Uplink signal synchronization method, downlink signal synchronization method, ground base station, storage medium and product

Abstract

The invention relates to an uplink signal synchronization method, a downlink signal synchronization method, a ground base station, a storage medium and a product, which are applied to the ground base station and an unmanned aerial vehicle. The method comprises the following steps: acquiring a first phase of a first signal, a second phase of a second signal and a third phase of a third signal, determining an uplink compensation amount based on the first phase, the second phase and the third phase, and compensating a transmitting signal based on the uplink compensation amount to obtain a transmitting compensation signal, and finally, the emission compensation signal is sent to the unmanned aerial vehicle, the first signal is a signal which is generated by reference of the hydrogen clock and is consistent with the phase of the emission signal, the second signal is a standard receiving signal generated by reference of the hydrogen clock, and the third signal is a receiving signal received by the ground base station. According to the uplink signal synchronization method, the transmitted signal is compensated based on the uplink compensation quantity, and the picosecond-level frequency synchronization precision of the unmanned aerial vehicle is realized.

Description

Technical Field

[0001] This application relates to the technical field of UAV communication, and particularly to an uplink signal synchronization method, a downlink signal synchronization method, a ground base station, a storage medium, and a product. Background Art

[0002] Unmanned aerial vehicles (UAVs) have been widely used in various fields due to their high mobility and low cost. Precise on-board clocks and time-frequency signal synchronization are important foundations for UAVs in high-precision application fields such as communication, remote sensing, formation flight, and cooperative positioning.

[0003] In traditional technologies, a temperature-compensated crystal oscillator (TCXO), an oven-controlled crystal oscillator (OCXO), or a chip-scale atomic clock (CSAC) is usually installed on a UAV to provide an on-board frequency standard as the on-board clock signal.

[0004] However, traditional on-board clocks have problems of low accuracy and poor stability. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide an uplink signal synchronization method, a downlink signal synchronization method, a ground base station, a storage medium, and a product that can improve the time-frequency signal synchronization accuracy between a UAV and the ground, realize the reproduction of a high-precision frequency standard on the UAV, and provide a UAV with an on-board clock signal with higher accuracy and better stability.

[0006] In a first aspect, this application provides an uplink signal synchronization method, including:

[0007] Obtaining a first phase of a first signal, a second phase of a second signal, and a third phase of a third signal; wherein, the first signal is a signal generated based on a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated based on the hydrogen clock reference, and the third signal is a received signal received by the ground base station;

[0008] Determining an uplink compensation amount based on the first phase, the second phase, and the third phase;

[0009] Compensating the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal;

[0010] Sending the transmitted compensation signal to the UAV.

[0011] In one embodiment, determining the uplink compensation amount based on the first phase, the second phase, and the third phase includes:

[0012] Determining the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency based on the second phase and the first phase;

[0013] Determining the total compensation amount based on the third phase and the second phase;

[0014] Determining the uplink compensation amount based on the frequency ratio and the total compensation amount.

[0015] In one embodiment, determining the uplink compensation amount based on the frequency ratio and the total compensation amount includes:

[0016] Determining the compensation ratio of the downlink compensation amount to the uplink compensation amount based on the frequency ratio;

[0017] Determining the uplink compensation amount according to the total compensation amount and the compensation ratio.

[0018] In one embodiment, determining the uplink compensation amount according to the total compensation amount and the compensation ratio includes:

[0019] Determining the downlink compensation amount according to the total compensation amount;

[0020] Determining the uplink compensation amount according to the compensation ratio and the downlink compensation amount.

[0021] In a second aspect, the present application provides a downlink signal synchronization method, including:

[0022] Receiving a received signal sent by a drone;

[0023] Determining a downlink compensation amount based on the first phase of a first signal, the second phase of a second signal, and the third phase of the received signal, where the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference;

[0024] Compensating the received signal based on the downlink compensation amount to obtain a received compensated signal.

[0025] In one embodiment, determining the downlink compensation amount based on the first phase of the first signal, the second phase of the second signal, and the third phase of the received signal includes:

[0026] Determining the total compensation amount based on the third phase and the second phase;

[0027] Determining the compensation ratio of the downlink compensation amount to the uplink compensation amount based on the second phase and the first phase;

[0028] Determine the downlink compensation amount according to the total compensation amount and the compensation ratio.

[0029] In a third aspect, the present application further provides an uplink signal synchronization device, which is applied to a ground base station and includes:

[0030] An acquisition module, configured to acquire a first phase of a first signal, a second phase of a second signal, and a third phase of a third signal; wherein, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is a received signal received by the ground base station;

[0031] A determination module, configured to determine an uplink compensation amount based on the first phase, the second phase, and the third phase;

[0032] A compensation module, configured to compensate the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal;

[0033] A transmission module, configured to transmit the transmitted compensation signal to the UAV.

