Doppler frequency determination method and apparatus, and communication device

Abstract

The invention provides a Doppler frequency determination method and apparatus, and a communication device. The method comprises the steps of receiving a first signal sequence containing a synchronization word; determining a related signal sequence based on a preset signal sequence related to the synchronization word and the first signal sequence; taking a first position serial number corresponding to the peak value of the related signal sequence in the related signal sequence as an initial position serial number of the synchronization word in the first signal sequence; fusing the preset signal sequence with the second signal sequence to obtain a third signal sequence; and determining the Doppler frequency based on the third signal sequence. Therefore, the related signal sequence is determined based on the preset signal sequence and the first signal sequence, and the initial position of the synchronization word is accurately determined according to the related signal sequence, so that the accuracy of the synchronization word part determined by the communication navigation fusion signal is improved, and the accuracy of the determined Doppler frequency is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite positioning technology, and in particular to a method and device for determining a Doppler frequency and a communication device. Background Art

[0002] Low-orbit communication satellites have two major characteristics: low orbit and high communication rate. The lower the orbit, the faster the satellite moves and the faster the geometric position changes. This can reduce the first positioning time of the user terminal and improve the sensitivity of the system, enabling positioning under weak signals.

[0003] Related technologies can use Doppler observations and satellite position messages to achieve signal Doppler estimation using continuous waves, and use quadrature phase shift keying (QPSK) behind the signal to achieve information demodulation, thereby obtaining the satellite position, and finally using the observations and satellite position to determine the user's position.

[0004] Therefore, how to accurately determine the Doppler frequency becomes an important research direction. Summary of the invention

[0005] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0006] The method for determining the Doppler frequency proposed in the first aspect of the present disclosure includes:

[0007] Receive a first signal sequence, wherein the first signal sequence includes a synchronization word of a communication and navigation fusion signal, and a duration corresponding to the first signal sequence is greater than a first preset duration corresponding to the synchronization word;

[0008] Determine a related signal sequence based on a preset signal sequence related to the synchronization word and the first signal sequence;

[0009] Taking a first position number corresponding to the peak value of the correlation signal sequence in the correlation signal sequence as a starting position number of the synchronization word in the first signal sequence, acquiring a second signal sequence corresponding to the synchronization word from the first signal sequence, wherein the duration corresponding to the second signal sequence is equal to the first preset duration;

[0010] fusing the preset signal sequence with the second signal sequence to obtain a third signal sequence;

[0011] Based on the third signal sequence, a Doppler frequency is determined.

[0012] In some embodiments, the receiving the first signal sequence comprises:

[0013] After determining that the continuous wave of the communication and navigation fusion signal is received, receive the first signal sequence.

[0014] In some embodiments, the determining that the continuous wave of the communication and navigation fusion signal is received includes:

[0015] Obtain a plurality of consecutive sub-signals;

[0016] Obtain a first frequency-domain signal sequence corresponding to each of the sub-signals;

[0017] Fuse each of the first frequency-domain signal sequences to obtain a second frequency-domain signal sequence;

[0018] Determine the peak value of the second frequency-domain signal sequence and the average value of the remaining elements in the second frequency-domain signal sequence except the peak value;

[0019] When the ratio of the peak value to the average value of the second frequency-domain signal sequence is greater than a threshold, determine that the continuous wave of the communication and navigation fusion signal is received.

[0020] In some embodiments, the obtaining a plurality of consecutive sub-signals includes:

[0021] Obtain a second preset duration corresponding to the continuous wave in the communication and navigation fusion signal;

[0022] Based on the second preset duration, determine the total number of the sub-signals and the target duration corresponding to each of the sub-signals;

[0023] Based on the total number and the target duration, obtain a plurality of the sub-signals.

[0024] In some embodiments, the obtaining a first frequency-domain signal sequence corresponding to each of the sub-signals includes:

[0025] Based on the sampling rate corresponding to the communication and navigation fusion signal, quantize each of the sub-signals to obtain a quantized sub-signal;

[0026] Perform a discrete Fourier transform on each of the quantized sub-signals to obtain the first frequency-domain signal sequence.

[0027] In some embodiments, the fusing each of the first frequency-domain signal sequences to obtain a second frequency-domain signal sequence includes:

[0028] Take the modulus of each element in each of the first frequency-domain signal sequences to obtain a third frequency-domain signal sequence corresponding to each of the first frequency-domain signal sequences;

[0029] Perform a summation process on a plurality of the third frequency-domain signal sequences to obtain the second frequency-domain signal sequence.

[0030] In some embodiments, the receiving the first signal sequence comprises:

[0031] receiving a first signal including the synchronization word;

[0032] The first signal is sampled based on a sampling rate corresponding to the communication-navigation fusion signal to obtain the first signal sequence.

[0033] In some embodiments, the method of obtaining the preset signal sequence includes:

[0034] Acquire a locally stored initial signal sequence associated with the synchronization word;

[0035] The initial signal sequence is sampled according to a sampling rate corresponding to the communication-navigation fusion signal and a first length of the initial signal sequence to obtain the preset signal sequence.

[0036] In some embodiments, the calculation formula of the correlation signal sequence is:

[0037]

[0038] Wherein, X(k) is the kth element in the related signal sequence, L is the product of the sampling rate and the first preset time length, V(i+k) is the i+kth element in the first signal sequence, and U s (i) is the i-th element in the preset signal sequence.

[0039] In some embodiments, the fusing the preset signal sequence with the second signal sequence to obtain a third signal sequence includes:

[0040] The uth element in the preset signal sequence is multiplied by the uth element in the second signal sequence to obtain the uth element in the third signal sequence, where the value of u is a positive integer from 1 to L.

[0041] In some embodiments, determining the Doppler frequency based on the third signal sequence includes:

[0042] Performing discrete Fourier transform on the third signal sequence to obtain a fourth frequency domain signal sequence;

[0043] The Doppler frequency is determined according to the fourth frequency domain signal sequence.

