Carrier frequency tracking compensation control method, device, equipment and medium

Abstract

The invention discloses a carrier frequency tracking compensation control method and device, equipment and a medium, which are used for reducing the power consumption of frequency tracking while ensuring the performance of signal receiving equipment. The method comprises the following steps: determining a frequency offset estimation value of a current scheduling period according to a pre-acquired frequency offset estimation value of a previous scheduling period; based on the frequency offset estimation value of the current scheduling period, a predetermined satellite operation speed and a pre-acquired frequency residual threshold, determining the scheduling duration of the current scheduling period, the frequency residual threshold being used for representing the maximum frequency residual borne by each scheduling period; and performing frequency offset compensation on the received signal by using the frequency offset estimation value of the current scheduling period within the scheduling duration of the current scheduling period.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication technology, and in particular to a carrier frequency tracking compensation control method, device, equipment and medium. Background Art

[0002] In recent years, "high-dynamic" communications (for example, communication between satellites and ground terminals when low-orbit satellites are moving at high speed around the earth in a relatively low orbit; for example, communication between high-speed moving missiles and positioning systems, etc.) are common in satellite communications, aerospace measurement and control, and navigation and positioning, and will play an important role in various application scenarios in the future military and civilian use.

[0003] When the transmitter and receiver are in high-dynamic communication conditions, the signal received by the signal receiving device will produce the Doppler effect, which is manifested in the frequency domain as a large Doppler frequency deviation and high-order Doppler frequency deviation change rate. The existence of the Doppler frequency deviation change rate makes it difficult to maintain the Doppler frequency deviation compensation value obtained during the initial acquisition of the satellite signal for a long time. Therefore, the signal receiving device needs to track and synchronize the carrier state of the received signal.

[0004] However, due to the limited computing power and power consumption of the terminal, it is impossible to track and compensate the received signal in each time slot, and the coarse frequency offset value obtained needs to be re-estimated and compensated at a certain time interval. Therefore, it is urgent to design a carrier frequency tracking compensation control scheme to reduce the power consumption of frequency tracking while ensuring the performance of the signal receiving device. Summary of the invention

[0005] The present invention provides a carrier frequency tracking compensation control method, device, equipment and medium, which are used to reduce the power consumption of frequency tracking while ensuring the performance of signal receiving equipment.

[0006] In a first aspect, an embodiment of the present invention provides a carrier frequency tracking compensation control method, which is applied to a terminal device. The method includes:

[0007] Determine the frequency offset estimation value of the current scheduling period according to the frequency offset estimation value of the previous scheduling period obtained in advance;

[0008] Determine the scheduling duration of the current scheduling period based on the frequency offset estimation value of the current scheduling period, the predetermined satellite operating speed, and the pre-acquired frequency residual threshold, wherein the frequency residual threshold is used to characterize the maximum frequency residual borne by each scheduling period;

[0009] Controlling, within the scheduling duration of the current scheduling period, using the frequency offset estimation value of the current scheduling period to perform frequency offset compensation on the received signal.

[0010] As an optional implementation manner, determining the scheduling duration of the current scheduling period based on the frequency offset estimation value of the current scheduling period, a predetermined satellite operating speed, and a pre-acquired frequency residual threshold includes:

[0011] Determine, according to the frequency deviation estimation value of the current scheduling period and the satellite running speed, a starting angle value between the satellite and a signal receiving device when the satellite is at a first position, wherein the first position is a position of the satellite at the start time of the current scheduling period;

[0012] Determining a frequency offset cutoff value of the current scheduling period based on the frequency offset estimation value of the current scheduling period and the frequency residual threshold;

[0013] Determine, by using the frequency deviation cutoff value and the satellite running speed, a termination angle value between the satellite and the signal receiving device when the satellite is at a second position, wherein the second position is a position of the satellite when the current frequency residual is a maximum frequency residual;

[0014] Based on the starting angle value and the ending angle value, determine the motion angle value between the first position and the center of the earth and the second position and the center of the earth, and use the motion angle value and the satellite speed to determine the scheduling duration of the current scheduling cycle.

[0015] As an optional implementation manner, determining the starting angle value between the satellite and the signal receiving device when the satellite is at the first position according to the frequency offset estimation value of the current scheduling period and the satellite operating speed includes:

[0016] The starting angle value is determined using the following formula:

[0017]

[0018] Among them, β start is the starting angle value, f start is the frequency deviation estimation value of the current scheduling period, f1 is the predetermined working frequency of the frequency tracking signal, C is the speed of light, and V is the operating speed of the satellite.

[0019] As an optional implementation manner, determining the frequency offset cutoff value of the current scheduling period based on the frequency offset estimation value of the current scheduling period and the frequency residual threshold includes:

[0020] If the frequency offset estimation value of the current scheduling period is greater than 0 and less than the frequency residual threshold, the frequency offset cutoff value is the opposite number of the frequency offset estimation value of the current scheduling period;

[0021] If the frequency offset estimation value of the current scheduling period is less than or equal to 0, or the frequency offset estimation value of the current scheduling period is greater than or equal to the frequency residual threshold, then the frequency offset cutoff value is the difference between the frequency offset estimation value and the frequency residual threshold.

[0022] As an optional implementation manner, the determining, by using the frequency deviation cutoff value and the satellite running speed, a termination angle value between the satellite and the signal receiving device when the satellite is at the second position includes:

[0023] The termination angle value is determined using the following formula:

[0024]

[0025] Among them, β end is the termination angle value, f end is the frequency deviation cutoff value, f1 is the predetermined operating frequency of the frequency tracking signal, C is the speed of light, and V is the satellite operating speed.

[0026] As an optional implementation manner, determining the scheduling duration of the current scheduling cycle by using the motion angle value and the satellite operating speed includes:

[0027] The scheduling duration of the current scheduling cycle is determined using the following formula:

[0028]

[0029] Among them, Δt i is the scheduling duration of the current scheduling cycle, ε is the motion angle value, V is the satellite running speed, R is the radius of the earth, and h is the pre-acquired orbital height of the satellite.

