Communication method, device and equipment for communication and conduction fusion of low-orbit satellites, and medium

Abstract

The invention relates to the technical field of low earth orbit satellite communication, in particular to a low earth orbit satellite conduction fusion communication method, device and equipment and a medium. A conduction fusion signal frame structure (hereinafter referred to as a frame structure) capable of carrying communication data and navigation data is designed, and the navigation data correspondingly extracted according to a received GNSS signal and the communication data needing to be transmitted are modulated into corresponding subframes of the signal frame structure. And generating a fusion signal (called a communication fusion signal for short) capable of supporting two functions of communication and / or navigation, and broadcasting the fusion signal to terminal equipment which needs to provide a navigation function and / or a communication function. Thus, the signal processing scheme provided by the invention can adapt to some scenes where communication and navigation functions are limited, and an LEO satellite signal capable of supporting the communication and navigation functions at the same time is provided.

Description

Technical Field

[0001] The present invention relates to the technical field of low-earth orbit satellite communication, and particularly relates to a communication method, device, equipment and medium for integrating communication and navigation of low-earth orbit satellites. Background Art

[0002] Currently, the Global Navigation Satellite System (GNSS) can already provide services such as all-weather, all-time and high-precision positioning, navigation and timing (PNT). For traditional technologies such as inertial navigation, visual navigation, and geomagnetic navigation, GNSS can also provide absolute position information and high-precision timing information for some mobile communication base stations, etc., to improve the timeliness and accuracy of navigation. Given that GNSS satellites are usually located in medium and high orbits, the performance of GNSS signals such as robustness, anti-interference ability, and anti-spoofing ability is poor. Currently, the LEO satellite enhanced GNSS technology implemented based on Low Earth Orbit (LEO) satellites can be used to improve these performances of GNSS signals. Among them, the LEO satellite enhanced GNSS technology uses small, low-cost, and standardized designed Cube Satellites (CubeSats) to build a LEO satellite network, thereby achieving the purpose of enhancing GNSS signals.

[0003] In this regard, some current signal processing solutions that can enable LEO satellites to carry navigation data capable of enhancing GNSS-related performances are used to achieve the above enhancement effects. However, the current signal processing solutions cannot provide a LEO satellite signal that can support both communication and navigation functions simultaneously to meet the usage requirements of some scenarios where both communication and navigation functions are relatively limited. Summary of the Invention

[0004] The present application provides a communication method, device, equipment and medium for integrating communication and navigation of low-earth orbit satellites, which can adapt to some scenarios where both communication and navigation functions are relatively limited, and provide a LEO satellite signal that can support both communication and navigation functions simultaneously.

[0005] In a first aspect, the present application provides a communication method for integrating communication and navigation in low-earth orbit satellites. The method includes: receiving a first satellite signal sent by a second satellite device, where the first satellite signal indicates first navigation data, and the first navigation data at least includes the position information, time information, and orbital parameter information of the second satellite device's orbit, and the altitude of the second satellite device's operating orbit is greater than the altitude of the first satellite device's operating orbit; sending a second satellite signal to a terminal device, where the second satellite signal indicates the first navigation data and first communication data to be transmitted to the terminal device.

[0006] For example, the above-mentioned first satellite device may be a low-earth orbit satellite such as a LEO satellite, and the above-mentioned second satellite device may be a medium-high orbit satellite such as a GNSS satellite. Correspondingly, the above-mentioned first satellite signal may be a GNSS signal, and the above-mentioned second satellite signal may be a LEO satellite signal, that is, the communication and navigation integrated signal provided by the present application. The LEO satellite provided by the present application can obtain the navigation data indicated by the GNSS signal received from the GNSS satellite, such as the above-mentioned first navigation data, and then modulate the navigation data and the obtained communication data to be transmitted (such as the above-mentioned first communication data) into the corresponding sub-frames of the preset signal frame structure of the low-earth orbit satellite communication and navigation integration, to generate a communication and navigation integrated signal (that is, the above-mentioned second satellite signal). Furthermore, the LEO satellite then transmits the modulated communication and navigation integrated signal to the terminal device or the ground receiving station for reception, to support the communication and navigation functions of the terminal device.

[0007] In some embodiments, the above-mentioned first communication data may be specific communication contents such as text, pictures, voices, videos, etc. that need to be transmitted, or enhancement parameters that can enhance the communication function of the terminal device that receives the corresponding satellite signal, and are not limited here. In some embodiments, the above-mentioned second satellite signal may further include navigation enhancement parameters that can enhance the above-mentioned first navigation data, such as differential correction data, ionospheric correction data, etc., and are not limited here.

[0008] In a possible implementation of the above first aspect, the second satellite signal includes at least one synchronization sub-frame and at least one data sub-frame, where part of the data sub-frames in the synchronization sub-frame or at least one data sub-frame indicates the first navigation data, and at least one data sub-frame indicates the first communication data.

[0009] In a possible implementation of the above first aspect, the synchronization sub-frame includes a first synchronization symbol, a first reference symbol, a first pilot symbol, and a first data message, where the first pilot symbol is used to track the first data message; each data sub-frame in at least one data sub-frame includes a second reference symbol, a second pilot symbol, and a second data message, where the second pilot symbol is used to track the second data message.

[0010] It can be understood that the second satellite signal, such as a communication-navigation integrated signal, can be composed of several main frames and can occupy corresponding time slots in the time domain for transmission. Among them, each main frame can include multiple sub-frames, including a synchronization sub-frame and at least one data sub-frame. The synchronization sub-frame can adopt an SSB structure and form a data sequence with four special symbols with different capabilities. The first navigation data indicated by it can carry a ranging sequence (such as an M sequence), etc. Each data sub-frame can adopt a data block structure and form a data sequence with three special symbols with different capabilities, which is not limited here.

[0011] In a possible implementation of the above first aspect, the second satellite signal indicates the first navigation data and the first communication data to be transmitted to the terminal device, including: the first data telegram indicates the first navigation data, and the second data telegram indicates the first communication data.

[0012] In some embodiments, in each main frame of the second satellite signal, the first navigation data can be transmitted through the data telegram in the synchronization sub-frame, and the first communication data can be transmitted through the data telegram in the data sub-frame.

[0013] In a possible implementation of the above first aspect, at least one data sub-frame includes a first data sub-frame and a second data sub-frame, and the second satellite signal indicates the first navigation data and the first communication data to be transmitted to the terminal device, including: the second data telegram of the first data sub-frame indicates the first navigation data, and the second data telegram of the second data sub-frame indicates the first communication data.