[0034] In a fourth aspect, the present application further provides a downlink signal synchronization device, which is applied to a ground base station and includes:

[0035] A reception module, configured to receive a received signal sent by the UAV;

[0036] A determination module, configured to determine a downlink compensation amount based on the first phase of the first signal, the second phase of the second signal, and the third phase of the received signal, wherein the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference;

[0037] A compensation module, configured to compensate the received signal based on the downlink compensation amount to obtain a received compensation signal.

[0038] In a fifth aspect, the present application further provides a ground base station, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0039] Acquire a first phase of a first signal, a second phase of a second signal, and a third phase of a third signal; wherein, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is a received signal received by the ground base station;

[0040] Determine an uplink compensation amount based on the first phase, the second phase, and the third phase;

[0041] Compensate the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal;

[0042] Send a transmission compensation signal to the drone.

[0043] In a sixth aspect, the present application further provides a ground base station, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0044] Receive a received signal sent by the drone;

[0045] Determine a downlink compensation amount based on a first phase of a first signal, a second phase of a second signal, and a third phase of the received signal, where the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference;

[0046] Compensate the received signal based on the downlink compensation amount to obtain a received compensation signal.

[0047] In a seventh aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0048] Obtain a first phase of a first signal, a second phase of a second signal, and a third phase of a third signal; where the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is a received signal received by the ground base station;

[0049] Determine an uplink compensation amount based on the first phase, the second phase, and the third phase;

[0050] Compensate the transmitted signal based on the uplink compensation amount to obtain a transmission compensation signal;

[0051] Send the transmission compensation signal to the drone.

[0052] In an eighth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0053] Receive a received signal sent by the drone;

[0054] Determine a downlink compensation amount based on a first phase of a first signal, a second phase of a second signal, and a third phase of the received signal, where the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference;

[0055] Compensate the received signal based on the downlink compensation amount to obtain a received compensation signal.

[0056] In a ninth aspect, the present application further provides a computer program product, including a computer program which, when executed by a processor, implements the following steps:

[0057] Obtain a first phase of a first signal, a second phase of a second signal, and a third phase of a third signal; wherein, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is a received signal received by a ground base station;

[0058] Determine an uplink compensation amount based on the first phase, the second phase, and the third phase;

[0059] Compensate the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal;

[0060] Send the transmitted compensation signal to the unmanned aerial vehicle.

[0061] In a tenth aspect, the present application further provides a computer program product, including a computer program which, when executed by a processor, implements the following steps:

[0062] Receive a received signal sent by the unmanned aerial vehicle;

[0063] Determine a downlink compensation amount based on the first phase of the first signal, the second phase of the second signal, and the third phase of the received signal, wherein the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference;

[0064] Compensate the received signal based on the downlink compensation amount to obtain a received compensation signal.

[0065] The above-mentioned uplink signal synchronization method, downlink signal synchronization method, ground base station, storage medium and product are applied to the ground base station. First, obtain the first phase of the first signal, the second phase of the second signal, and the third phase of the third signal. Then, based on the first phase, the second phase, and the third phase, determine the uplink compensation amount. Next, compensate the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal. Finally, send the transmitted compensation signal to the unmanned aerial vehicle (UAV). Among them, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is the received signal received by the ground base station. The above-mentioned uplink signal synchronization method determines the uplink compensation amount through the first phase and the second phase generated by the hydrogen clock reference and the third phase received by the ground base station, and compensates the transmitted signal based on the uplink compensation amount, achieving picosecond-level frequency synchronization accuracy on the UAV. Compared with the method of installing a crystal oscillator or a chip-level atomic clock on the UAV, the above method does not require an additional crystal oscillator or chip-level atomic clock to be installed on the UAV, saving resources, having relatively low costs, and having stability and synchronization accuracy of time-frequency signals far exceeding the current on-board crystal oscillators on UAVs or chip-level atomic clocks that can be used on UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments of the present application or related technologies. Obviously, the following-described drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0067] Figure 1 It is a diagram of the application environment of the signal synchronization method in one embodiment;

[0068] Figure 2 It is a schematic flowchart of the uplink signal synchronization method in one embodiment;

[0069] Figure 3 It is a signal interaction diagram of the ground base station and the UAV in one embodiment;

[0070] Figure 4 It is a schematic flowchart of the uplink signal synchronization method in another embodiment;