[0030] As an optional implementation manner, determining the frequency offset estimation value of the current scheduling period according to the pre-acquired frequency offset estimation value of the previous scheduling period includes:

[0031] If the current scheduling period is the first scheduling period, the frequency offset estimation value of the current scheduling period is the product of the ratio of the pre-acquired initial frequency offset estimation value and the operating frequency point, and the operating frequency point ratio is the ratio of the operating frequency point of the current frequency offset estimation signal to the operating frequency point of the initial frequency offset estimation signal;

[0032] If the current scheduling period is not the first scheduling period, the frequency offset estimation value of the current scheduling period is equal to the frequency offset estimation value of the previous scheduling period.

[0033] In a second aspect, an embodiment of the present invention provides a carrier frequency tracking compensation control device, which is applied to a terminal device, and the device includes:

[0034] A first processing unit, configured to determine a frequency offset estimation value of a current scheduling period according to a pre-acquired frequency offset estimation value of a previous scheduling period;

[0035] A second processing unit is used to determine the scheduling duration of the current scheduling period based on the frequency offset estimation value of the current scheduling period, the predetermined satellite operation speed and the pre-acquired frequency residual threshold, wherein the frequency residual threshold is used to characterize the maximum frequency residual borne by each scheduling period;

[0036] A control unit is used to control, within the scheduling duration of the current scheduling period, the use of the frequency offset estimation value of the current scheduling period to perform frequency offset compensation on the received signal.

[0037] As an optional implementation manner, the second processing unit is specifically configured to:

[0038] Determine, according to the frequency deviation estimation value of the current scheduling period and the satellite running speed, a starting angle value between the satellite and a signal receiving device when the satellite is at a first position, wherein the first position is a position of the satellite at the start time of the current scheduling period;

[0039] Determining a frequency offset cutoff value of the current scheduling period based on the frequency offset estimation value of the current scheduling period and the frequency residual threshold;

[0040] Determine, by using the frequency deviation cutoff value and the satellite running speed, a termination angle value between the satellite and the signal receiving device when the satellite is at a second position, wherein the second position is a position of the satellite when the current frequency residual is a maximum frequency residual;

[0041] Based on the starting angle value and the ending angle value, determine the motion angle value between the first position and the center of the earth and the second position and the center of the earth, and use the motion angle value and the satellite speed to determine the scheduling duration of the current scheduling cycle.

[0042] As an optional implementation manner, the second processing unit is specifically configured to: determine the starting angle value using the following formula:

[0043]

[0044] Among them, β start is the starting angle value, f start is the frequency deviation estimation value of the current scheduling period, f1 is the predetermined working frequency of the frequency tracking signal, C is the speed of light, and V is the operating speed of the satellite.

[0045] As an optional implementation manner, the second processing unit is specifically configured to:

[0046] If the frequency offset estimation value of the current scheduling period is greater than 0 and less than the frequency residual threshold, the frequency offset cutoff value is the opposite number of the frequency offset estimation value of the current scheduling period;

[0047] If the frequency offset estimation value of the current scheduling period is less than or equal to 0, or the frequency offset estimation value of the current scheduling period is greater than or equal to the frequency residual threshold, then the frequency offset cutoff value is the difference between the frequency offset estimation value and the frequency residual threshold.

[0048] As an optional implementation manner, the second processing unit is specifically configured to: determine the termination angle value using the following formula:

[0049]

[0050] Among them, β end is the termination angle value, f end is the frequency deviation cutoff value, f1 is the predetermined operating frequency of the frequency tracking signal, C is the speed of light, and V is the satellite operating speed.

[0051] As an optional implementation manner, the second processing unit is specifically configured to: determine the scheduling duration of the current scheduling period using the following formula:

[0052]

[0053] Among them, Δt i is the scheduling duration of the current scheduling cycle, ε is the motion angle value, V is the satellite running speed, R is the radius of the earth, and h is the pre-acquired orbital height of the satellite.

[0054] As an optional implementation manner, the first processing unit is specifically configured to:

[0055] If the current scheduling period is the first scheduling period, the frequency offset estimation value of the current scheduling period is the product of the ratio of the pre-acquired initial frequency offset estimation value and the operating frequency point, and the operating frequency point ratio is the ratio of the operating frequency point of the current frequency offset estimation signal to the operating frequency point of the initial frequency offset estimation signal;

[0056] If the current scheduling period is not the first scheduling period, the frequency offset estimation value of the current scheduling period is equal to the frequency offset estimation value of the previous scheduling period.

[0057] In a third aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory is used to store a program executable by the processor, and the processor is used to read the program in the memory and perform the following steps:

[0058] Determine the frequency offset estimation value of the current scheduling period according to the frequency offset estimation value of the previous scheduling period obtained in advance;

[0059] Determine the scheduling duration of the current scheduling period based on the frequency offset estimation value of the current scheduling period, the predetermined satellite operating speed, and the pre-acquired frequency residual threshold, wherein the frequency residual threshold is used to characterize the maximum frequency residual borne by each scheduling period;

[0060] Controlling, within the scheduling duration of the current scheduling period, using the frequency offset estimation value of the current scheduling period to perform frequency offset compensation on the received signal.

[0061] As an optional implementation, the processor is specifically configured to execute:

[0062] Determine, according to the frequency deviation estimation value of the current scheduling period and the satellite running speed, a starting angle value between the satellite and a signal receiving device when the satellite is at a first position, wherein the first position is a position of the satellite at the start time of the current scheduling period;

[0063] Determining a frequency offset cutoff value of the current scheduling period based on the frequency offset estimation value of the current scheduling period and the frequency residual threshold;

[0064] Determine, by using the frequency deviation cutoff value and the satellite running speed, a termination angle value between the satellite and the signal receiving device when the satellite is at a second position, wherein the second position is a position of the satellite when the current frequency residual is a maximum frequency residual;

[0065] Based on the starting angle value and the ending angle value, determine the motion angle value between the first position and the center of the earth and the second position and the center of the earth, and use the motion angle value and the satellite speed to determine the scheduling duration of the current scheduling cycle.

[0066] As an optional implementation, the processor is specifically configured to execute:

[0067] The starting angle value is determined using the following formula:

[0068]

[0069] Among them, β start is the starting angle value, f start is the frequency deviation estimation value of the current scheduling period, f1 is the predetermined working frequency of the frequency tracking signal, C is the speed of light, and V is the operating speed of the satellite.