[0044] In some embodiments, determining the Doppler frequency according to the fourth frequency domain signal sequence includes:

[0045] Determine a second position number corresponding to a peak value of the fourth frequency domain signal sequence in the fourth frequency domain signal sequence, and a preset number of elements adjacent to the peak value in the fourth frequency domain signal sequence;

[0046] The Doppler frequency is determined according to the second position sequence number, the preset number of elements and the first preset time length.

[0047] In some embodiments, the calculation formula corresponding to the Doppler frequency is:

[0048]

[0049] Among them, f d is the Doppler frequency, T is the first preset time length, K Y is the second position number, Y 1 is the first element after the peak value of the fourth frequency domain signal sequence, Y 2 is the second element after the peak value of the fourth frequency domain signal sequence, Y -1 is the first element before the peak value of the fourth frequency domain signal sequence, Y -2 is the second element located before the peak of the fourth frequency domain signal sequence.

[0050] In some embodiments, the duration corresponding to the first signal sequence is twice the first preset duration.

[0051] The Doppler frequency determination device provided in the second aspect of the present disclosure includes:

[0052] A receiving module, configured to receive a first signal sequence, wherein the first signal sequence includes a synchronization word of a communication and navigation fusion signal, and a duration corresponding to the first signal sequence is greater than a first preset duration corresponding to the synchronization word;

[0053] A first determining module, configured to determine a related signal sequence based on a preset signal sequence related to the synchronization word and the first signal sequence;

[0054] A first acquisition module, configured to acquire a second signal sequence corresponding to the synchronization word from the first signal sequence by taking a first position number corresponding to the peak value of the correlation signal sequence in the correlation signal sequence as a starting position number of the synchronization word in the first signal sequence, wherein a duration corresponding to the second signal sequence is equal to the first preset duration;

[0055] A second acquisition module, configured to fuse the preset signal sequence with the second signal sequence to acquire a third signal sequence;

[0056] The second determination module is used to determine the Doppler frequency based on the third signal sequence.

[0057] In some embodiments, the receiving module is used to:

[0058] After determining that the continuous wave of the communication-navigation fusion signal is received, the first signal sequence is received.

[0059] In some embodiments, a third determining module is further included, which is used to:

[0060] Acquire multiple continuous sub-signals;

[0061] Acquire a first frequency domain signal sequence corresponding to each of the sub-signals;

[0062] Fusing each of the first frequency domain signal sequences to obtain a second frequency domain signal sequence;

[0063] Determine a peak value of the second frequency domain signal sequence and an average value of elements other than the peak value in the second frequency domain signal sequence;

[0064] When the ratio of the peak value to the average value of the second frequency domain signal sequence is greater than a threshold, it is determined that a continuous wave of the communication and navigation fusion signal is received.

[0065] In some embodiments, the third determining module is used to:

[0066] Acquire a second preset duration corresponding to the continuous wave in the communication navigation fusion signal;

[0067] Based on the second preset duration, determining a total number of the sub-signals and a target duration corresponding to each of the sub-signals;

[0068] Based on the total number and the target duration, a plurality of the sub-signals are acquired.

[0069] In some embodiments, the third determining module is used to:

[0070] quantizing each of the sub-signals based on a sampling rate corresponding to the communication navigation fusion signal to obtain a quantized sub-signal;

[0071] Perform discrete Fourier transform on each of the quantized sub-signals to obtain the first frequency domain signal sequence.

[0072] In some embodiments, the third determining module is used to:

[0073] Taking the modulus of each element in each of the first frequency domain signal sequences to obtain a third frequency domain signal sequence corresponding to each of the first frequency domain signal sequences;

[0074] A plurality of the third frequency domain signal sequences are summed to obtain the second frequency domain signal sequence.

[0075] In some embodiments, the receiving module is used to:

[0076] receiving a first signal including the synchronization word;

[0077] The first signal is sampled based on a sampling rate corresponding to the communication-navigation fusion signal to obtain the first signal sequence.

[0078] In some embodiments, a third acquisition module is further included, which is used to:

[0079] Acquire a locally stored initial signal sequence associated with the synchronization word;

[0080] The initial signal sequence is sampled according to a sampling rate corresponding to the communication-navigation fusion signal and a first length of the initial signal sequence to obtain the preset signal sequence.

[0081] In some embodiments, the calculation formula of the correlation signal sequence is:

[0082]

[0083] Wherein, X(k) is the kth element in the related signal sequence, L is the product of the sampling rate and the first preset time length, V(i+k) is the i+kth element in the first signal sequence, and U s (i) is the i-th element in the preset signal sequence.

[0084] In some embodiments, the second acquisition module is used to:

[0085] The uth element in the preset signal sequence is multiplied by the uth element in the second signal sequence to obtain the uth element in the third signal sequence, where the value of u is a positive integer from 1 to L.

[0086] In some embodiments, the second determining module is used to:

[0087] Performing discrete Fourier transform on the third signal sequence to obtain a fourth frequency domain signal sequence;

[0088] The Doppler frequency is determined according to the fourth frequency domain signal sequence.

[0089] In some embodiments, the second determining module is used to:

[0090] Determine a second position number corresponding to a peak value of the fourth frequency domain signal sequence in the fourth frequency domain signal sequence, and a preset number of elements adjacent to the peak value in the fourth frequency domain signal sequence;

[0091] The Doppler frequency is determined according to the second position sequence number, the preset number of elements and the first preset time length.

[0092] In some embodiments, the calculation formula corresponding to the Doppler frequency is:

[0093]

[0094] Among them, f d is the Doppler frequency, T is the first preset time length, K Y is the second position number, Y 1 is the first element after the peak value of the fourth frequency domain signal sequence, Y 2 is the second element after the peak value of the fourth frequency domain signal sequence, Y -1 is the first element before the peak value of the fourth frequency domain signal sequence, Y -2 is the second element located before the peak of the fourth frequency domain signal sequence.

[0095] In some embodiments, the duration corresponding to the first signal sequence is twice the first preset duration.