[0071] Figure 5 It is a schematic flowchart of the uplink signal synchronization method in another embodiment;

[0072] Figure 6 It is a schematic flowchart of the uplink signal synchronization method in another embodiment;

[0073] Figure 7Schematic flow chart of the downlink signal synchronization method in an embodiment;

[0074] Figure 8 Schematic flow chart of the downlink signal synchronization method in another embodiment;

[0075] Figure 9 Schematic flow chart of the downlink signal synchronization method in another embodiment;

[0076] Figure 10 Structural block diagram of the uplink signal synchronization device in an embodiment;

[0077] Figure 11 Structural block diagram of the downlink signal synchronization device in an embodiment;

[0078] Figure 12 Internal structure diagram of a ground base station in an embodiment. Detailed implementation manners

[0079] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0080] Unmanned aerial vehicles (UAVs) have been widely used in various fields due to their high mobility and low cost. Precise airborne clocks and time-frequency synchronization are important foundations for UAVs in high-precision application fields (such as communication, remote sensing, formation flight, and cooperative positioning, etc.). The main application fields of the present application are described as follows:

[0081] (1) Inter-aircraft time-frequency synchronization of UAV clusters. This technical solution can be used for inter-aircraft time-frequency synchronization of UAV clusters. After the ground station frequency standard is reproduced on each UAV in the cluster according to this technology, direct frequency synchronization is achieved between the ground station and each UAV. At this time, it can be regarded that indirect frequency synchronization is achieved between the UAVs. According to the error transfer formula, it can be analyzed that if two UAVs establish two identical links with the ground station by means of frequency division or code division, and their on-board frequency standards are directly synchronized with the ground frequency standard, then the maximum standard deviation of their indirect synchronization is the sum of the standard deviations of their respective synchronizations with the ground. According to the experimental results, in the worst case, the accuracy of inter-aircraft frequency synchronization achieved by using this technology will be on the order of more than ten picoseconds.

[0082] (2)Multi-station time-frequency comparison and time-frequency reference distribution. This technical solution can be used for the mutual comparison of time-frequency references among multiple ground stations and also for the distribution of time-frequency references. For example, when two ground stations both have good frequency references that need to be compared, an unmanned aerial vehicle (UAV) can be used as a reproduction relay. Each of the two locations receives the signal of the other station transmitted by the UAV for real-time comparison. If there are only a small number of high-performance time-frequency references in each ground station, the time-frequency reference reproduced by the UAV can also be used for distribution. Other ground stations receive the signal, reproduce it, and use it as an in-station reference to achieve the sharing of time-frequency references.

[0083] In traditional technologies, a temperature-compensated crystal oscillator (TCXO), an oven-controlled crystal oscillator (OCXO), or a chip-scale atomic clock (CSAC) is usually carried on an unmanned aerial vehicle to provide an on-board clock signal for the UAV as a frequency reference. Although these references have the advantages of low power consumption and miniaturization, their accuracy and stability are still difficult to meet the accuracy requirements in the complex and dynamic high-altitude environment.

[0084] Therefore, the traditional on-board clock signal and time-frequency signal synchronization methods have the problem of low accuracy. This application provides a signal synchronization method aimed at improving the synchronization accuracy of time-frequency signals between an unmanned aerial vehicle and the ground.

[0085] After introducing the background technology of an uplink signal synchronization method provided by an embodiment of this application as above, below, a brief description will be given of the implementation environment involved in the uplink signal synchronization method provided by an embodiment of this application. The uplink signal synchronization method provided by an embodiment of this application can be applied to, for example Figure 1In the application environment shown. The application environment includes a ground base station 01 and a drone 02. The ground base station 01 and the drone 02 can be connected through a free-space radio frequency link. The signal transceiver 10 in the ground base station 01 can send an uplink signal to the drone 02. After receiving the uplink signal sent by the ground base station 01, the drone 02 can process the uplink signal to obtain a downlink signal message and send the downlink signal to the signal transceiver 10 of the ground base station 01. It should be noted that the ground base station 01 may also include a signal analysis device 20. The signal analysis device 20 can compare and analyze the standard received signal and the downlink signal received by the signal transceiver 10 to obtain the phase error between the standard received signal and the downlink signal, and perform phase compensation on the uplink signal and the downlink signal respectively according to the phase error to ensure that the phase error of signal reproduction at the drone end and the ground receiving end remains within a preset range; it should be noted that the standard received signal is a signal derived from the ground atomic clock of the ground base station and having the same frequency as the downlink signal.