[0070] As an optional implementation, the processor is specifically configured to execute:

[0071] If the frequency offset estimation value of the current scheduling period is greater than 0 and less than the frequency residual threshold, the frequency offset cutoff value is the opposite number of the frequency offset estimation value of the current scheduling period;

[0072] If the frequency offset estimation value of the current scheduling period is less than or equal to 0, or the frequency offset estimation value of the current scheduling period is greater than or equal to the frequency residual threshold, then the frequency offset cutoff value is the difference between the frequency offset estimation value and the frequency residual threshold.

[0073] As an optional implementation, the processor is specifically configured to execute:

[0074] The termination angle value is determined using the following formula:

[0075]

[0076] Among them, β end is the termination angle value, f end is the frequency deviation cutoff value, f1 is the predetermined operating frequency of the frequency tracking signal, C is the speed of light, and V is the satellite operating speed.

[0077] As an optional implementation, the processor is specifically configured to execute:

[0078] The scheduling duration of the current scheduling cycle is determined using the following formula:

[0079]

[0080] Among them, Δt i is the scheduling duration of the current scheduling cycle, ε is the motion angle value, V is the satellite running speed, R is the radius of the earth, and h is the pre-acquired orbital height of the satellite.

[0081] As an optional implementation, the processor is specifically configured to execute:

[0082] If the current scheduling period is the first scheduling period, the frequency offset estimation value of the current scheduling period is the product of the ratio of the pre-acquired initial frequency offset estimation value and the operating frequency point, and the operating frequency point ratio is the ratio of the operating frequency point of the current frequency offset estimation signal to the operating frequency point of the initial frequency offset estimation signal;

[0083] If the current scheduling period is not the first scheduling period, the frequency offset estimation value of the current scheduling period is equal to the frequency offset estimation value of the previous scheduling period.

[0084] In a fourth aspect, an embodiment of the present invention further provides a computer storage medium on which a computer program is stored, and when the program is executed by a processor, it is used to implement the steps of the method described in the first aspect above.

[0085] In a fifth aspect, the present application provides a computer program product, comprising: a computer program code, when the computer program code is run on a computer, the computer executes any one of the methods described in the first aspect.

[0086] Beneficial effects of the embodiments of the present invention:

[0087] A carrier frequency tracking compensation control method, apparatus, device and medium provided in an embodiment of the present invention first determines a frequency offset estimation value of a current scheduling period based on a pre-acquired frequency offset estimation value of a previous scheduling period, then determines a scheduling duration of the current scheduling period based on the frequency offset estimation value of the current scheduling period, a pre-determined satellite operating speed and a pre-acquired frequency residual threshold, and then controls the frequency offset compensation of a received signal using the frequency offset estimation value of the current scheduling period within the scheduling duration of the current scheduling period.

[0088] The embodiment of the present invention determines the scheduling duration of the current scheduling cycle according to the frequency deviation estimation value of the current scheduling cycle and the pre-acquired frequency residual threshold value, so as to ensure that within the scheduling duration of the current scheduling cycle, the Doppler frequency residual must be within the maximum frequency deviation value that the precise frequency deviation estimation module (or signal receiving device) can withstand, and at the same time, the scheduling duration of each scheduling cycle is different. When the Doppler frequency deviation changes rapidly when the satellite passes overhead, the frequency deviation compensation can be performed at a higher frequency to ensure the performance of the signal receiving device. When the Doppler frequency deviation changes slowly at a lower satellite elevation angle, the frequency deviation compensation can be performed at a lower frequency to reduce the power consumption of frequency tracking.

[0089] These and other aspects of the present application will be more clearly understood in the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0091] Figure 1 A flow chart of an implementation of a carrier frequency tracking compensation control method provided by an embodiment of the present invention;

[0092] Figure 2 A schematic diagram of the principle of calculating a frequency offset estimation value used in each scheduling period provided by an embodiment of the present invention;

[0093] Figure 3A flowchart for calculating the scheduling duration of each scheduling cycle provided by an embodiment of the present invention;

[0094] Figure 4 A schematic diagram of the principle of a scheduling process of a coarse frequency offset estimation module provided by an embodiment of the present invention;

[0095] Figure 5 A schematic diagram of a carrier frequency tracking compensation control device provided by an embodiment of the present invention;

[0096] Figure 6 A schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0097] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0098] In the embodiments of the present invention, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0099] The application scenarios described in the embodiments of the present invention are intended to more clearly illustrate the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. It is known to those skilled in the art that with the emergence of new application scenarios, the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0100] Before introducing the carrier frequency tracking compensation control method provided in the embodiment of the present application, in order to facilitate understanding, the technical background of the embodiment of the present application is first introduced in detail below.

[0101] In recent years, "high-dynamic" communications (for example, communication between satellites and ground terminals when low-orbit satellites are moving at high speed around the earth in a relatively low orbit; for example, communication between high-speed moving missiles and positioning systems, etc.) are common in satellite communications, aerospace measurement and control, and navigation and positioning, and will play an important role in various application scenarios in the future military and civilian use.

[0102] When the transmitter and receiver are in high-dynamic communication conditions, the signal received by the signal receiving device will produce the Doppler effect, which is manifested in the frequency domain as a large Doppler frequency deviation and high-order Doppler frequency deviation change rate. The existence of the Doppler frequency deviation change rate makes it difficult to maintain the Doppler frequency deviation compensation value obtained during the initial acquisition of the satellite signal for a long time. Therefore, the signal receiving device needs to track and synchronize the carrier state of the received signal.

[0103] However, due to the limited computing power and power consumption of the terminal, it is impossible to track and compensate the received signal in each time slot, and the coarse frequency offset value obtained needs to be re-estimated and compensated at a certain time interval. Therefore, it is urgent to design a carrier frequency tracking compensation control scheme to reduce the power consumption of frequency tracking while ensuring the performance of the signal receiving device.

[0104] Based on this, an embodiment of the present invention provides a carrier frequency tracking compensation control method, device, equipment and medium, which first determines the frequency offset estimation value of the current scheduling cycle based on the pre-acquired frequency offset estimation value of the previous scheduling cycle, and then determines the scheduling duration of the current scheduling cycle based on the frequency offset estimation value of the current scheduling cycle, the pre-determined satellite operating speed and the pre-acquired frequency residual threshold, and then controls the frequency offset compensation of the received signal within the scheduling duration of the current scheduling cycle using the frequency offset estimation value of the current scheduling cycle.