[0014] In some other embodiments, in each main frame of the second satellite signal, the first navigation data and the first communication data can be transmitted through different data sub-frames respectively.

[0015] In a possible implementation of the above first aspect, the second data telegram includes a first part of symbols and a second part of symbols, and the second satellite signal indicates the first navigation data and the first communication data to be transmitted to the terminal device, including: the first part of symbols indicates the first navigation data, and the second part of symbols indicates the first communication data.

[0016] In some other embodiments, in each main frame of the second satellite signal, the first navigation data can be transmitted through a part of the symbols (such as the above first part of symbols) in the data telegram of the same data sub-frame, and the first communication data can be transmitted through another part of the symbols (such as the above second part of symbols) in the data telegram of this data sub-frame, which is not limited here.

[0017] In a possible implementation of the first aspect above, the number of symbol bits included in the synchronization subframe is the same as the number of symbol bits included in the data subframe, and the number of symbol bits included in the synchronization subframe or the data subframe matches the number of subframes corresponding to the network mode adopted by the terminal device.

[0018] For example, for the network mode of 5G mobile communication adopted by the terminal device, the above synchronization subframe adopting the SSB structure and the data subframe adopting the data block structure both correspond to a data sequence composed of 14 symbols.

[0019] In a second aspect, the present application provides a communication device for low-orbit satellite communication and navigation integration, including: one or more processing units; one or more storage units; and one or more receivers; one or more transmitters; wherein, the receiver is used to receive a first satellite signal sent by a second satellite device, wherein the first satellite signal indicates first navigation data, and the first navigation data at least includes the position information, time information, and orbital parameter information of the second satellite device's orbit, and the height of the operating orbit of the second satellite device is greater than the height of the operating orbit of the first satellite device; the transmitter is used to send a second satellite signal to the terminal device, wherein the second satellite signal indicates the first navigation data and first communication data to be transmitted to the terminal device; the processing unit is used to modulate and generate the second satellite signal according to the first navigation data and the first communication data.

[0020] In some embodiments, the above communication device may further include other structures or units. For example, it may further include a power supply unit, an interface unit, a clock reference and taming unit, and a program loading and on-orbit update unit, etc., which together with the above processing unit form the basic units of the above communication device.

[0021] In some embodiments, the above receiver and transmitter may be provided inside the processing unit. In other embodiments, the above receiver and transmitter may also be provided outside the processing unit and maintain internal communication with the processing unit, which is not limited here.

[0022] In a third aspect, the present application provides a satellite device, including: one or more processors; one or more memories; one or more memories store one or more programs, and when the one or more programs are executed by the one or more processors, the satellite device executes the communication method for low-orbit satellite communication and navigation integration provided by the first aspect and various possible implementations of the first aspect.

[0023] In a fourth aspect, the present application provides a computer-readable storage medium, on which instructions are stored, and when the instructions are executed on a computer, the computer executes the communication method for low-orbit satellite communication and navigation integration provided by the first aspect and various possible implementations of the first aspect.

[0024] Fifth aspect, the present application provides a computer program product, including a computer program / instructions, which when executed by a processor implement the communication method for low-earth orbit satellite communication-navigation integration provided by the above-mentioned first aspect and various possible implementations of the first aspect.

[0025] For the beneficial effects of the above-mentioned second aspect to fifth aspect, reference can be made to the relevant descriptions in the above-mentioned first aspect and various possible implementations of the first aspect, which will not be elaborated here. Description of the Drawings

[0026] Figure 1 The figure shows a schematic diagram of an application scenario of a communication method for low-earth orbit satellite communication-navigation integration provided by an embodiment of the present application.

[0027] Figure 2 The figure shows a schematic diagram of a signal frame structure of a low-earth orbit satellite communication-navigation integration provided by an embodiment of the present application.

[0028] Figure 3 The figure shows a schematic diagram of the structure of a communication device for low-earth orbit satellite communication-navigation integration provided by an embodiment of the present application.

[0029] Figure 4 The figure shows an interactive implementation flowchart of a communication method for low-earth orbit satellite communication-navigation integration provided by an embodiment of the present application.

[0030] Figure 5 The figure shows a schematic diagram of a transformation processing flow involved in a communication process of low-earth orbit satellite communication-navigation integration provided by an embodiment of the present application. Detailed Embodiments

[0031] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0032] (1) A symbol is the basic transmission unit in digital communication. It usually corresponds to a specific waveform that occupies a certain duration in time. In a satellite navigation system, a symbol can be binary information (for example, 0 or 1), which is converted into a specific radio frequency (RF) waveform through a modulation process.

[0033] (2) Modulation is the process of mapping a data message onto a carrier signal. In a satellite navigation system, the data message (usually a binary sequence) can be modulated onto the carrier by means such as binary phase-shift keying (BPSK). Among them, Binary means using two states (usually 0 and 1) to represent data. Phase-Shift means changing the phase of the carrier signal. Keying is a modulation technique, which here refers to representing different binary data by changing the phase of the carrier.

[0034] (3) A main frame is a larger data structure composed of multiple sub-frames. Taking the Global Positioning System (GPS) as an example, a main frame can contain 5 sub-frames.

[0035] It can be understood that the main frame can provide a complete data set. For example, the main frame of a navigation signal can contain all necessary navigation information. The period of the main frame is fixed. For the aforementioned GPS system, the period of a main frame can be 30 seconds (i.e., it repeats every 30 seconds).

[0036] (4) A sub-frame is a relatively large data structure that contains a series of symbols arranged in a certain format to carry specific information.

[0037] It can be understood that a symbol is the basic unit of a sub-frame, and each symbol carries a part of the data message.

[0038] It should also be stated that in the embodiments of the present application, the steps in the methods and processes are numbered for the convenience of reference, rather than limiting the order. If there is an order between the steps, it shall be subject to the written description.

[0039] Figure 1 According to the embodiments of the present application, a schematic diagram of an application scenario of a communication method for low-Earth orbit satellite communication and navigation integration is shown.

[0040] As Figure 1 shown, this scenario may include GNSS satellite 00 operating in medium and high orbits, LEO satellite 10 operating in low Earth orbit (LEO), and terminal device 20 that needs to use satellite signals for navigation and communication. Among them, LEO satellite 10 may include, for example, a CubeSat, which is not limited here.