[0096] The communication device proposed in the third aspect embodiment of the present disclosure includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for determining the Doppler frequency proposed in the first aspect embodiment of the present disclosure is implemented.

[0097] The fourth aspect embodiment of the present disclosure proposes a non-temporary computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method for determining the Doppler frequency proposed in the first aspect embodiment of the present disclosure is implemented.

[0098] The Doppler frequency determination method, device and communication equipment proposed in the present disclosure receive a first signal sequence containing a synchronization word of a communication navigation fusion signal, then determine the related signal sequence based on a preset signal sequence related to the synchronization word and the first signal sequence, and use the first position number corresponding to the peak of the related signal sequence in the related signal sequence as the starting position number of the synchronization word in the first signal sequence, obtain the second signal sequence corresponding to the synchronization word from the first signal sequence, fuse the preset signal sequence with the second signal sequence to obtain a third signal sequence, and finally determine the Doppler frequency based on the third signal sequence. Thus, the related signal sequence can be determined based on the preset signal sequence and the first signal sequence, and then the starting position of the synchronization word can be accurately determined according to the related signal sequence, thereby improving the accuracy of the synchronization word part determined by the communication navigation fusion signal, and thereby improving the accuracy of the determined Doppler frequency.

[0099] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0100] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0101] Figure 1 A schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure;

[0102] Figure 2 is a flow chart of a method for determining a Doppler frequency provided by an embodiment of the present disclosure;

[0103] Figure 3 is a flow chart of another method for determining Doppler frequency provided by an embodiment of the present disclosure;

[0104] Figure 4 is a flow chart of another method for determining Doppler frequency provided by an embodiment of the present disclosure;

[0105] Figure 5 is a structural schematic diagram of a device for determining a Doppler frequency provided by an embodiment of the present disclosure;

[0106] Figure 6 A block diagram of an exemplary communication device suitable for implementing embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0107] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present disclosure, and are not to be construed as limitations of the present disclosure. On the contrary, the embodiments of the present disclosure include all changes, modifications, and equivalents that fall within the spirit and connotation of the appended claims.

[0108] In order to better understand a method for determining a Doppler frequency disclosed in an embodiment of the present disclosure, a communication system to which the embodiment of the present disclosure is applicable is first described below.

[0109] See also Figure 1 , Figure 1 The following is a schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure. The communication system may include but is not limited to a satellite and a terminal device. Figure 1 The number and form of the devices shown are for illustrative purposes only and do not constitute a limitation on the embodiments of the present disclosure. In actual applications, two or more satellites and two or more terminal devices may be included. Figure 1 The communication system shown includes a satellite 101 and a terminal device 102 as an example.

[0110] The satellite 101 in the embodiment of the present disclosure is an entity for transmitting or receiving signals. The embodiment of the present disclosure does not limit the specific technology and specific device form used by the satellite.

[0111] The terminal device 102 in the embodiment of the present disclosure is an entity on the user side for receiving or transmitting signals, such as a mobile phone. The terminal device may also be referred to as a terminal device (terminal), user equipment (UE), mobile station (MS), mobile terminal device (MT), etc. The terminal device may be a car with communication function, a smart car, a mobile phone, a wearable device, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control (industrial control), a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in smart grid (smart grid), a wireless terminal device in transportation safety (transportation safety), a wireless terminal device in smart city (smart city), a wireless terminal device in smart home (smart home), etc. The embodiment of the present disclosure does not limit the specific technology and specific device form adopted by the terminal device.

[0112] It can be understood that the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution provided by the embodiment of the present disclosure. A person skilled in the art can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by the embodiment of the present disclosure is also applicable to similar technical problems.

[0113] The Doppler frequency determination method and device provided by the present disclosure are described in detail below with reference to the accompanying drawings.

[0114] Figure 2 FIG. 1 is a flow chart of a method for determining a Doppler frequency provided by an embodiment of the present disclosure. Figure 2 As shown, the method includes but is not limited to the following steps:

[0115] Step 201: Receive a first signal sequence, wherein the first signal sequence includes a synchronization word of a communication and navigation fusion signal.

[0116] The duration corresponding to the first signal sequence is greater than the first preset duration corresponding to the synchronization word.

[0117] The synchronization word may also be called a unique word, a synchronization code, a keyword, (Unique Word, UW), etc., which is not limited in the present disclosure.

[0118] The synchronization word can be used to synchronize data streams to ensure that the receiver can correctly parse and process the transmitted data.

[0119] Optionally, the first signal sequence may be a digital signal sequence obtained by quantizing a received analog signal containing a synchronization word. Specifically, the first signal containing a synchronization word may be received first, and then the first signal may be sampled based on a sampling rate corresponding to the communication navigation fusion signal to obtain the first signal sequence.

[0120] The duration corresponding to the first signal sequence may be the duration corresponding to the analog signal before quantization.

[0121] It should be noted that the synchronization word in the communication-navigation fusion signal is located after the continuous wave. Since the position of the synchronization word in the communication-navigation fusion signal cannot be accurately determined, in order to include all the synchronization words in the first signal sequence, the first signal sequence may also include some continuous waves. Therefore, the duration corresponding to the first signal sequence should be greater than the first preset duration, so as to ensure that all the synchronization words can be included in the first signal sequence. The first preset duration may be 5 milliseconds (ms), etc.

[0122] Optionally, the duration corresponding to the first signal sequence may be twice the first preset duration. In the disclosed embodiment, if the second preset duration corresponding to the continuous wave is 5 ms and the first preset duration is also 5 ms, that is, the duration of the continuous wave is the same as the duration of the synchronization word, then the duration corresponding to the first signal sequence is 10 ms, thereby ensuring that all synchronization words can be included in the first signal sequence.

[0123] In some embodiments, the first signal sequence may be received after it is determined that a continuous wave of the communication and navigation fusion signal is received, so that the first signal sequence including the synchronization word may be accurately received.

[0124] Specifically, the received signal is identified in real time to determine whether a continuous wave is received, and after the continuous wave is received, a segment of the received signal is used as a signal containing a synchronization word, and the received signal is quantized to obtain a first signal sequence containing a synchronization word.