[0105] The embodiment of the present invention determines the scheduling duration of the current scheduling cycle according to the frequency deviation estimation value of the current scheduling cycle and the pre-acquired frequency residual threshold value, so as to ensure that within the scheduling duration of the current scheduling cycle, the Doppler frequency residual must be within the maximum frequency deviation value that the precise frequency deviation estimation module (or signal receiving device) can withstand, and at the same time, the scheduling duration of each scheduling cycle is different. When the Doppler frequency deviation changes rapidly when the satellite passes overhead, the frequency deviation compensation can be performed at a higher frequency to ensure the performance of the signal receiving device. When the Doppler frequency deviation changes slowly at a lower satellite elevation angle, the frequency deviation compensation can be performed at a lower frequency to reduce the power consumption of frequency tracking.

[0106] It should be noted that the embodiments of the present invention mainly control the scheduling duration of each scheduling period for coarse frequency offset estimation and compensation. The embodiments of the present invention do not limit the specific method for estimating parameters such as frequency offset and its change rate, and the embodiments of the present invention are explained by taking the signal receiving device at any point on the circular trajectory formed by the sub-satellite point of the satellite as an example.

[0107] like Figure 1 As shown, the carrier frequency tracking compensation control method provided in this embodiment is applied to a terminal device, and its implementation process is as follows:

[0108] Step 101: Determine a frequency offset estimation value of a current scheduling period according to a pre-acquired frequency offset estimation value of a previous scheduling period.

[0109] In specific implementation, the frequency offset estimation value of the current scheduling period is determined according to the frequency offset estimation value of the previous scheduling period obtained in advance, including the following situations:

[0110] Case 1: If the current scheduling cycle is the first scheduling cycle, the frequency offset estimation value of the current scheduling cycle is the product of the ratio of the pre-acquired initial frequency offset estimation value and the operating frequency point, and the operating frequency point ratio is the ratio of the operating frequency point of the current frequency offset estimation signal to the operating frequency point of the initial frequency offset estimation signal.

[0111] It should be noted that, taking the moment T0 at the time of initial estimation as the reference, the first scheduling cycle starts at moment T0. At this time, the initial frequency offset estimation value and the operating frequency of the initial frequency offset estimation signal can be obtained from the frequency offset estimation module (located in the signal receiving device), and the frequency offset estimation value of the first scheduling cycle is determined based on the operating frequency of the current frequency offset estimation signal, the obtained initial frequency offset estimation value and the operating frequency of the initial frequency offset estimation signal.

[0112] Case 2: If the current scheduling period is not the first scheduling period, the frequency offset estimation value of the current scheduling period is equal to the frequency offset estimation value of the previous scheduling period.

[0113] In practical applications, the frequency offset estimation value of the current scheduling period is determined based on the pre-acquired frequency offset estimation value of the previous scheduling period, which can be determined using the following formula (1):

[0114]

[0115] Among them, f start is the frequency offset estimate of the current scheduling period, f g(i-1) is the frequency offset estimation value of the previous scheduling period, f d0 is the initial frequency offset estimation value, f1 is the operating frequency of the current frequency offset estimation signal, f0 is the operating frequency of the initial frequency offset estimation signal, and i is the scheduling number corresponding to the current scheduling period.

[0116] In an example, the following combination Figure 2 The frequency offset estimation value used in each scheduling period is described, such as Figure 2 As shown, T0 is taken as the reference time, that is, the starting time of the scheduling period. The time between T0 and T1 is the first scheduling period or the first scheduling period. The frequency offset estimation value in this scheduling period is f g1 , that is Of course, if the operating frequency f1 of the current frequency offset estimation signal is the same as the operating frequency f0 of the initial frequency offset estimation signal, that is, the ratio of the operating frequency f1 of the current frequency offset estimation signal to the operating frequency f0 of the initial frequency offset estimation signal is 1, then the frequency offset estimation value of the first scheduling period is the initial frequency offset estimation value f1. d0 ; The time between T1 and T2 is the second scheduling period, and the frequency offset estimation value in this scheduling period is f g2 , which is equal to f g1 , T2 to T3 is the third scheduling period, and the frequency offset estimation value in this scheduling period is f g3 , which is equal to f g2 , T3 to T4 is the fourth scheduling period, and the frequency offset estimation value in this scheduling period is f g4 , which is equal to f g3 .

[0117] Step 102, based on the frequency offset estimation value of the current scheduling period, the predetermined satellite operating speed and the pre-acquired frequency residual threshold, the scheduling duration of the current scheduling period is determined, and the frequency residual threshold is used to characterize the maximum frequency residual borne by each scheduling period.

[0118] It should be noted that the frequency residual threshold in the embodiment of the present invention is used to characterize the maximum frequency residual that the signal receiving device can withstand in each scheduling period. It is determined according to the performance of the signal receiving device, and the embodiment of the present invention does not limit its acquisition method.

[0119] When implementing it, Figure 3 As shown, based on the frequency offset estimation value of the current scheduling period, the predetermined satellite operating speed and the pre-acquired frequency residual threshold, the scheduling duration of the current scheduling period is determined, including the following steps:

[0120] Step 301, according to the frequency deviation estimation value of the current scheduling period and the satellite running speed, determine the starting angle value between the satellite and the signal receiving device when the satellite is in the first position, and the first position is the position of the satellite at the starting time of the current scheduling period.

[0121] It should be noted that the satellite running speed can be determined based on the pre-acquired satellite orbital altitude using the following formula (2):

[0122]

[0123] Among them, g is the acceleration due to gravity, which is 9.8m / s 2 , R is the radius of the earth, g is the orbital height of the satellite, and V is the running speed of the satellite. The orbital height of the satellite can be obtained through the ephemeris information of the satellite, or by performing signaling analysis using the initially captured signal to obtain the name of the current satellite and the orbital height of the satellite, which is not limited in the embodiment of the present invention.

[0124] In specific implementation, the starting angle value between the satellite and the signal receiving device when the satellite is in the first position is determined according to the frequency offset estimation value of the current scheduling period and the satellite running speed, which can be determined by the following formula (3):

[0125]

[0126] Among them, β start is the starting angle value, f start is the frequency offset estimation value of the current scheduling period, f1 is the working frequency of the current frequency offset estimation signal, and C is the speed of light, which is 3×10 8 m / s, V is the satellite speed, and arccos is the inverse cosine function.