[0041] The terminal device 20 applicable to the method provided in the embodiments of the present application includes, but is not limited to, a mobile station (MS), a mobile terminal (MT), etc. For example, the terminal device 20 may be a mobile phone 21, a watch 22, and an in-vehicle terminal (commonly known as a car machine) configured in a vehicle 23, etc. For another example, the terminal device 20 may further include a smart TV, a bracelet, other wearable devices, a tablet computer (Pad), a desktop computer, a laptop computer, a virtual reality (VR) device, an augmented reality (AR) device, a terminal in industrial control, a terminal in self-driving, a terminal in remote medical surgery, a terminal in a smart grid, a terminal in transportation safety, a terminal in a smart city, a terminal in a smart home, and so on. The embodiments of the present application do not limit the specific form of the terminal device 20.

[0042] Referring to Figure 1 the scenario shown, the GNSS satellite 00 can provide the GNSS signals required for navigation and communication to the terminal device 20. Based on the LEO satellite-augmented GNSS technology and some current signal processing schemes, the navigation message carried by the navigation signal provided by the LEO satellite 10 to the terminal device 20 can carry some navigation enhancement parameters or carry the navigation data after enhancement processing to improve the robustness, anti-interference ability, and anti-spoofing ability of the GNSS signals finally provided to the terminal device 20 and other performances.

[0043] However, for some scenarios, such as cities, canyons, etc., where the LEO satellite network coverage is small and the mobile communication signal cannot cover or the signal in the coverage area is weak, due to more interference, stronger spoofing, and complex environment, both the communication and navigation functions will be greatly restricted. As mentioned above, for such scenarios where both the communication and navigation functions are relatively limited, the current signal processing schemes cannot provide an LEO satellite signal that can support both the communication and navigation functions at the same time.

[0044] To solve the above problems, the present application provides a communication method for integrated communication and navigation of low-earth orbit satellites. By designing a signal frame structure for integrated communication and navigation (hereinafter referred to as the frame structure for short) that can carry communication data and navigation data, both the navigation data extracted according to the received GNSS signal and the communication data to be transmitted are modulated into the corresponding sub-frames of the signal frame structure, generating a fusion signal (abbreviated as the integrated communication and navigation signal) that can support both communication and / or navigation functions, and then broadcasting it to the terminal devices that need to provide navigation and / or communication functions. In this way, the signal processing solution provided by the present application can adapt to some scenarios where both communication and navigation functions are relatively limited, and provide a LEO satellite signal that can support both communication and navigation functions simultaneously.

[0045] Among them, the above navigation data may include, for example, position information, time information, orbit parameter information, etc. The sub-frame carrying communication data in the above integrated communication and navigation signal frame structure can adopt a data block structure, and the number of such data blocks can be flexibly adjusted. In addition, such data blocks can also carry navigation enhancement parameters, such as differential correction data, ionospheric correction data, etc., to achieve the purpose of enhancing the navigation data extracted based on the GNSS signal. In this way, the signal processing solution provided by the present application can also flexibly adjust the number of data blocks for carrying communication data, as well as flexibly configure the number of data blocks for carrying communication data and the number of data blocks for carrying navigation enhancement parameters, to adapt to more scenarios, including the above satellite signal application scenarios that need to support both communication and navigation simultaneously and some scenarios that need to enhance satellite navigation signals, etc., which are not limited here.

[0046] As an example, Figure 2 According to an embodiment of the present application, a schematic diagram of a signal frame structure for integrated communication and navigation is shown.

[0047] As Figure 2 shown, the frame structure of each frame of the integrated communication and navigation signal may include one or more main frames. In the GPS system in the above example, one main frame may contain 5 sub-frames.

[0048] In an embodiment of the present application, each main frame may include a synchronization sub-frame and at least one data sub-frame. The structure of the synchronization sub-frame is different from that of the data sub-frame. Each synchronization sub-frame may include a synchronization symbol, a reference symbol, a pilot symbol, and a data message. Each data sub-frame may include a reference symbol, a pilot, and a data message. Among them, the data message may include a navigation message carrying navigation data or navigation data, or may include a communication data transmission message carrying communication data or communication data, etc.

[0049] Among them, the synchronization symbol can be used to help the Receiver synchronize the time and carrier frequency with the signal (such as a navigation signal or the communication-navigation integrated signal provided in this application).

[0050] The reference symbol can be a special symbol in the signal for channel estimation and signal quality monitoring, and it belongs to known symbols. The Receiver can estimate the characteristics of the channel, such as multipath effect, attenuation, and phase shift, by comparing the received reference symbol with the known reference symbol. Based on this, the reference signal can be used for signal equalization and error correction.

[0051] The pilot symbol can be a special type of reference symbol. The pilot symbol can appear periodically in the signal to help the Receiver track the changes in the signal. The pilot symbol can carry information for channel estimation, enabling the Receiver to continuously monitor and adjust the signal processing process to maintain stable reception of the signal. In satellite navigation systems such as the Global Positioning System (GPS), the pilot signal is crucial for maintaining signal lock.

[0052] The data message can be the actual information carried in the satellite navigation signal, including the position of the satellite, time information, satellite health status, and other navigation data. The data message can be modulated onto the signal and organized into a corresponding format (such as methods like GPS, Global Navigation Satellite System (GLONASS), Galileo, etc.) and sent to the Receiver. The Receiver parses these data messages to calculate its own position and time. The data message usually adopts error correction coding to improve reliability in a noisy environment.

[0053] As an example, refer to Figure 2 , in the time domain (t)-frequency (f) coordinate system, each main frame in the time domain (t) can include 4 time slots occupied by 4 sub-frames. For example, Figure 2 as shown in the time slot 0 occupied by 1 synchronization sub-frame and the time slots 1, 2, and 3 occupied by the data sub-frames respectively. In some other embodiments, according to the size of the communication data and / or navigation data to be carried, the number of sub-frames included in each main frame and the corresponding number of time slots occupied in the time domain (t) can also be flexibly configured as other values. For example, each main frame can also include 4 time slots occupied by 3 sub-frames, 5 time slots occupied by 5 sub-frames, and so on, which are not limited here.