[0086] After introducing the application scenario of an uplink signal synchronization method provided in an embodiment of the present application above, the following focuses on introducing an uplink signal synchronization method described in the present application.

[0087] In one embodiment, as Figure 2 shown, an uplink signal synchronization method is provided. Taking the ground base station 01 in Figure 1 as an example for illustration, the method includes the following steps:

[0088] S201. Obtain the first phase of the first signal, the second phase of the second signal, and the third phase of the third signal; wherein, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is a received signal received by the ground base station.

[0089] Among them, the standard received signal is a signal derived from the ground atomic clock (hydrogen clock reference) of the ground base station and having the same frequency as the downlink signal. The standard received signal is used to compare with the received signal. It should be noted that the received signal is the signal sent by the drone received by the ground base station.

[0090] Among them, the first phase may be the phase of the signal derived from the ground atomic clock locked to the transmitted signal, denoted as ; the second phase may be the phase of the signal derived from the ground atomic clock compared with the received signal, denoted as .

[0091] Among them, referring to Figure 3, the hydrogen clock reference refers to the ground atomic clock in the ground base station. The hydrogen clock reference can emit two reference signals, namely the first reference signal and the second reference signal. Among them, the first reference signal is sent to the transmitter source to enable the transmitter source to generate a transmitted signal and send the transmitted signal to the ground signal transceiver. The phase of the first signal is consistent with that of the transmitted signal. Among them, the second reference signal is sent to the frequency multiplier to enable the frequency multiplier to generate a standard received signal, that is, the second signal, and send the standard received signal to the mixer of the ground base station.

[0092] Continue to refer to Figure 3 , a continuous visible two-way microwave link is established between the ground base station and the UAV, with the carrier phase as the information transmission medium. The UAV completes the down-conversion of the signal, and the ground station is used to detect the noise introduced on the link in real time, so as to measure the phase change amount (i.e., phase difference) introduced by the link on the scale of the carrier phase, and compensate for the phase changes of the uplink and downlink respectively based on the results of real-time detection, so as to achieve the goal of reproducing the high-precision ground atomic frequency standard on the UAV. Among them, the specific transmission process of the signal includes:

[0093] (1) The hydrogen clock reference derives the first signal and the second signal. Among them, the phase of the first signal is consistent with the phase of the transmitted signal, and the second signal is the standard received signal used for comparison with the ground station received signal;

[0094] (2) The first reference signal of the hydrogen clock is sent to the transmitter source to enable the transmitter source to generate a transmitted signal and send the transmitted signal to the ground signal transceiver. The phase of the first signal is consistent with the phase of the transmitted signal;

[0095] (3) The signal transceiver sends the transmitted signal to the UAV;

[0096] (4) After receiving the transmitted signal, the UAV first amplifies the transmitted signal to obtain an amplified signal, then inputs the amplified signal into a frequency divider for frequency division processing to obtain a local oscillator signal for down-conversion. Then, the local oscillator signal and the amplified signal are simultaneously input into a mixer for mixing processing to obtain a down-converted UAV retransmitted signal, and the UAV retransmitted signal is sent to the signal transceiver in the ground base station;

[0097] (5) The signal transceiver receives the received signal. In addition, the received signal of the ground station and the ground standard received signal are compared to obtain a phase difference, and the phase difference is sent to the control and feedback system;

[0098] (6) Lock the control and feedback system to the hydrogen clock reference so that the control and feedback system obtains the total compensation amount according to the phase difference, generates an uplink compensation signal and a downlink compensation signal based on the total compensation amount, and when the ground base station sends a transmission signal to the drone next time, compensate the transmission signal based on the uplink compensation signal to obtain a compensated transmission signal;

[0099] (7) Send the compensated transmission signal to the drone so that the phase of the signal received by the drone is consistent with the phase of the transmission signal of the ground base station.

[0100] In the embodiment of the present application, when it is necessary to compensate the uplink signal sent from the ground base station to the drone to ensure that the signal received by the drone is phase-synchronized with the uplink signal, the first phase of the signal consistent with the phase of the transmission signal can be obtained from the transmission source, and the second phase of the standard received signal compared with the received signal can be obtained from the frequency multiplier.

[0101] S202. Determine the uplink compensation amount based on the first phase, the second phase, and the third phase.

[0102] The uplink compensation amount refers to the compensation amount required for compensating the transmission signal.

[0103] In the embodiment of the present application, after the first phase, the second phase, and the third phase are obtained as above, the first phase, the second phase, and the third phase can be processed by arithmetic operations based on the signal transmission theory to determine the uplink compensation amount.

[0104] S203. Compensate the transmission signal based on the uplink compensation amount to obtain a transmission compensation signal.