[0127] Step 302: Determine a frequency offset cutoff value of the current scheduling period based on the frequency offset estimation value and the frequency residual threshold of the current scheduling period.

[0128] In specific implementation, the frequency offset cutoff value of the current scheduling period is determined based on the frequency offset estimation value and the frequency residual threshold of the current scheduling period, including the following two cases:

[0129] Case 1: If the frequency offset estimate value of the current scheduling period is greater than 0 and less than the frequency residual threshold, the frequency offset cutoff value is the opposite of the frequency offset estimate value of the current scheduling period.

[0130] Case 2: If the frequency offset estimate of the current scheduling period is less than or equal to 0, or the frequency offset estimate of the current scheduling period is greater than or equal to the frequency residual threshold, the frequency offset cutoff value is the difference between the frequency offset estimate and the frequency residual threshold.

[0131] In practical applications, the frequency deviation cutoff value of the current scheduling period can be determined using the following formula (4):

[0132]

[0133] Among them, F λ is the frequency residual threshold, f end is the frequency deviation cutoff value, f start is the estimated value of the frequency offset in the current scheduling period.

[0134] Step 303, using the frequency deviation cutoff value and the satellite running speed, determine the termination angle value between the satellite and the signal receiving device when the satellite is at the second position, and the second position is the position of the satellite when the current frequency residual is the maximum frequency residual.

[0135] It should be noted that the second position refers to the position of the satellite when the frequency residual currently borne by the signal receiving device is the maximum frequency residual. Once the operating position of the satellite in the current scheduling period exceeds this second position, the frequency residual borne by the signal receiving device will be greater than the maximum frequency residual, resulting in deterioration in the signal compensation quality. Therefore, the second position can also be regarded as the end position of the satellite operation in the current scheduling period.

[0136] In specific implementation, the frequency deviation cutoff value and the satellite running speed are used to determine the termination angle value between the satellite and the signal receiving device when the satellite is at the second position, which can be determined using the following formula (5):

[0137]

[0138] Among them, β end is the ending angle value, f end is the frequency deviation cutoff value, f1 is the operating frequency of the current frequency deviation estimation signal, C is the speed of light, and V is the satellite operating speed.

[0139] Step 304, based on the starting angle value and the ending angle value, determine the motion angle value between the first position and the line connecting the center of the earth and the second position and the line connecting the center of the earth, and use the motion angle value and the satellite running speed to determine the scheduling duration of the current scheduling cycle.

[0140] It should be noted that when determining the motion angle value between the first position and the line connecting the center of the earth and the second position and the line connecting the center of the earth based on the starting angle value and the ending angle value, it can be obtained by searching through a pre-established configuration table, wherein the pre-established configuration table includes the starting angle value and the ending angle value, and the corresponding relationship between the motion angle value.

[0141] In specific implementation, the motion angle value and the satellite running speed are used to determine the scheduling duration of the current scheduling cycle, which can be determined using the following formula (6):

[0142]

[0143] Among them, Δt i is the scheduling duration of the current scheduling cycle, ε is the motion angle value, V is the satellite speed, R is the radius of the earth, and h is the pre-acquired satellite orbital altitude.

[0144] Step 103, controlling within the scheduling duration of the current scheduling period, using the frequency offset estimation value of the current scheduling period to perform frequency offset compensation on the received signal.

[0145] After determining the scheduling duration of the current scheduling period, the frequency offset estimation value of the current scheduling period can be used to control the frequency offset compensation of the signal received in the current scheduling period.

[0146] It should be noted that if a fixed scheduling duration is used, for example, a longer scheduling duration is used, then when the satellite elevation angle is low, the Doppler residual can be guaranteed not to exceed a certain frequency residual threshold within the scheduling period. However, when the satellite passes overhead, the frequency deviation change rate is large. Within the same time interval, the maximum Doppler residual of the signal received by the signal receiving device will become very large, and it is very likely to exceed the frequency residual threshold, thereby affecting the subsequent carrier precise synchronization and demodulation and decoding processing; for example, in order to meet the fast-changing characteristics of the Doppler residual when the satellite elevation angle is high, a shorter scheduling duration is selected. Then, when the satellite elevation angle is low, the frequency deviation change rate is small, and the time consumed for the same Doppler frequency deviation change will be much longer than the scheduling duration, that is, the frequency deviation residual of the received signal will be much lower than the frequency deviation threshold for a long time. At this time, high-frequency frequency deviation tracking and compensation scheduling will waste the computing power of the signal receiving device and increase power consumption.

[0147] The carrier frequency tracking compensation control method provided by the embodiment of the present invention can not only ensure that within the scheduling duration of the current scheduling period, the Doppler frequency residual must be within the maximum frequency deviation value that the precise frequency deviation estimation module (or signal receiving device) can withstand, but also that the scheduling duration of each scheduling period is not necessarily the same. When the Doppler frequency deviation changes rapidly when the satellite passes overhead, frequency deviation compensation can be performed at a higher frequency to ensure the performance of the signal receiving device. When the Doppler frequency deviation changes slowly at a low satellite elevation angle, frequency deviation compensation can be performed at a lower frequency to reduce the power consumption of frequency tracking.

[0148] Combine the following Figure 4 Taking the interaction among the initial frequency offset estimation module, the scheduling duration calculation module, and the scheduling clock control module included in the coarse frequency offset estimation module as an example, the calculation process of the scheduling duration of each scheduling cycle in an embodiment of the present invention is described in detail.

[0149] like Figure 4 As shown, first, the scheduling duration calculation module obtains the initial frequency offset estimation value f from the initial frequency offset estimation module. d0 and the working frequency of the initial frequency offset estimation signal, the scheduling duration calculation module adopts the method provided in the above embodiment of the present invention to calculate the scheduling duration, and determines the scheduling duration Δt1 of the first scheduling cycle. The scheduling clock control module uses the time T0 of the initial estimation as a reference, controls the time T1 after the time Δt1 has passed, restarts the coarse frequency offset estimation module 40 to perform coarse frequency offset estimation, and outputs the coarse frequency offset estimation value f g1 For the scheduling duration calculation module, all signals received during the period T0 to T0+Δt1 are estimated using the initial frequency offset estimate f d0 After pre-compensation of the frequency offset by multiplying the product of the working frequency ratio, the precise frequency offset estimation module 41 is directly called and subsequent processing is performed, wherein the working frequency ratio is the ratio of the working frequency of the current frequency offset estimation signal to the working frequency of the initial frequency offset estimation signal.