[0054] Among them, each synchronization subframe can adopt a Synchronization Signal Block (SSB) structure. To improve the communication data indicated by the communication and navigation integrated signal provided in this application to be received and used by the terminal device, the number of symbols or symbol bits corresponding to each subframe in each main frame of the communication and navigation integrated signal can match the number of symbols or symbol bits of the communication signal supported by the network mode currently adopted by the terminal device (such as 2G / 3G / 4G / 5G / 5.5G / 6G, etc.). Taking the 5G mobile communication signal as an example, the subframe corresponding to the SSB structure can be a sequence composed of 14 symbols. Among them, the first 10 symbols (refer to Figure 2 the symbols 0 to 9 shown) can form a ranging sequence, and the last 2 symbols (refer to Figure 2 the symbols 12 to 13 shown) can carry navigation messages. In the embodiments of this application, the above-mentioned ranging sequence can adopt a Maximum Length Sequence (abbreviated as M sequence) for example. It can be understood that the M sequence refers to the sequence with the longest period that can be generated under a given linear shift register configuration. The M sequence is a deterministic pseudo-random sequence, so the characters in the M sequence can be accurately predicted and replicated, and the period length of the M sequence is (2 n -1), where n is the number of stages of the shift register. This period length refers to the number of elements (usually bits) included in the M sequence before it repeats itself. The M sequence will not repeat within a long time, so it can improve the measurement accuracy. In addition, the autocorrelation characteristic of the M sequence is very suitable for time delay estimation, that is, ranging, and has good anti-interference ability.

[0055] In some embodiments, in each main frame of the above-mentioned communication and navigation integrated signal, navigation data can be transmitted through the data message in the synchronization subframe, and communication data can be transmitted through the data message in the data subframe. In other embodiments, in each main frame of the communication and navigation integrated signal, navigation data and communication data can also be transmitted through different data subframes respectively. In other embodiments, in each main frame of the communication and navigation integrated signal, navigation data can also be transmitted through a part of the symbols (such as the first part of symbols) in the data message of the same data subframe, and communication data can be transmitted through another part of the symbols (such as the second part of symbols) in the data message of this data subframe, which is not limited here.

[0056] Continuing to refer to Figure 2 , in the embodiments of this application, symbols 10 and 11 among the last 4 symbols of the above-mentioned synchronization subframe can be reference signals, and symbols 12 and 13 can be data messages. As mentioned above, this data message can include navigation messages and / or communication data transmission messages, etc.

[0057] Each data subframe can adopt a data block structure, which can also be a sequence composed of 14 symbols. Refer to Figure 2 , each data subframe includes symbol 0 to symbol 13. Different from the above SSB structure, among them, symbol 0 and symbol 1 are reference symbols, and symbol 2 to symbol 13 are all data messages.

[0058] It can be understood that the communication and navigation integrated signal generated by the above Figure 2 shown signal frame structure model can carry communication data and / or navigation data, and can also carry navigation enhancement parameters, etc., to flexibly adapt to more scenarios. And, after the communication and navigation integrated signal is transmitted by a transmitter to the receiver end (including Figure 1 the terminal device 20 in the scenario shown), the receiver end can synthesize the satellite signals received from GNSS satellite 00, improve the communication quality and navigation accuracy, and thus meet more scenarios such as the above Figure 1 shown scenarios and the usage requirements of more users.

[0059] It can be understood that in order to generate a communication and navigation integrated signal using the above Figure 2 shown signal frame structure model and then provide it to the terminal device 20 for use together with the GNSS satellite signal in the above Figure 1 shown scenario, a communication device for communication and navigation integration of low-earth orbit satellites can be deployed in the LEO satellite 10 in the above Figure 1 shown scenario. Correspondingly, the LEO satellite 10 equipped with this communication device can also implement the communication method for communication and navigation integration of low-earth orbit satellites provided by this application to provide a communication and navigation integrated signal that can carry communication data and / or navigation data.

[0060] Continuing to refer to the above Figure 2 , taking each main frame containing 4 subframes (including a synchronization subframe and a data subframe) as an example, the time slots T frame occupied by each main frame of the communication and navigation integrated signal provided by this application in the time domain (t), the time slot interval T intvl between each main frame, the time slots T slot occupied by each subframe in the time domain (t), and the time slots T symbol occupied by each symbol in the time domain (t) can refer to the following calculation relationships:

[0061] T frame = 4T slot + T intvl (1)

[0062] T slot = 14·T symbol (2)

[0063] In addition, the frequencies corresponding to the symbols modulated in each subframe can be determined according to the transmission power of the transmitter, the channel bandwidth, etc. To achieve a high signal transmission efficiency, the modulation frequencies of the synchronization symbols, reference symbols, and data messages in the above-mentioned subframes can be modulated to a relatively high value, such as Figure 2 276△f shown, while the modulation frequency of the pilot symbol can be relatively low, such as 5△f. In this way, it is beneficial to improve the allocation efficiency of resources such as power and channel bandwidth, and there is no limitation here.

[0064] It can be understood that the LEO satellite 10 in the above Figure 1 shown scenario can be a satellite capable of generating and broadcasting the above-mentioned communication-navigation integrated signal. In this satellite, the communication device for low-orbit satellite communication-navigation integration provided by this application can be deployed to implement the process of generating and broadcasting satellite signals (i.e., the above-mentioned communication-navigation integrated signal) carrying communication data and / or navigation data.

[0065] For the convenience of understanding, the structure of the communication device deployed in the above-mentioned low-orbit satellite communication-navigation integration will be introduced exemplarily with reference to the accompanying drawings below.

[0066] Figure 3 According to an embodiment of the present application, a schematic structural diagram of a communication device for low-orbit satellite communication-navigation integration (hereinafter referred to as the communication device) is shown.

[0067] As Figure 3 shown, the communication device (hereinafter referred to as the communication device) 300 for low-orbit satellite communication-navigation integration may include a basic unit 310, a radio frequency power amplifier unit 320, and an antenna 330. Among them, the basic unit 310 may include a processing unit 311, a power supply unit 312, an interface unit 313, a clock reference and taming unit 314, and a program loading and on-orbit update unit 315.

[0068] The processing unit 311 may include a receiver 111 and a transmitter 112. Among them, the receiver 111 may be used to receive the GNSS signal transmitted by the GNSS satellite 00, so it may also be referred to as a GNSS receiver or an on-board GNSS receiver, etc., and there is no limitation here. The transmitter 112 may be used to transmit the satellite signal generated by the LEO satellite 10, so it may also be referred to as a LEO transmitter or an on-board enhancement transmitter, etc., and there is no limitation here.

[0069] In the embodiment of the present application, the satellite signal generated by the above-mentioned LEO satellite 10 may be a communication-navigation integrated signal generated based on the above Figure 2 shown signal frame structure model. This signal can be generated by the processing unit 311 loading the above Figure 2 shown signal frame structure model and executing the corresponding signal generation algorithm. The specific generation method will be described below and will not be elaborated here.

