control module includes: the satellite determines a proportional value according to the proportional characteristic information through the PID control module; the satellite determines an integral value according to the integral characteristic information through the PID control module; the satellite determines a differential value according to the differential characteristic information through the PID control module; and the satellite uses the proportional weight, the integral weight and the differential weight through the PID control module to perform weighted summation on the proportional value, the integral value and the differential value to determine the frequency offset compensation information.

2. The method according to claim 1, characterized in that The operation of the gateway station calculating the Doppler frequency deviation information related to the first communication signal to be sent according to the ephemeris of the satellite includes: calculating the Doppler frequency deviation information by the following formula: Wherein, F is the Doppler frequency deviation information, is the velocity vector of the satellite, is the connection direction between the satellite and the gateway, is the direction of the line between the satellite and the cell reference point, c is the speed of light, and f s is the sampling frequency of the low-orbit satellite communication system, f fe is the Doppler frequency deviation information of the feeder link, f user is the Doppler frequency deviation information of the user link.

3. A Doppler frequency offset compensation system based on satellite communication, comprising: The gateway station, satellite and user terminal are characterized in that: The gateway station is configured to perform the following operations: According to the ephemeris of the satellite, Doppler frequency offset information related to the first communication signal to be sent is calculated, and the first communication signal is compensated for the frequency offset by using the Doppler frequency offset information, and a second communication signal obtained after the compensation is sent to the satellite, and The satellite configuration is used to perform the following operations: According to the first residual Doppler frequency offset information, the second communication signal is frequency offset compensated, and the third communication signal obtained after compensation is sent to the user terminal, wherein the first residual Doppler frequency offset information is received by the satellite from the user terminal in the previous cycle, The operation of the satellite performing frequency offset compensation on the second communication signal according to the first residual Doppler frequency offset information includes: the user terminal sends the first residual Doppler frequency offset information generated in the previous cycle to the satellite; the satellite processes the first residual Doppler frequency offset information through a PID control module to generate frequency offset compensation information; and the satellite performs frequency offset compensation on the second communication signal according to the frequency offset compensation information, wherein The operation of the satellite processing the first residual Doppler frequency offset information through the PID control module to generate frequency offset compensation information includes: the satellite generating PID parameters according to the first residual Doppler frequency offset information through the PID control module; and the satellite generating the frequency offset compensation information according to the PID parameters and the first residual Doppler frequency offset information through the PID control module, wherein The operation of the satellite generating PID parameters according to the first residual Doppler frequency offset information through the PID control module includes: the satellite generates corresponding proportional characteristic information, integral characteristic information and differential characteristic information according to the first residual Doppler frequency offset information through the PID control module; and the satellite determines the PID parameters according to the proportional characteristic information, the integral characteristic information and the differential characteristic information through the PID control module, wherein the PID parameters include proportional weights, integral weights and differential weights, wherein The operation of the satellite generating the frequency offset compensation information according to the PID parameter and the first residual Doppler frequency offset information through the PID control module includes: the satellite determines a proportional value according to the proportional characteristic information through the PID control module; the satellite determines an integral value according to the integral characteristic information through the PID control module; the satellite determines a differential value according to the differential characteristic information through the PID control module; and the satellite uses the proportional weight, the integral weight and the differential weight to perform weighted summation on the proportional value, the integral value and the differential value to determine the frequency offset compensation information through the PID control module, and The user terminal is configured to perform the following operations: The second residual Doppler frequency offset information of the third communication signal is calculated according to the pilot signal in the third communication signal, and the third communication signal is compensated according to the second residual Doppler frequency offset information to obtain a fourth communication signal.

4. An integrated electronic system comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method of claim 1.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 1 are implemented.

6. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to claim 1 are implemented.

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