[0150] At time T1, the duration calculation module is scheduled according to the rough frequency offset estimation value f g1 , calculate the scheduling duration of the second scheduling cycle, and output the scheduling time interval Δt2. The scheduling clock control module controls to start the coarse frequency offset estimation module 40 again after the time Δt2, that is, at the moment T2, and output the coarse frequency offset estimation value f g2 For the scheduling duration calculation module, all signals received during the period T1 to T1+Δt2 are estimated using the frequency offset value f g2 After the frequency offset pre-compensation is performed, the fine frequency offset estimation module 41 is directly called and subsequent processing is performed.

[0151] At time T2, the duration calculation module is scheduled according to the rough frequency offset estimation value f g2 , calculate the scheduling duration of the third scheduling cycle, and output the scheduling time interval Δt3. The scheduling clock control module controls to start the coarse frequency offset estimation module 40 again after the time Δt3, that is, at the moment T3, and output the coarse frequency offset estimation value f g3 For the signals received during the period T2 to T2+Δt3, all the signals are given the initial frequency offset estimation value f g3 After the frequency offset pre-compensation is performed, the fine frequency offset estimation module 41 is directly called and subsequent processing is performed.

[0152] Scheduling is performed in this loop until an external interrupt control signal is received.

[0153] Based on the same inventive concept, an embodiment of the present invention also provides a carrier frequency tracking compensation control device, which is applied to a terminal device. Since the device is the device in the method in the embodiment of the present invention, and the principle of solving the problem by the device is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0154] like Figure 5 As shown, the device comprises:

[0155] The first processing unit 501 is configured to determine a frequency offset estimation value of a current scheduling period according to a pre-acquired frequency offset estimation value of a previous scheduling period;

[0156] The second processing unit 502 is used to determine the scheduling duration of the current scheduling period based on the frequency offset estimation value of the current scheduling period, the predetermined satellite operation speed and the pre-acquired frequency residual threshold, where the frequency residual threshold is used to characterize the maximum frequency residual borne by each scheduling period;

[0157] The control unit 503 is used to control, within the scheduling duration of the current scheduling period, to use the frequency offset estimation value of the current scheduling period to perform frequency offset compensation on the received signal.

[0158] As an optional implementation manner, the second processing unit 502 is specifically configured to:

[0159] Determine the starting angle between the satellite and the signal receiving device when the satellite is at the first position according to the frequency deviation estimation value of the current scheduling period and the satellite running speed, where the first position is the position of the satellite at the starting time of the current scheduling period;

[0160] Determine a frequency deviation cutoff value of the current scheduling period based on the frequency deviation estimation value and the frequency residual threshold of the current scheduling period;

[0161] Using the frequency deviation cutoff value and the satellite running speed, determine the termination angle value between the satellite and the signal receiving device when the satellite is at the second position, where the second position is the position of the satellite when the current frequency residual is the maximum frequency residual;

[0162] Based on the starting angle value and the ending angle value, the motion angle value between the first position and the line connecting the center of the earth and the second position and the line connecting the center of the earth is determined, and the scheduling duration of the current scheduling cycle is determined using the motion angle value and the satellite running speed.

[0163] As an optional implementation manner, the second processing unit 502 is specifically configured to: determine the starting angle value using the following formula:

[0164]

[0165] Among them, β start is the starting angle value, f start is the estimated value of the frequency deviation of the current scheduling period, f1 is the predetermined operating frequency of the frequency tracking signal, C is the speed of light, and V is the satellite operating speed.

[0166] As an optional implementation manner, the second processing unit 502 is specifically configured to:

[0167] If the frequency offset estimate value of the current scheduling period is greater than 0 and less than the frequency residual threshold, the frequency offset cutoff value is the opposite of the frequency offset estimate value of the current scheduling period;

[0168] If the frequency offset estimation value of the current scheduling period is less than or equal to 0, or the frequency offset estimation value of the current scheduling period is greater than or equal to the frequency residual threshold, the frequency offset cutoff value is the difference between the frequency offset estimation value and the frequency residual threshold.

[0169] As an optional implementation manner, the second processing unit 502 is specifically configured to: determine the termination angle value using the following formula:

[0170]

[0171] Among them, β end is the ending angle value, fend is the frequency deviation cutoff value, f1 is the predetermined operating frequency of the frequency tracking signal, C is the speed of light, and V is the satellite operating speed.

[0172] As an optional implementation, the second processing unit 502 is specifically configured to determine the scheduling duration of the current scheduling period using the following formula:

[0173]

[0174] Among them, Δt i is the scheduling duration of the current scheduling cycle, ε is the motion angle value, V is the satellite speed, R is the radius of the earth, and h is the pre-acquired satellite orbital altitude.

[0175] As an optional implementation manner, the first processing unit 501 is specifically configured to:

[0176] If the current scheduling period is the first scheduling period, the frequency offset estimation value of the current scheduling period is the product of the ratio of the pre-acquired initial frequency offset estimation value and the operating frequency point, and the operating frequency point ratio is the ratio of the operating frequency point of the current frequency offset estimation signal to the operating frequency point of the initial frequency offset estimation signal;

[0177] If the current scheduling period is not the first scheduling period, the frequency offset estimation value of the current scheduling period is equal to the frequency offset estimation value of the previous scheduling period.

[0178] Based on the same inventive concept, an embodiment of the present invention further provides an electronic device. Since the electronic device is the electronic device in the method in the embodiment of the present invention, and the principle of solving the problem by the electronic device is similar to that of the method, the implementation of the electronic device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0179] like Figure 6 As shown, the electronic device includes a processor 600 and a memory 601, the memory 601 is used to store a program executable by the processor 600, and the processor 600 is used to read the program in the memory 601 and perform the following steps:

[0180] Determine the frequency offset estimation value of the current scheduling period according to the frequency offset estimation value of the previous scheduling period obtained in advance;

[0181] Determine the scheduling duration of the current scheduling period based on the frequency offset estimation value of the current scheduling period, the predetermined satellite operating speed, and the pre-acquired frequency residual threshold, where the frequency residual threshold is used to characterize the maximum frequency residual borne by each scheduling period;

[0182] Controlling within the scheduling duration of the current scheduling period, using the frequency offset estimation value of the current scheduling period to perform frequency offset compensation on the received signal.