[0070] Power supply unit 312 is used to provide a stable and reliable power supply for the communication device 300. In some embodiments, the power supply unit 312 may include, but is not limited to, parts such as solar panels, battery packs, and power regulators. Among them, the solar panel is used to convert solar energy into electrical energy, the battery pack is used to store electrical energy, and the power regulator can be used to stably supply the voltage and current to the payload, meeting the working requirements of relevant power-consuming structures in the communication device 300. In some embodiments, the above-mentioned power supply unit 312 may be provided by a satellite platform (such as the above-mentioned LEO satellite 10 platform), or may be configured separately, which is not limited herein.

[0071] Interface unit 313 is used to realize the connection between the communication device 300 and the satellite platform (such as the above-mentioned LEO satellite 10 platform), and is also used to realize the connection between various structures inside the communication device 300 to support data exchange and instruction transfer between the structures. In some embodiments, the interface unit 313 may include various electrical interfaces, data interfaces, and communication interfaces, etc., which are not limited herein.

[0072] Clock reference and taming unit 314 includes a clock reference unit and a taming unit. The clock reference unit is used to provide accurate time information for the communication device 300 for purposes such as time synchronization, data marking, and task scheduling. The taming unit is used to adjust and calibrate the clock, for example, by receiving the accurate time signal from the ground station to calibrate the time information provided by the clock reference unit to maintain the clock accuracy.

[0073] Program loading and on-orbit update unit 315 includes a program loading unit and an on-orbit update unit. Among them, the program loading unit is used to load program codes such as the operating system and application software into the memory of the satellite payload before the satellite signal (such as the communication and navigation integration signal) is transmitted. The aforementioned operating system may be an embedded operating system specifically designed for the satellite or the satellite payload (such as the communication device 300), which will not be elaborated herein. The on-orbit update unit is used to support the satellite (such as Figure 1 the LEO satellite shown) to upgrade or correct the software through ground instructions during on-orbit operation.

[0074] RF power amplifier unit 320 is used to amplify the low-power RF signal generated by the satellite payload to a sufficient power level so that it can be effectively transmitted to the ground receiving station (such as the receiving station in the area where the above-mentioned Figure 1 terminal device 20 is located, etc.) or other satellites. The RF power amplifier unit 320 mainly plays the role of signal amplification and converting the DC power supply into RF power as efficiently as possible, etc., to extend the life of the satellite (such as Figure 1 the LEO satellite shown) and reduce the energy consumption of the satellite.

[0075] The antenna 330 may include a receiving antenna and a transmitting antenna. Among them, the receiving antenna may be connected to the receiver 111 for receiving GNSS signals from GNSS satellites 00. The transmitting antenna may be connected to the RF power amplifier unit 320 for transmitting the enhanced signals after amplification processing, such as the above-mentioned communication-navigation integration signals.

[0076] It can be understood that the structure schematically shown in the embodiments of the present application does not constitute a specific limitation on the communication device. In other embodiments of the present application, the communication device may include more or fewer units or components than shown in the figure, or combine certain units or components, or split certain units or components, or different arrangements of units or components. The units shown in the figure may also be implemented in hardware, software, or a combination of software and hardware, which is not limited herein.

[0077] It can be understood that based on the above Figure 3 shown structure, the above-mentioned communication device 300 may have three working modes, namely:

[0078] Receiver mode: In this working mode, only the receiver 111 works, and the transmitter 112 is in the off state. In the receiver mode, the receiver 111 can receive GNSS signals transmitted by GNSS satellites 00 orbiting in medium and high orbits and perform functions such as positioning and timing.

[0079] Transmitter mode: In this working mode, the receiver 111 and the transmitter 112 are in the working state at the same time. Among them, based on the received GNSS signals, the receiver 111 can provide information such as position information, time information, and orbit parameter information for the navigation message in the communication-navigation integration signals transmitted by the transmitter 112. The transmitter 112, then, can generate and broadcast one or more of ranging signals, communication signals, and navigation signals based on the Figure 2 shown signal frame structure model.

[0080] Sleep mode: In this working mode, both the receiver 111 and the transmitter 112 are in the off state.

[0081] Next, the detailed implementation process of the communication method for low-orbit satellite communication-navigation integration provided by the present application will be specifically introduced in conjunction with the accompanying drawings.

[0082] Based on the above Figure 1 shown scenario, Figure 4 According to the embodiments of the present application, an interactive implementation flowchart of a communication method for low-orbit satellite communication-navigation integration is shown.

[0083] In the embodiments of the present application, Figure 4The process shown above may involve the interaction between the GNSS satellite 00, the LEO satellite 10, and the terminal device 20. In other embodiments, the implementation process of the communication method for integrated navigation and communication of low-earth orbit satellites provided in this application may also only include the steps performed by the LEO satellite 10, or the steps performed by the GNSS satellite 00, etc., which are not limited herein.

[0084] Specifically, as Figure 4 shown, the interaction implementation process may include:

[0085] S401: The GNSS satellite 00 transmits a first satellite signal to the LEO satellite 10 and the terminal device 20. Among them, the navigation data indicated by the first satellite signal at least includes position information, time information, and orbital parameter information of the orbit where it is located.

[0086] Exemplarily, the first satellite signal transmitted by the GNSS satellite 00, that is, the above-mentioned GNSS signal, can accurately indicate the position information, time information, orbital parameter information, etc. of the GNSS satellite 00. The GNSS satellite 00 can transmit the first satellite signal in the form of broadcasting, etc., which is not limited herein.

[0087] S402: The LEO satellite 10 obtains at least position information, time information, and orbital parameter information from the received first satellite signal.

[0088] Exemplarily, the above-mentioned communication device 300 may be deployed in the LEO satellite 10, and the first satellite signal may be received based on the receiver 111 in the processing unit 311 of the communication device 300. Corresponding to the GNSS signal transmitted by the above-mentioned GNSS satellite 00, the receiver 111 may be a GNSS receiver.

[0089] Based on this, the processing unit 311 may execute relevant algorithms on the received first satellite signal. For example, pseudo range measurement algorithm, carrier phase measurement algorithm, Kalman filtering algorithm, time synchronization algorithm, differential GNSS (DGNSS) algorithm, and satellite orbital models, etc., to analyze accurate position information, time information, and orbital parameter information from the ephemeris of the received GNSS signal. Among them, the position information may correspond to the real-time position of the satellite (such as the above-mentioned GNSS satellite 00) that transmits the first satellite signal in orbit. The time information may correspond to the time of the satellite ephemeris that transmits the first satellite signal. The orbital parameter information may correspond to the relevant parameters of the position and state of the orbit where the satellite that transmits the first satellite signal is located. Details are not described herein.