[0125] Step 202: Determine a related signal sequence based on a preset signal sequence related to the synchronization word and the first signal sequence.

[0126] In the disclosed embodiment, since the starting position of the synchronization word in the first signal sequence is unknown, it is necessary to detect and synchronize the synchronization word.

[0127] Optionally, a locally stored initial signal sequence related to the synchronization word may be first obtained, and then the initial signal sequence may be sampled according to a sampling rate corresponding to the communication navigation fusion signal and a first length of the initial signal sequence to obtain a preset signal sequence.

[0128] The initial signal sequence may be pre-stored locally.

[0129] The length of the preset signal sequence is greater than the first length of the initial signal sequence, that is, the initial signal sequence is upsampled to obtain the preset signal sequence.

[0130] The formula for determining the elements in the preset signal sequence is:

[0131]

[0132] Among them, U s (n) is the nth element in the preset signal sequence, L U is the first length, F s is the sampling rate.

[0133] Optionally, the calculation formula of the correlation signal sequence is:

[0134]

[0135] Wherein, X(k) is the kth element in the correlation signal sequence, L is the product of the sampling rate and the first preset duration, V(i+k) is the i+kth element in the first signal sequence, and U s (i) is the i-th element in the preset signal sequence.

[0136] Step 203: Taking the first position number corresponding to the peak value of the correlation signal sequence in the correlation signal sequence as the starting position number of the synchronization word in the first signal sequence, a second signal sequence corresponding to the synchronization word is obtained from the first signal sequence.

[0137] The duration corresponding to the second signal sequence is equal to the first preset duration.

[0138] For example, the peak value of the correlation signal sequence corresponds to a first position number 20 in the correlation signal sequence, and L elements are obtained from the position number 20 in the first signal sequence as the starting position to serve as the second signal sequence.

[0139] Step 204: merge the preset signal sequence with the second signal sequence to obtain a third signal sequence.

[0140] In the embodiment of the present disclosure, the uth element in the preset signal sequence is multiplied with the uth element in the second signal sequence to obtain the uth element in the third signal sequence, where the value of u is a positive integer from 1 to L. For example, the first element in the preset signal sequence is multiplied with the first element in the second signal sequence to obtain the first element in the third signal sequence; the second element in the preset signal sequence is multiplied with the second element in the second signal sequence to obtain the second element in the third signal sequence, and the third signal sequence is determined in sequence.

[0141] Step 205: Determine the Doppler frequency based on the third signal sequence.

[0142] Specifically, the third signal sequence may be subjected to discrete Fourier transform to convert the third signal sequence into the frequency domain, and the frequency corresponding to the peak value may be determined as the Doppler frequency.

[0143] In the disclosed embodiment, a first signal sequence of a synchronization word including a communication navigation fusion signal is received, and then a related signal sequence is determined based on a preset signal sequence related to the synchronization word and the first signal sequence, and a first position number corresponding to the peak value of the related signal sequence in the related signal sequence is used as the starting position number of the synchronization word in the first signal sequence, and a second signal sequence corresponding to the synchronization word is obtained from the first signal sequence, and the preset signal sequence and the second signal sequence are fused to obtain a third signal sequence, and finally the Doppler frequency is determined based on the third signal sequence. Thus, the related signal sequence can be determined based on the preset signal sequence and the first signal sequence, and then the starting position of the synchronization word can be accurately determined according to the related signal sequence, thereby improving the accuracy of the synchronization word part determined by the communication navigation fusion signal, and then improving the accuracy of the determined Doppler frequency.

[0144] Figure 3 FIG. 1 is a flow chart of another method for determining Doppler frequency provided by an embodiment of the present disclosure. Figure 3 As shown, the method may include but is not limited to the following steps:

[0145] Step 301: Acquire multiple continuous sub-signals.

[0146] The multiple sub-signals may be signals received by the terminal device in real time, may be noise signals, or may be communication and navigation fusion signals. Therefore, it is necessary to determine whether the sub-signals are communication and navigation fusion signals.

[0147] Optionally, a second preset duration corresponding to the continuous wave in the channel fusion signal is obtained, and then based on the second preset duration, the total number of sub-signals and the target duration corresponding to each sub-signal are determined, and finally the sub-signal is obtained based on the total number and the target duration.

[0148] For example, if the second preset duration is 5 ms, the length of the multiple sub-signals may be 2.5 ms, and the total number may be 5, and the target duration may be 0.5 ms. That is, a total of 5 sub-signals are obtained, and the target duration of each sub-signal is 0.5 ms.

[0149] Step 302: Acquire a first frequency domain signal sequence corresponding to each sub-signal.

[0150] Optionally, based on a sampling rate corresponding to the communication navigation fusion signal, each sub-signal is quantized to obtain a quantized sub-signal, and then a discrete Fourier transform is performed on each quantized sub-signal to obtain a first frequency domain signal sequence.

[0151] Step 303: fuse each first frequency domain signal sequence to obtain a second frequency domain signal sequence.

[0152] Optionally, each element in each first frequency domain signal sequence may be modulo-processed to obtain a third frequency domain signal sequence corresponding to each first frequency domain signal sequence, and then multiple third frequency domain signal sequences may be summed to obtain a second frequency domain signal sequence.

[0153] The calculation formula for the qth element in the second frequency domain signal sequence may be:

[0154]

[0155] Where Q(q) is the qth element in the second frequency domain signal sequence, p is the total number of sub-signals, and M j (q) is the qth element in the first frequency domain signal sequence corresponding to the jth sub-signal, |M j (q)| is the qth element in the third frequency domain signal sequence corresponding to the jth sub-signal.

[0156] Step 304: determine the peak value of the second frequency domain signal sequence and the average value of the remaining elements in the second frequency domain signal sequence except the peak value.

[0157] For example, the length of the second frequency domain signal sequence is 30, and the position number corresponding to the peak is 10, then the average value of the remaining 29 elements of the second frequency domain signal sequence except the 10th element is calculated.