[0183] As an optional implementation, the processor 600 is specifically configured to execute:

[0184] Determine the starting angle between the satellite and the signal receiving device when the satellite is at the first position according to the frequency deviation estimation value of the current scheduling period and the satellite running speed, where the first position is the position of the satellite at the starting time of the current scheduling period;

[0185] Determine a frequency deviation cutoff value of the current scheduling period based on the frequency deviation estimation value and the frequency residual threshold of the current scheduling period;

[0186] Using the frequency deviation cutoff value and the satellite running speed, determine the termination angle value between the satellite and the signal receiving device when the satellite is at the second position, where the second position is the position of the satellite when the current frequency residual is the maximum frequency residual;

[0187] Based on the starting angle value and the ending angle value, the motion angle value between the first position and the line connecting the center of the earth and the second position and the line connecting the center of the earth is determined, and the scheduling duration of the current scheduling cycle is determined using the motion angle value and the satellite running speed.

[0188] As an optional implementation, the processor 600 is specifically configured to execute:

[0189] Use the following formula to determine the starting angle value:

[0190]

[0191] Among them, β start is the starting angle value, f start is the estimated value of the frequency deviation of the current scheduling period, f1 is the predetermined operating frequency of the frequency tracking signal, C is the speed of light, and V is the satellite operating speed.

[0192] As an optional implementation, the processor 600 is specifically configured to execute:

[0193] If the frequency offset estimate value of the current scheduling period is greater than 0 and less than the frequency residual threshold, the frequency offset cutoff value is the opposite of the frequency offset estimate value of the current scheduling period;

[0194] If the frequency offset estimation value of the current scheduling period is less than or equal to 0, or the frequency offset estimation value of the current scheduling period is greater than or equal to the frequency residual threshold, the frequency offset cutoff value is the difference between the frequency offset estimation value and the frequency residual threshold.

[0195] As an optional implementation, the processor 600 is specifically configured to execute:

[0196] Use the following formula to determine the ending angle value:

[0197]

[0198] Among them, β end is the ending angle value, f end is the frequency deviation cutoff value, f1 is the predetermined operating frequency of the frequency tracking signal, C is the speed of light, and V is the satellite operating speed.

[0199] As an optional implementation, the processor 600 is specifically configured to execute:

[0200] Use the following formula to determine the scheduling duration of the current scheduling cycle:

[0201]

[0202] Among them, Δt i is the scheduling duration of the current scheduling cycle, ε is the motion angle value, V is the satellite speed, R is the radius of the earth, and h is the pre-acquired satellite orbital altitude.

[0203] As an optional implementation, the processor 600 is specifically configured to execute:

[0204] If the current scheduling period is the first scheduling period, the frequency offset estimation value of the current scheduling period is the product of the ratio of the pre-acquired initial frequency offset estimation value and the operating frequency point, and the operating frequency point ratio is the ratio of the operating frequency point of the current frequency offset estimation signal to the operating frequency point of the initial frequency offset estimation signal;

[0205] If the current scheduling period is not the first scheduling period, the frequency offset estimation value of the current scheduling period is equal to the frequency offset estimation value of the previous scheduling period.

[0206] Based on the same inventive concept, an embodiment of the present disclosure provides a computer storage medium, the computer storage medium includes: a computer program code, when the computer program code is executed on a computer, the computer executes any of the carrier frequency tracking compensation control methods discussed above. Since the principle of solving the problem by the above-mentioned computer storage medium is similar to that of the carrier frequency tracking compensation control method, the implementation of the above-mentioned computer storage medium can refer to the implementation of the method, and the repeated parts will not be repeated.

[0207] In the specific implementation process, the computer storage medium may include: Universal Serial Bus Flash Drive (USB), mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other storage media that can store program codes.

[0208] Based on the same inventive concept, the embodiment of the present disclosure also provides a computer program product, which includes: computer program code, when the computer program code is run on a computer, the computer executes any of the carrier frequency tracking compensation control methods discussed above. Since the principle of solving the problem by the above computer program product is similar to that of the carrier frequency tracking compensation control method, the implementation of the above computer program product can refer to the implementation of the method, and the repeated parts will not be repeated.

[0209] The computer program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more conductors, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0210] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0211] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that has the functions specified in one or more boxes.

[0212] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0213] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0214] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A carrier frequency tracking compensation control method, characterized in that: Applied to a terminal device, the method comprises: Determine the frequency offset estimation value of the current scheduling period according to the frequency offset estimation value of the previous scheduling period obtained in advance; Determine the scheduling duration of the current scheduling period based on the frequency offset estimation value of the current scheduling period, the predetermined satellite operating speed, and the pre-acquired frequency residual threshold, wherein the frequency residual threshold is used to characterize the maximum frequency residual borne by each scheduling period; Controlling, within the scheduling duration of the current scheduling period, using the frequency offset estimation value of the current scheduling period to perform frequency offset compensation on the received signal.

2. The method according to claim 1, characterized in that The determining the scheduling duration of the current scheduling period based on the frequency offset estimation value of the current scheduling period, a predetermined satellite operating speed, and a pre-acquired frequency residual threshold value includes: Determine, according to the frequency deviation estimation value of the current scheduling period and the satellite running speed, a starting angle value between the satellite and a signal receiving device when the satellite is at a first position, wherein the first position is a position of the satellite at the start time of the current scheduling period; Determining a frequency offset cutoff value of the current scheduling period based on the frequency offset estimation value of the current scheduling period and the frequency residual threshold; Determine, by using the frequency deviation cutoff value and the satellite running speed, a termination angle value between the satellite and the signal receiving device when the satellite is at a second position, wherein the second position is a position of the satellite when the current frequency residual is a maximum frequency residual; Based on the starting angle value and the ending angle value, determine the motion angle value between the first position and the center of the earth and the second position and the center of the earth, and use the motion angle value and the satellite speed to determine the scheduling duration of the current scheduling cycle.