[0090] S403: The LEO satellite 10 modulates the position information, time information, and orbital parameter information into the first partial sub-frame of a preset signal frame structure.

[0091] Exemplarily, based on the communication device 300, the LEO satellite 10 can use a pre-designed signal frame structure model (refer to the above Figure 2 ), and modulate the position information, time information, and orbital parameter information obtained from the first satellite signal into the upcoming communication-navigation integrated signal. For example, in the transmitter 112 of the processing unit 311 of the communication device 300, it can be pre-deployed with the above Figure 2 shown signal frame structure model. After the receiver 111 analyzes and obtains the above position information, time information, and orbital parameter information, it can provide them to the transmitter 112. The transmitter 112 can respectively modulate and add the above position information, time information, and orbital parameter information into each main frame and corresponding sub-frame of the initial signal generated using the above signal frame structure model.

[0092] As an example, referring to the above Figure 2 shown, the above position information, time information, and orbital parameter information can be modulated into the synchronization sub-frame of each main frame of the communication-navigation integrated signal, and the above position information, time information, and orbital parameter information are carried by 2 data telegram symbols of the synchronization sub-frame. That is, the first partial sub-frame can be Figure 2 the shown synchronization sub-frame. In some other embodiments, the above position information, time information, and orbital parameter information can also be modulated into some symbols of the data sub-frame, that is, the above first partial sub-frame can also be the data sub-frame shown in the above 2, which is not limited herein.

[0093] S404: The LEO satellite 10 modulates the communication data to be transmitted to the terminal device into the second partial sub-frame of a preset signal frame structure.

[0094] Exemplarily, the above communication data may include specific communication contents such as text, pictures, voices, videos, etc. to be transmitted, and may also include enhancement parameters that can enhance the communication function of the terminal device 20 receiving the corresponding satellite signal, such as channel state enhancement parameters such as channel gain, frequency synchronization data such as frequency offset correction, time synchronization data such as clock deviation correction, power control data such as power control instructions, spatial channel characteristic parameters supporting technologies such as Multiple Input Multiple Output (MIMO), anti-jamming management data such as anti-jamming strategies, security enhancement parameters such as encryption keys and authorization information, and user location information, etc. The navigation data may include enhancement parameters that can enhance the navigation function implemented based on GNSS signals, such as differential correction data, ionospheric correction data, satellite status data, ground reference station data, integrity data, and navigation messages, etc., which are not limited herein.

[0095] Based on this, the LEO satellite 10 can receive ground instructions based on the communication device 300, and modulate the communication data to be transmitted to the terminal device into the data sub-frames of each main frame of the upcoming communication-navigation integrated signal. For example, the transmitter 112 in the processing unit 311 of the communication device 300 can modulate and add the above communication data into each main frame and the corresponding sub-frames of the initial signal generated using the above signal frame structure.

[0096] In some other embodiments, the LEO satellite 10 can also modulate the navigation enhancement parameters for enhancing the above navigation data into the second part of the sub-frames of the preset signal frame structure, which is not limited herein.

[0097] In this way, on the one hand, the communication function can be realized through GNSS, and thus it can adapt to some scenarios that require supporting the communication and navigation of the ground terminal device 20, etc.; on the other hand, according to different application scenarios where the signal strength, accuracy, etc. of the communication and / or navigation functions are correspondingly enhanced in different regions, the data volume and their respective proportions of the communication data, navigation data, and navigation enhancement parameters carried in each data sub-frame can be modulated, so that it can also adapt to more scenarios.

[0098] In some other embodiments, the LEO satellite 10 can also modulate some navigation enhancement parameters, etc. into the synchronization sub-frames of each main frame based on the communication device 300, which is not limited herein.

[0099] It can be understood that the second part of the sub-frames and the first part of the sub-frames in the foregoing S404 may include the same type of sub-frames, such as both including synchronization sub-frames or data sub-frames, etc. In some embodiments, the second part of the sub-frames and the first part of the sub-frames may also include different types of sub-frames. For example, the first part of the sub-frames is a synchronization sub-frame and the second part of the sub-frames is a data sub-frame, etc., which is not limited herein.

[0100] S405: The LEO satellite 10 generates a second satellite signal based on the modulated first partial subframe and second partial subframe.

[0101] Exemplarily, the transmitter 112 in the processing unit 311 of the communication device 300 executes the above S403 and S404. After modulating the synchronization subframe and data subframe in each main frame in the initial signal, the corresponding communication-navigation integrated signal can be generated. During the subsequent transmission process, in the communication-navigation integrated signal, a certain time slot interval can be provided between each main frame for transmission. The relationship between the time slot interval and the time slots occupied by each main frame in the time domain (t) can refer to the above calculation formula (1), and specifically, it can refer to the relevant description in the foregoing text, which will not be elaborated here.

[0102] It can be understood that the above-generated second satellite signal is denoted as the above communication-navigation integrated signal in the embodiments of the present application, and its signal structure can include the above Figure 2 shown data sequence. The composition of this data sequence can correspondingly include the symbol data sequences included in each main frame with a cyclic distribution. Referring to the above Figure 2 , each main frame can include 1 synchronization subframe and 3 data subframes, and each subframe can include 14 symbols. Therefore, the data sequence of the second satellite signal can include a subframe sequence composed of 56 symbols in a cyclic distribution.

[0103] S406: The LEO satellite 10 transmits the second satellite signal to the terminal device 20. Among them, the second satellite signal can indicate the above navigation data and communication data to be transmitted to the terminal device.

[0104] Exemplarily, the transmission of a high-speed satellite signal, such as the above-generated communication-navigation integrated signal, can be implemented by using Orthogonal Frequency Division Multiplexing (OFDM) technology or other transmission technologies. It can be understood that the OFDM technology divides the channel into several orthogonal subchannels, converts the high-speed data signal into parallel low-speed sub-data streams, and then modulates them onto each subchannel for transmission.

[0105] Among them, the subcarrier data modulated onto each subchannel for transmission can include data formed by modulating a part of the communication data and / or navigation data on the above low-speed sub-data streams, etc. The transmitted time-domain signal s[t] can be the sum of the above subcarrier data. As an example, the calculation model of the time-domain signal s[t] can refer to the following equation (3):

[0106]

[0107] Among them, N is the sequence length, f k= k·f0 is the frequency of the k-th subcarrier, is the modulated ranging sequence or data message.