[0158] Step 305 : when the ratio of the peak value to the average value of the second frequency domain signal sequence is greater than a threshold, it is determined that a continuous wave of the communication and navigation fusion signal is received.

[0159] The threshold value may be 10. When the ratio is greater than 10, it is determined that the communication and navigation fusion signal is found, and when it is less than 10, it is determined that the communication and navigation fusion signal is not found, and the sub-signals are continuously acquired for judgment.

[0160] Step 306: Receive a first signal sequence, wherein the first signal sequence includes a synchronization word of a communication and navigation fusion signal.

[0161] The duration corresponding to the first signal sequence is greater than the first preset duration corresponding to the synchronization word.

[0162] Step 307: Determine a related signal sequence based on a preset signal sequence related to the synchronization word and the first signal sequence.

[0163] Step 308: Taking the first position number corresponding to the peak value of the correlation signal sequence in the correlation signal sequence as the starting position number of the synchronization word in the first signal sequence, a second signal sequence corresponding to the synchronization word is obtained from the first signal sequence.

[0164] The duration corresponding to the second signal sequence is equal to the first preset duration.

[0165] Step 309: merge the preset signal sequence with the second signal sequence to obtain a third signal sequence.

[0166] Step 310: Determine the Doppler frequency based on the third signal sequence.

[0167] The specific implementation forms of steps 306 to 310 may refer to the detailed descriptions in other embodiments of the present disclosure, and will not be described in detail here.

[0168] In the disclosed embodiment, a plurality of continuous sub-signals and a second frequency domain signal sequence corresponding to the sub-signals are first obtained, and then each first frequency domain signal sequence is fused to obtain a second frequency domain signal sequence, and a peak value of the second frequency domain signal sequence and an average value of the remaining elements in the second frequency domain signal sequence except the peak value are determined; when the ratio of the peak value to the average value of the second frequency domain signal sequence is greater than a threshold value, it is determined that a continuous wave of a communication navigation fusion signal is received, and then the first signal sequence is received, and a related signal sequence is determined based on a preset signal sequence related to a synchronization word and the first signal sequence, and a first position number corresponding to the peak value of the related signal sequence in the related signal sequence is used as the starting position number of the synchronization word in the first signal sequence, and a second signal sequence corresponding to the synchronization word is obtained from the first signal sequence, and the preset signal sequence is fused with the second signal sequence to obtain a third signal sequence, and finally, based on the third signal sequence, the Doppler frequency is determined. Therefore, the second frequency domain signals corresponding to multiple groups of sub-signals can be summed, and based on the ratio between the peak value in the summation result and the average value after removing the peak value, it is possible to more accurately determine whether the communication navigation fusion signal is received, thereby providing support for the subsequent determination of the Doppler frequency and making the determined Doppler frequency more accurate.

[0169] Figure 4FIG. 1 is a flow chart of another method for determining Doppler frequency provided by an embodiment of the present disclosure. Figure 4 As shown, the method may include but is not limited to the following steps:

[0170] Step 401: Receive a first signal sequence, wherein the first signal sequence includes a synchronization word of a communication and navigation fusion signal.

[0171] The duration corresponding to the first signal sequence is greater than the first preset duration corresponding to the synchronization word.

[0172] Step 402: Determine a related signal sequence based on a preset signal sequence related to a synchronization word and a first signal sequence.

[0173] Step 403: Taking the first position number corresponding to the peak value of the correlation signal sequence in the correlation signal sequence as the starting position number of the synchronization word in the first signal sequence, a second signal sequence corresponding to the synchronization word is obtained from the first signal sequence.

[0174] The duration corresponding to the second signal sequence is equal to the first preset duration.

[0175] Step 404: merge the preset signal sequence with the second signal sequence to obtain a third signal sequence.

[0176] The specific implementation forms of steps 401 to 404 can refer to the detailed descriptions in other embodiments of the present disclosure, and will not be described in detail here.

[0177] Step 405: Perform discrete Fourier transform on the third signal sequence to obtain a fourth frequency domain signal sequence.

[0178] The length of the first frequency domain signal sequence is L. That is, the maximum value of u can be L.

[0179] Step 406: Determine the Doppler frequency according to the fourth frequency domain signal sequence.

[0180] Optionally, the second position number corresponding to the peak value of the fourth frequency domain signal sequence in the fourth frequency domain signal sequence and a preset number of elements adjacent to the peak value in the fourth frequency domain signal sequence can be determined first, and then the Doppler frequency can be determined based on the second position number, the preset number of elements and the first preset time length.

[0181] Optionally, the calculation formula corresponding to the Doppler frequency may be:

[0182]

[0183] Among them, f d is the Doppler frequency, T is the first preset time length, K Y is the second position number, Y1 is the first element after the peak of the fourth frequency domain signal sequence, Y 2 is the second element after the peak of the fourth frequency domain signal sequence, Y -1 is the first element before the peak of the fourth frequency domain signal sequence, Y -2 is the second element before the peak of the fourth frequency domain signal sequence.

[0184] In some embodiments, Y -2 , Y -1 , Y 1 , Y 2 The calculation formula can be:

[0185]

[0186]

[0187]

[0188]

[0189] In this embodiment, a first signal sequence is received, and a related signal sequence is determined based on a preset signal sequence related to the synchronization word and the first signal sequence, and a first position sequence number corresponding to the peak value of the related signal sequence in the related signal sequence is used as the starting position sequence number of the synchronization word in the first signal sequence, and a second signal sequence corresponding to the synchronization word is obtained from the first signal sequence, and the preset signal sequence and the second signal sequence are merged to obtain a third signal sequence, and finally a discrete Fourier transform is performed on the third signal sequence to obtain a fourth frequency domain signal sequence, and the Doppler frequency is determined according to the fourth frequency domain signal sequence. Therefore, after accurately determining the second signal sequence corresponding to the synchronization word, a more accurate Doppler frequency can be obtained by fitting the sequence number corresponding to the peak value in the first frequency domain signal sequence and the preset number of elements adjacent to the peak value, thereby further improving the accuracy of the determined Doppler frequency.