3. The method according to claim 2, characterized in that The determining, according to the frequency offset estimation value of the current scheduling period and the satellite running speed, a starting angle value between the satellite and the signal receiving device when the satellite is at the first position comprises: The starting angle value is determined using the following formula: Among them, β start is the starting angle value, f start is the frequency deviation estimation value of the current scheduling period, f1 is the predetermined working frequency of the frequency tracking signal, C is the speed of light, and V is the operating speed of the satellite.

4. The method according to claim 2, characterized in that: The determining, based on the frequency offset estimation value of the current scheduling period and the frequency residual threshold, a frequency offset cutoff value of the current scheduling period includes: If the frequency offset estimation value of the current scheduling period is greater than 0 and less than the frequency residual threshold, the frequency offset cutoff value is the opposite number of the frequency offset estimation value of the current scheduling period; If the frequency offset estimation value of the current scheduling period is less than or equal to 0, or the frequency offset estimation value of the current scheduling period is greater than or equal to the frequency residual threshold, then the frequency offset cutoff value is the difference between the frequency offset estimation value and the frequency residual threshold.

5. The method according to claim 2, characterized in that: The determining, using the frequency deviation cutoff value and the satellite running speed, a termination angle value between the satellite and the signal receiving device when the satellite is at the second position comprises: The termination angle value is determined using the following formula: Among them, β end is the termination angle value, f end is the frequency deviation cutoff value, f1 is the predetermined operating frequency of the frequency tracking signal, C is the speed of light, and V is the satellite operating speed.

6. The method according to claim 2, characterized in that The determining the scheduling duration of the current scheduling cycle by using the motion angle value and the satellite running speed includes: The scheduling duration of the current scheduling cycle is determined using the following formula: Among them, Δt i is the scheduling duration of the current scheduling cycle, ε is the motion angle value, V is the satellite running speed, R is the radius of the earth, and h is the pre-acquired orbital height of the satellite.

7. The method according to any one of claims 1 to 6, characterized in that The determining the frequency offset estimation value of the current scheduling period according to the pre-acquired frequency offset estimation value of the previous scheduling period includes: If the current scheduling period is the first scheduling period, the frequency offset estimation value of the current scheduling period is the product of the ratio of the pre-acquired initial frequency offset estimation value and the operating frequency point, and the operating frequency point ratio is the ratio of the operating frequency point of the current frequency offset estimation signal to the operating frequency point of the initial frequency offset estimation signal; If the current scheduling period is not the first scheduling period, the frequency offset estimation value of the current scheduling period is equal to the frequency offset estimation value of the previous scheduling period.

8. A carrier frequency tracking compensation control device, applied to a terminal device, characterized in that: The device comprises: A first processing unit, configured to determine a frequency offset estimation value of a current scheduling period according to a pre-acquired frequency offset estimation value of a previous scheduling period; A second processing unit is used to determine the scheduling duration of the current scheduling period based on the frequency offset estimation value of the current scheduling period, the predetermined satellite operation speed and the pre-acquired frequency residual threshold, wherein the frequency residual threshold is used to characterize the maximum frequency residual borne by each scheduling period; A control unit is used to control, within the scheduling duration of the current scheduling period, the use of the frequency offset estimation value of the current scheduling period to perform frequency offset compensation on the received signal.

9. The device according to claim 8, characterized in that The second processing unit is specifically configured to: Determine, according to the frequency deviation estimation value of the current scheduling period and the satellite running speed, a starting angle value between the satellite and a signal receiving device when the satellite is at a first position, wherein the first position is a position of the satellite at the start time of the current scheduling period; Determining a frequency offset cutoff value of the current scheduling period based on the frequency offset estimation value of the current scheduling period and the frequency residual threshold; Determine, by using the frequency deviation cutoff value and the satellite running speed, a termination angle value between the satellite and the signal receiving device when the satellite is at a second position, wherein the second position is a position of the satellite when the current frequency residual is a maximum frequency residual; Based on the starting angle value and the ending angle value, determine the motion angle value between the first position and the center of the earth and the second position and the center of the earth, and use the motion angle value and the satellite speed to determine the scheduling duration of the current scheduling cycle.

10. The device according to claim 9, characterized in that The second processing unit is specifically used to determine the starting angle value using the following formula: Among them, β start is the starting angle value, f start is the frequency deviation estimation value of the current scheduling period, f1 is the predetermined working frequency of the frequency tracking signal, C is the speed of light, and V is the operating speed of the satellite.

11. The device according to claim 9, characterized in that The second processing unit is specifically configured to: If the frequency offset estimation value of the current scheduling period is greater than 0 and less than the frequency residual threshold, the frequency offset cutoff value is the opposite number of the frequency offset estimation value of the current scheduling period; If the frequency offset estimation value of the current scheduling period is less than or equal to 0, or the frequency offset estimation value of the current scheduling period is greater than or equal to the frequency residual threshold, then the frequency offset cutoff value is the difference between the frequency offset estimation value and the frequency residual threshold.

12. The device according to claim 9, characterized in that The second processing unit is specifically used to determine the termination angle value using the following formula: Among them, β end is the termination angle value, f end is the frequency deviation cutoff value, f1 is the predetermined operating frequency of the frequency tracking signal, C is the speed of light, and V is the satellite operating speed.

13. The device according to claim 9, characterized in that The second processing unit is specifically configured to determine the scheduling duration of the current scheduling cycle using the following formula: Among them, Δt i is the scheduling duration of the current scheduling cycle, ε is the motion angle value, V is the satellite running speed, R is the radius of the earth, and h is the pre-acquired orbital height of the satellite.

14. The device according to any one of claims 8 to 13, characterized in that The first processing unit is specifically configured to: If the current scheduling period is the first scheduling period, the frequency offset estimation value of the current scheduling period is the product of the ratio of the pre-acquired initial frequency offset estimation value and the operating frequency point, and the operating frequency point ratio is the ratio of the operating frequency point of the current frequency offset estimation signal to the operating frequency point of the initial frequency offset estimation signal; If the current scheduling period is not the first scheduling period, the frequency offset estimation value of the current scheduling period is equal to the frequency offset estimation value of the previous scheduling period.

15. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory is used to store a program executable by the processor, and the processor is used to read the program in the memory and execute the steps of any one of the methods of claims 1 to 7.

16. A computer storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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