[0108] Furthermore, with the symbol duration time interval to sample s[t], a discrete OFDM signal can be obtained.

[0109] The OFDM signal passes through the inverse fast Fourier transform (IFFT) on N consecutive blocks to equivalently obtain the parallel data sequence s[n]. The calculation model of the time-domain signal corresponding to this sequence can refer to the following equation (4):

[0110]

[0111] where 0 ≤ n ≤ N - 1, d zp (k) is the sequence after zero-padding, and this sequence can be, for example, the sequence of any sub-frame in the main frame shown above Figure 2 shown.

[0112] It can be understood that before actual symbol transmission, a cyclic prefix (CP) can be appended to the beginning of s[n] for each OFDM symbol to form s cp , that is, s cp [n] in the following text. In some embodiments, this cyclic prefix (CP) can be used as a guard interval to allow the receiver to distinguish subsequent symbols and help reduce inter-symbol interference.

[0113] Thus, according to the data sequence of the communication and navigation integrated signal generated by the signal frame structure model shown above Figure 2 , for example, d zp (k), after being emitted from the transmitter end and undergoing a series of transformation processes (including the processes using the calculation models exemplified by the above equations (3) and (4)), it can be transmitted to the receiver end, and this receiver end can be, for example, the terminal device 20 or the receiving station in the area where the terminal device 20 is located, etc.

[0114] It can be understood that during the process of the above second satellite signal being emitted by the LEO satellite 10 and transmitted to the receiver such as the terminal device 20 or the receiving station, it can go through a series of data conversion and processing processes. Specifically, this process will be introduced exemplarily in the following with relevant drawings and will not be elaborated here.

[0115] S407: The terminal device 20 communicates and / or navigates based on the received first satellite signal and second satellite signal.

[0116] Exemplarily, while receiving GNSS signals (i.e., the above-mentioned first satellite signals) transmitted by GNSS satellite 00 for navigation and positioning, the terminal device 20 can receive the communication-navigation integrated signals (i.e., the above-mentioned second satellite signals) transmitted by LEO satellite 10. The navigation data carried by the second satellite signals can enhance the functions of the first satellite signals, and at the same time support the communication and navigation functions of the terminal device, meeting the usage requirements of some scenarios where both communication and navigation functions are relatively limited. Moreover, the second satellite signals can also carry navigation enhancement parameters, etc., and can also enhance the navigation function of the terminal device 20.

[0117] In some other embodiments, referring to the above Figure 2 , the ground terminal device 20 can also receive the above-mentioned first satellite signal and second satellite signal from the receiving station in the area where it is located. The receiving station can receive the above-mentioned first satellite signal from the above-mentioned GNSS satellite 00 and the above-mentioned second satellite signal from the LEO satellite 10.

[0118] Regarding the data conversion and processing performed on the second satellite signal (such as the communication-navigation integrated signal) during the transmission process involved in S406 above, the following will be described exemplarily in conjunction with Figure 5 for illustration.

[0119] Figure 5 According to the embodiments of the present application, a schematic diagram of the transformation processing flow experienced by a communication-navigation integrated signal during the transmission process is shown.

[0120] As mentioned above, the data sequence corresponding to the above-mentioned second satellite signal (such as the communication-navigation integrated signal) can be generated by OFDM technology.

[0121] Taking the data sequence d zp (k) as an example, through the Figure 5 shown transformation processing process, this data sequence can be correspondingly processed into a data sequence R(k) that can be received by the receiver end.

[0122] Specifically, as Figure 5 shown, the above-mentioned transformation processing process may include:

[0123] "S / P" represents performing serial-to-parallel conversion, that is, performing serial-to-parallel conversion processing on the transmission data sequence to be transmitted (such as d zp (k)). Among them, the transmission data sequence (such as d zp (k)) is the sequence of the aforementioned high-speed data signal, and after processing, parallel low-speed sub-data streams can be obtained. This serial-to-parallel conversion process can be executed by an algorithm or converter with serial-to-parallel conversion functions, which is not limited herein.

[0124] "Length N IFFT" means performing an Inverse Fast Fourier Transform (IFFT) on a data sequence of length N. For example, performing IFFT processing on the above-mentioned low-speed sub-data stream of length N. The function of this processing is to modulate the input serial data sequence d0(k) onto each sub-carrier. For example, the high-speed sub-data obtained from the above processing modulates communication data and / or navigation data to form parallel sub-carrier data.

[0125] "P / S" means performing a parallel-to-serial conversion, that is, performing a parallel-to-serial conversion processing on the high-speed sub-data stream after IFFT processing. Among them, the data stream after the parallel-to-serial conversion processing is the serial data sequence s cp [n] actually transmitted by the transmitter.

[0126] It can be understood that the processing process represented by the above "P / S" and the processing process represented by the above "S / P" can be reciprocal processing processes.

[0127] It can be understood that the processing processes respectively represented by the above "Length N IFFT" and "P / S" can be implemented using the calculation models provided by the above equations (1) and (2), which will not be elaborated here.

[0128] For the data sequence s cp [n], the channel it experiences can be represented by the Channel Impulse Response (CIR) h(t). The CIR can be various, depending on the type of the channel, the environment, and the medium through which the signal is transmitted, etc. The reference symbols and pilot symbols in the synchronization sub-frame or data sub-frame can be used to estimate h(t), which will not be elaborated in this application.

[0129] The above data sequence s cp [n], after being processed by the above CIR or other channel function h(t), can be output as Figure 3 the data sequence r[n] transmitted through the corresponding sub-channel as shown.

[0130] It can be understood that before the above data sequence r[n] is transmitted to the receiver and received by the receiving end, it can be processed by the processing processes represented by "S / P" and "Length N FFT" before being received by the receiver end.

[0131] Continuing to refer to Figure 5 , "Length N FFT" means performing a Fast Fourier Transform (FFT) on a data sequence of length N. For example, performing FFT on a data sequence s of length N cp[n] Perform FFT processing. It can be understood that the parallel data sequence obtained after the above data sequence r[n] undergoes "S / P" processing can be respectively subjected to "Length N FFT" processing and then received by the receiver end.

[0132] It can be understood that the processing process represented by the above "Length N FFT" and the processing process represented by the above "Length N IFFT" are also reciprocal processing processes.

[0133] "LEO Receiver" represents a Low Earth Orbit receiver. Continuing to refer to Figure 5 , the "LEO Receiver" can perform a serial-to-parallel conversion processing process represented by "P / S", which is reciprocal to the processing process indicated by "S / P", on the above data sequence obtained after FFT processing, and thus can obtain a serial data sequence R[k].