[0190] Figure 5 It is a structural schematic diagram of a Doppler frequency determination device provided in an embodiment of the present disclosure.

[0191] like Figure 5 As shown, the Doppler frequency determination device 500 includes:

[0192] A receiving module 501 is configured to receive a first signal sequence, wherein the first signal sequence includes a synchronization word of a communication navigation fusion signal, and a duration corresponding to the first signal sequence is greater than a first preset duration corresponding to the synchronization word;

[0193] A first determination module 502, configured to determine a related signal sequence based on a preset signal sequence related to a synchronization word and a first signal sequence;

[0194] A first acquisition module 503 is configured to acquire a second signal sequence corresponding to the synchronization word from the first signal sequence by taking a first position number corresponding to the peak value of the correlation signal sequence in the correlation signal sequence as the starting position number of the synchronization word in the first signal sequence, wherein the duration corresponding to the second signal sequence is equal to the first preset duration;

[0195] A second acquisition module 504, configured to fuse the preset signal sequence with the second signal sequence to acquire a third signal sequence;

[0196] The second determination module 505 is configured to determine the Doppler frequency based on the third signal sequence.

[0197] In some embodiments, the receiving module is configured to:

[0198] After determining that a continuous wave of the communication-navigation fusion signal is received, a first signal sequence is received.

[0199] In some embodiments, a third determining module is further included, which is used to:

[0200] Acquire multiple continuous sub-signals;

[0201] Acquire a first frequency domain signal sequence corresponding to each sub-signal;

[0202] fusing each first frequency domain signal sequence to obtain a second frequency domain signal sequence;

[0203] Determine a peak value of the second frequency domain signal sequence and an average value of the remaining elements in the second frequency domain signal sequence except the peak value;

[0204] When the ratio of the peak value to the average value of the second frequency domain signal sequence is greater than a threshold, it is determined that a continuous wave of the communication and navigation fusion signal is received.

[0205] In some embodiments, the third determining module is used to:

[0206] Acquire a second preset duration corresponding to the continuous wave in the communication navigation fusion signal;

[0207] Based on the second preset duration, determining the total number of sub-signals and the target duration corresponding to each sub-signal;

[0208] Based on the total number and target duration, multiple sub-signals are obtained.

[0209] In some embodiments, the third determining module is used to:

[0210] quantizing each sub-signal based on a sampling rate corresponding to the communication navigation fusion signal to obtain a quantized sub-signal;

[0211] Perform discrete Fourier transform on each quantized sub-signal to obtain a first frequency domain signal sequence.

[0212] In some embodiments, the third determining module is used to:

[0213] Taking the modulus of each element in each first frequency domain signal sequence to obtain a third frequency domain signal sequence corresponding to each first frequency domain signal sequence;

[0214] A plurality of third frequency domain signal sequences are summed to obtain a second frequency domain signal sequence.

[0215] In some embodiments, the receiving module is configured to:

[0216] receiving a first signal including a synchronization word;

[0217] The first signal is sampled based on a sampling rate corresponding to the communication-navigation fusion signal to obtain a first signal sequence.

[0218] In some embodiments, a third acquisition module is further included, which is used to:

[0219] Acquire a locally stored initial signal sequence associated with a synchronization word;

[0220] The initial signal sequence is sampled according to a sampling rate corresponding to the communication-navigation fusion signal and a first length of the initial signal sequence to obtain a preset signal sequence.

[0221] In some embodiments, the calculation formula of the relevant signal sequence is:

[0222]

[0223] Wherein, X(k) is the kth element in the correlation signal sequence, L is the product of the sampling rate and the first preset duration, V(i+k) is the i+kth element in the first signal sequence, and U s (i) is the i-th element in the preset signal sequence.

[0224] In some embodiments, the second acquisition module is used to:

[0225] The uth element in the preset signal sequence is multiplied by the uth element in the second signal sequence to obtain the uth element in the third signal sequence, where the value of u is a positive integer ranging from 1 to L.

[0226] In some embodiments, the second determining module is used to:

[0227] performing discrete Fourier transform on the third signal sequence to obtain a fourth frequency domain signal sequence;

[0228] The Doppler frequency is determined according to the fourth frequency domain signal sequence.

[0229] In some embodiments, the second determining module is used to:

[0230] Determine a second position number corresponding to the peak value of the fourth frequency domain signal sequence in the fourth frequency domain signal sequence, and a preset number of elements adjacent to the peak value in the fourth frequency domain signal sequence;

[0231] The Doppler frequency is determined according to the second position sequence number, the preset number of elements and the first preset time length.

[0232] In some embodiments, the calculation formula corresponding to the Doppler frequency is:

[0233]

[0234] Among them, f d is the Doppler frequency, T is the first preset time length, K Y is the second position number, Y 1 is the first element after the peak of the fourth frequency domain signal sequence, Y 2 is the second element after the peak of the fourth frequency domain signal sequence, Y -1 is the first element before the peak of the fourth frequency domain signal sequence, Y -2 is the second element before the peak of the fourth frequency domain signal sequence.

[0235] In some embodiments, the duration corresponding to the first signal sequence is twice the first preset duration.

[0236] It should be noted that the above explanation of the method for determining the Doppler frequency is also applicable to the device for determining the Doppler frequency of this embodiment, and will not be repeated here.

[0237] In this embodiment, after determining that a continuous wave of a communication navigation fusion signal is received, a first signal sequence containing a synchronization word of the communication navigation fusion signal is received, and then a related signal sequence is determined based on a preset signal sequence related to the synchronization word and the first signal sequence, and a first position number corresponding to the peak value of the related signal sequence in the related signal sequence is used as the starting position number of the synchronization word in the first signal sequence, and a second signal sequence corresponding to the synchronization word is obtained from the first signal sequence, and the preset signal sequence is fused with the second signal sequence to obtain a third signal sequence, and finally the Doppler frequency is determined based on the third signal sequence. Thus, the related signal sequence can be determined based on the preset signal sequence and the first signal sequence, and then the starting position of the synchronization word can be accurately determined according to the related signal sequence, thereby improving the accuracy of the synchronization word part determined by the communication navigation fusion signal, and then improving the accuracy of the determined Doppler frequency.