[0134] So far, the communication and navigation integrated signal generated based on the Figure 2 signal frame structure model shown above can realize the transmission process from the transmitter end (such as LEO satellite 10) to the receiver end (such as terminal device 20), or in other words, the receiver end (such as terminal device 20) can complete the reception process of the above communication and navigation integrated signal.

[0135] The embodiments of the present application also provide a computer-readable storage medium, on which instructions are stored, and when the instructions are executed on a computer, the computer is made to execute the communication method for communication and navigation integration of low-orbit satellites provided in the above specific implementation manner.

[0136] The embodiments of the present application also provide a computer program product for implementing the communication method for communication and navigation integration of low-orbit satellites provided in the above specific implementation manner.

[0137] The embodiments of the mechanism disclosed in the present application can be implemented in hardware, software, firmware, or a combination of these implementation methods. The embodiments of the present application can be implemented as computer program modules or module codes executed on a programmable system, which includes at least one processor, a storage system (including volatile and non-volatile memories and / or storage elements), at least one input device, and at least one output device.

[0138] A computer program module or module code can be applied to input instructions to perform the various functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0139] The module code can be implemented in a high-level modular language or an object-oriented programming language to communicate with the processing system. When needed, the module code can also be implemented in assembly language or machine language. In fact, the mechanisms described in this application are not limited to the scope of any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0140] In some cases, the disclosed embodiments can be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments can also be implemented as instructions carried or stored on one or more transient or non-transient machine-readable (e.g., computer-readable) storage media, which can be read and executed by one or more processors. For example, the instructions can be distributed via a network or via other computer-readable storage media. Thus, a machine-readable storage media can include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), including but not limited to, a floppy disk, a compact disc, a CD-ROM, a magneto-optical disk, a read only memory (ROM), a random access memory (RAM), an erasable programmable read only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic or optical card, a flash memory, or a tangible machine-readable memory for transmitting information (e.g., carrier waves, infrared signals, digital signals, etc.) using electrical, optical, acoustic, or other forms of propagated signals via the Internet. Thus, a machine-readable storage media includes any type of machine-readable storage media suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).

[0141] References in the specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one exemplary implementation or technique disclosed in embodiments of the present application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0142] The disclosure of embodiments of the present application also relates to an apparatus for performing operations in the text. The apparatus may be specifically constructed for the required purpose or it may comprise a general-purpose computer selectively activated or reconfigured by a computer program stored in the computer. Such a computer program may be stored in a computer-readable storage medium, such as, but not limited to, any type of disk, including a floppy disk, optical disk, CD-ROM, magneto-optical disk, read-only memory (ROM), random access memory (RAM), EPROM, EEPROM, magnetic or optical card, application specific integrated circuit (ASIC), or any type of medium suitable for storing electronic instructions, and each may be coupled to a computer system bus. Further, the computers referred to in the specification may include a single processor or may be architectures involving multiple processors for increased computing power.

[0143] In addition, the language used in this specification has been principally selected for readability and instructional purposes and may not have been selected to delineate or circumscribe the disclosed subject matter. Accordingly, the disclosure of embodiments of the present application is intended to illustrate rather than limit the scope of the concepts discussed herein.

Claims

1. A communication method for low-orbit satellite communication and navigation fusion, characterized in that: Applied to a first satellite device, the method comprises: Receiving a first satellite signal sent by a second satellite device, wherein the first satellite signal indicates first navigation data, the first navigation data at least includes position information, time information, and orbital parameter information of the orbit of the second satellite device, and the height of the orbit of the second satellite device is greater than the height of the orbit of the first satellite device; A second satellite signal is sent to the terminal device, wherein the second satellite signal indicates the first navigation data and first communication data to be transmitted to the terminal device.

2. The method according to claim 1, characterized in that The second satellite signal includes at least one synchronization subframe and at least one data subframe, wherein the synchronization subframe or part of the at least one data subframe indicates the first navigation data, and the at least one data subframe indicates the first communication data.

3. The method according to claim 2, characterized in that The synchronization subframe includes a first synchronization symbol, a first reference symbol, a first pilot symbol and a first data message, wherein the first pilot symbol is used to track the first data message; Each of the at least one data subframe comprises a second reference symbol, a second pilot symbol and a second data message, wherein the second pilot symbol is used to track the second data message.

4. The method according to claim 3, characterized in that The second satellite signal indicates the first navigation data and first communication data to be transmitted to the terminal device, including: The first data message indicates the first navigation data, and The second data electronic message indicates the first communication data.

5. The method according to claim 3, characterized in that: The at least one data subframe includes a first data subframe and a second data subframe, and, The second satellite signal indicates the first navigation data and first communication data to be transmitted to the terminal device, including: The second data message of the first data subframe indicates the first navigation data, and The second data message of the second data subframe indicates the first communication data.

6. The method according to claim 3, characterized in that: The second data message includes a first part of symbols and a second part of symbols, and the second satellite signal indicates the first navigation data and first communication data to be transmitted to the terminal device, including: The first portion of symbols indicates the first navigation data, and, The second portion of symbols indicates the first communication data.

7. The method according to any one of claims 2 to 6, characterized in that The number of sign bits included in the synchronization subframe is the same as the number of sign bits included in the data subframe, and, The number of sign bits included in the synchronization subframe or the data subframe matches the number of subframes corresponding to the network standard adopted by the terminal device.

8. A communication device for low-orbit satellite communication and navigation fusion, characterized in that: include: one or more processing units; one or more storage units; and, one or more receivers; One or more transmitters; wherein, The receiver is used to receive a first satellite signal sent by a second satellite device, wherein the first satellite signal indicates first navigation data, the first navigation data at least includes position information, time information and orbital parameter information of the orbit of the second satellite device, and the height of the orbit of the second satellite device is greater than the height of the orbit of the first satellite device; The transmitter is used to send a second satellite signal to the terminal device, wherein the second satellite signal indicates the first navigation data and first communication data to be transmitted to the terminal device; The processing unit is used for modulating and generating the second satellite signal according to the first navigation data and the first communication data.

9. A satellite device, characterized in that: include: one or more processors; One or more memories; the one or more memories store one or more programs, and when the one or more programs are executed by the one or more processors, the satellite device executes the low-orbit satellite communication method for navigation fusion as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The readable storage medium stores instructions, and when the instructions are executed on a computer, the computer executes the communication method for low-orbit satellite communication and navigation fusion according to any one of claims 1 to 7.

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