[0238] Figure 6 A block diagram of an exemplary communication device suitable for implementing embodiments of the present disclosure is shown. Figure 6 The communication device 12 shown is only an example and should not limit the functionality and scope of use of the embodiments of the present disclosure. Figure 6 As shown, the communication device 12 is in the form of a general purpose computing device. Components of the communication device 12 may include, but are not limited to, one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0239] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnection (PCI) bus.

[0240] The communication device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the communication device 12, including volatile and non-volatile media, removable and non-removable media.

[0241] The memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The communication device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 Not shown, often called a "hard drive").

[0242] although Figure 6 Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a compact disc read only memory (hereinafter referred to as: CD-ROM), a digital versatile disc read only memory (hereinafter referred to as: DVD-ROM) or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present disclosure.

[0243] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described in the present disclosure.

[0244] The communication device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a human body to interact with the communication device 12, and / or any device that enables the communication device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed through an input / output (I / O) interface 22. In addition, the communication device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the communication device 12 through a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the communication device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0245] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, such as implementing the determination method of the Doppler frequency mentioned in the above embodiment.

[0246] In order to implement the above embodiments, the present disclosure further proposes a non-transitory computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method for determining the Doppler frequency proposed in the above embodiments of the present disclosure is implemented.

[0247] In order to implement the above embodiments, the present disclosure further proposes a computer program product. When an instruction processor in the computer program product executes, the method for determining the Doppler frequency proposed in the above embodiments of the present disclosure is executed.

[0248] It should be noted that, in the description of the present disclosure, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise specified, the meaning of "plurality" is two or more.

[0249] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0250] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0251] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0252] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0253] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0254] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0255] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A method for determining Doppler frequency, It is characterized in that include: Receive a first signal sequence, wherein the first signal sequence includes a synchronization word of a communication and navigation fusion signal, and a duration corresponding to the first signal sequence is greater than a first preset duration corresponding to the synchronization word; Determine a related signal sequence based on a preset signal sequence related to the synchronization word and the first signal sequence; Taking a first position number corresponding to the peak value of the correlation signal sequence in the correlation signal sequence as a starting position number of the synchronization word in the first signal sequence, acquiring a second signal sequence corresponding to the synchronization word from the first signal sequence, wherein the duration corresponding to the second signal sequence is equal to the first preset duration; fusing the preset signal sequence with the second signal sequence to obtain a third signal sequence; Based on the third signal sequence, a Doppler frequency is determined.

2. The method according to claim 1, It is characterized in that The receiving a first signal sequence comprises: After determining that the continuous wave of the communication-navigation fusion signal is received, the first signal sequence is received.

3. The method according to claim 2, It is characterized in that The step of determining that a continuous wave of a communication and navigation fusion signal is received includes: Acquire multiple continuous sub-signals; Acquire a first frequency domain signal sequence corresponding to each of the sub-signals; Fusing each of the first frequency domain signal sequences to obtain a second frequency domain signal sequence; Determine a peak value of the second frequency domain signal sequence and an average value of elements other than the peak value in the second frequency domain signal sequence; When the ratio of the peak value to the average value of the second frequency domain signal sequence is greater than a threshold, it is determined that a continuous wave of the communication and navigation fusion signal is received.

4. The method according to claim 3, It is characterized in that The acquiring of a plurality of continuous sub-signals comprises: Acquire a second preset duration corresponding to the continuous wave in the communication navigation fusion signal; Based on the second preset duration, determining a total number of the sub-signals and a target duration corresponding to each of the sub-signals; Based on the total number and the target duration, a plurality of the sub-signals are acquired.

5. The method according to claim 3, It is characterized in that The acquiring a first frequency domain signal sequence corresponding to each of the sub-signals comprises: quantizing each of the sub-signals based on a sampling rate corresponding to the communication navigation fusion signal to obtain a quantized sub-signal; Perform discrete Fourier transform on each of the quantized sub-signals to obtain the first frequency domain signal sequence.

6. The method according to claim 3, It is characterized in that The fusing each of the first frequency domain signal sequences to obtain a second frequency domain signal sequence includes: Taking the modulus of each element in each of the first frequency domain signal sequences to obtain a third frequency domain signal sequence corresponding to each of the first frequency domain signal sequences; A plurality of the third frequency domain signal sequences are summed to obtain the second frequency domain signal sequence.

7. The method according to claim 1, It is characterized in that The receiving a first signal sequence comprises: receiving a first signal including the synchronization word; The first signal is sampled based on a sampling rate corresponding to the communication-navigation fusion signal to obtain the first signal sequence.

8. The method according to claim 1, It is characterized in that The method of obtaining the preset signal sequence includes: Acquire a locally stored initial signal sequence associated with the synchronization word; The initial signal sequence is sampled according to a sampling rate corresponding to the communication-navigation fusion signal and a first length of the initial signal sequence to obtain the preset signal sequence.

9. The method according to claim 1, It is characterized in that The calculation formula of the related signal sequence is: Wherein, X(k) is the kth element in the related signal sequence, L is the product of the sampling rate and the first preset time length, V(i+k) is the i+kth element in the first signal sequence, and U s (i) is the i-th element in the preset signal sequence.

10. The method according to claim 9, It is characterized in that The fusing the preset signal sequence with the second signal sequence to obtain a third signal sequence includes: The uth element in the preset signal sequence is multiplied by the uth element in the second signal sequence to obtain the uth element in the third signal sequence, where the value of u is a positive integer from 1 to L.

11. The method according to claim 1, It is characterized in that The determining of the Doppler frequency based on the third signal sequence comprises: Performing discrete Fourier transform on the third signal sequence to obtain a fourth frequency domain signal sequence; The Doppler frequency is determined according to the fourth frequency domain signal sequence.

12. The method according to claim 11, It is characterized in that The determining the Doppler frequency according to the fourth frequency domain signal sequence includes: Determine a second position number corresponding to a peak value of the fourth frequency domain signal sequence in the fourth frequency domain signal sequence, and a preset number of elements adjacent to the peak value in the fourth frequency domain signal sequence; The Doppler frequency is determined according to the second position sequence number, the preset number of elements and the first preset time length.

13. The method according to claim 12, It is characterized in that The calculation formula corresponding to the Doppler frequency is: Among them, f d is the Doppler frequency, T is the first preset time length, K Y is the second position number, Y 1 is the first element after the peak value of the fourth frequency domain signal sequence, Y 2 is the second element after the peak value of the fourth frequency domain signal sequence, Y -1 is the first element before the peak value of the fourth frequency domain signal sequence, Y -2 is the second element located before the peak of the fourth frequency domain signal sequence.

14. The method according to any one of claims 1 to 13, It is characterized in that The duration corresponding to the first signal sequence is twice the first preset duration.

15. A device for determining Doppler frequency, It is characterized in that The device comprises: A receiving module, configured to receive a first signal sequence, wherein the first signal sequence includes a synchronization word of a communication and navigation fusion signal, and a duration corresponding to the first signal sequence is greater than a first preset duration corresponding to the synchronization word; A first determining module, configured to determine a related signal sequence based on a preset signal sequence related to the synchronization word and the first signal sequence; A first acquisition module, configured to acquire a second signal sequence corresponding to the synchronization word from the first signal sequence by taking a first position number corresponding to the peak value of the correlation signal sequence in the correlation signal sequence as a starting position number of the synchronization word in the first signal sequence, wherein a duration corresponding to the second signal sequence is equal to the first preset duration; A second acquisition module, configured to fuse the preset signal sequence with the second signal sequence to acquire a third signal sequence; The second determination module is used to determine the Doppler frequency based on the third signal sequence.

16. The device according to claim 15, It is characterized in that The receiving module is used for: After determining that the continuous wave of the communication-navigation fusion signal is received, the first signal sequence is received.

17. The device according to claim 16, It is characterized in that Also included is a third determining module, configured to: Acquire multiple continuous sub-signals; Acquire a first frequency domain signal sequence corresponding to each of the sub-signals; Fusing each of the first frequency domain signal sequences to obtain a second frequency domain signal sequence; Determine a peak value of the second frequency domain signal sequence and an average value of elements other than the peak value in the second frequency domain signal sequence; When the ratio of the peak value to the average value of the second frequency domain signal sequence is greater than a threshold, it is determined that a continuous wave of the communication and navigation fusion signal is received.

18. The device according to claim 17, It is characterized in that The third determining module is used to: Acquire a second preset duration corresponding to the continuous wave in the communication navigation fusion signal; Based on the second preset duration, determining a total number of the sub-signals and a target duration corresponding to each of the sub-signals; Based on the total number and the target duration, a plurality of the sub-signals are acquired.

19. The device according to claim 17, It is characterized in that The third determining module is used to: quantizing each of the sub-signals based on a sampling rate corresponding to the communication navigation fusion signal to obtain a quantized sub-signal; Perform discrete Fourier transform on each of the quantized sub-signals to obtain the first frequency domain signal sequence.

20. The device according to claim 17, It is characterized in that The third determining module is used to: Taking the modulus of each element in each of the first frequency domain signal sequences to obtain a third frequency domain signal sequence corresponding to each of the first frequency domain signal sequences; A plurality of the third frequency domain signal sequences are summed to obtain the second frequency domain signal sequence.

21. The device according to claim 15, It is characterized in that The receiving module is used for: receiving a first signal including the synchronization word; The first signal is sampled based on a sampling rate corresponding to the communication-navigation fusion signal to obtain the first signal sequence.

22. The device according to claim 15, It is characterized in that The third acquisition module is further included, for: Acquire a locally stored initial signal sequence associated with the synchronization word; The initial signal sequence is sampled according to a sampling rate corresponding to the communication-navigation fusion signal and a first length of the initial signal sequence to obtain the preset signal sequence.

23. The device according to claim 15, It is characterized in that The calculation formula of the related signal sequence is: Wherein, X(k) is the kth element in the related signal sequence, L is the product of the sampling rate and the first preset time length, V(i+k) is the i+kth element in the first signal sequence, and U s (i) is the i-th element in the preset signal sequence.

24. The device according to claim 23, It is characterized in that The second acquisition module is used to: The uth element in the preset signal sequence is multiplied by the uth element in the second signal sequence to obtain the uth element in the third signal sequence, where the value of u is a positive integer from 1 to L.

25. The device according to claim 15, It is characterized in that The second determining module is used to: Performing discrete Fourier transform on the third signal sequence to obtain a fourth frequency domain signal sequence; The Doppler frequency is determined according to the fourth frequency domain signal sequence.

26. The device according to claim 25, It is characterized in that The second determining module is used to: Determine a second position number corresponding to a peak value of the fourth frequency domain signal sequence in the fourth frequency domain signal sequence, and a preset number of elements adjacent to the peak value in the fourth frequency domain signal sequence; The Doppler frequency is determined according to the second position sequence number, the preset number of elements and the first preset time length.

27. The device according to claim 26, It is characterized in that The calculation formula corresponding to the Doppler frequency is: Among them, f d is the Doppler frequency, T is the first preset time length, K Y is the second position number, Y 1 is the first element after the peak value of the fourth frequency domain signal sequence, Y 2 is the second element after the peak value of the fourth frequency domain signal sequence, Y -1 is the first element before the peak value of the fourth frequency domain signal sequence, Y -2 is the second element located before the peak of the fourth frequency domain signal sequence.

28. The device according to any one of claims 15 to 27, It is characterized in that The duration corresponding to the first signal sequence is twice the first preset duration.

29. A communication device, It is characterized in that include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 14.

30. A non-transitory computer-readable storage medium storing computer instructions, It is characterized in that in, The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 14.

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