[0105] In the embodiment of the present application, after the uplink compensation amount is obtained as above, the transmission signal can be compensated based on the uplink compensation amount to obtain a transmission compensation signal.

[0106] S204. Send the transmission compensation signal to the drone.

[0107] In the embodiment of the present application, after the transmission compensation signal is obtained as above, the transmission compensation signal can be sent to the drone through a free space radio frequency link.

[0108] The uplink signal synchronization method provided in the embodiments of the present application is applied to a ground base station. First, the first phase of the first signal, the second phase of the second signal, and the third phase of the third signal are obtained. Then, based on the first phase, the second phase, and the third phase, the uplink compensation amount is determined. Then, based on the uplink compensation amount, the transmitted signal is compensated to obtain a transmitted compensation signal. Finally, the transmitted compensation signal is sent to the unmanned aerial vehicle (UAV). Among them, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third phase is the received signal received by the ground base station. In the above uplink signal synchronization method, the uplink compensation amount is determined through the first phase and the second phase generated by the hydrogen clock reference and the third phase received by the ground base station, and the transmitted signal is compensated based on the uplink compensation amount, achieving picosecond-level frequency synchronization accuracy on the UAV. Compared with the method of installing a crystal oscillator or a chip-level atomic clock on the UAV, the above method does not require additional installation of a crystal oscillator or a chip-level atomic clock on the UAV, saving resources, having relatively low costs, and having stability and synchronization accuracy of time-frequency signals far exceeding the current on-board crystal oscillators on UAVs or chip-level atomic clocks that can be used on UAVs.

[0109] In this embodiment, the detailed process of determining the uplink compensation amount based on the first phase, the second phase, and the third phase will be explained. In an exemplary embodiment, as Figure 4 shown, the above S202 includes:

[0110] S301. Determine the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency based on the second phase and the first phase.

[0111] In the embodiments of the present application, after the first phase and the second phase are obtained, the ratio between the second phase and the first phase can be determined as the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency.

[0112] Exemplarily, referring to the following formula (1), the determination process of the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency is provided:

[0113]

[0114] Among them, refers to the second phase, refers to the first phase, refers to the downlink carrier angular frequency, refers to the uplink carrier angular frequency.

[0115] S302. Determine the total compensation amount based on the third phase and the second phase.

[0116] In the embodiment of the present application, after obtaining the second phase as described above, it is also necessary to obtain the third phase corresponding to the received signal after receiving the received signal sent by the drone, and then determine the total compensation amount according to the difference between the third phase and the second phase.

[0117] Optionally, referring to the following formula (2), the determination process of the total compensation amount is provided:

[0118]

[0119] Among them, refers to the third phase corresponding to the received signal, refers to the second phase, refers to the total compensation amount.

[0120] Among them, can continue to be described by the following formula (3):

[0121]

[0122] Among them, is the initial phase of the transmitted signal transmitted by the ground base station, which is consistent with the phase of , is the distance between the antenna phase center of the ground base station and the antenna phase center of the drone, is the speed of light.

[0123] S303. Determine the uplink compensation amount based on the frequency ratio and the total compensation amount.

[0124] In the embodiment of the present application, after determining the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency as described above, the uplink compensation amount and the downlink compensation amount can be determined according to the frequency ratio and the total compensation amount.

[0125] Optionally, after determining the frequency ratio, the frequency ratio and the value 1 can be added first to obtain a candidate frequency ratio, and then the ratio between the candidate frequency ratio and the total compensation amount is used as the uplink compensation amount.

[0126] Optionally, referring to the following Figure 5 , the present application also provides a specific implementation manner for determining the uplink compensation amount based on the frequency ratio and the total compensation amount, that is, the above S303, including:

[0127] S3031. Determine the compensation ratio of the downlink compensation amount and the uplink compensation amount based on the frequency ratio.

[0128] In the embodiment of the present application, after determining the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency, the compensation ratio of the downlink compensation amount to the uplink compensation amount can be determined according to the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency.

[0129] For example, referring to the following formula (4), a process for obtaining the compensation ratio between the downlink compensation amount and the uplink compensation amount is provided:

[0130]

[0131] After performing mathematical processing, the compensation ratio of the downlink compensation amount to the uplink compensation amount satisfies the relationship in the following formula (5):

[0132]

[0133] Wherein, is the compensation ratio of the downlink compensation amount to the uplink compensation amount, is the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency.

[0134] S3032. Determine the uplink compensation amount according to the total compensation amount and the compensation ratio.

[0135] In the embodiment of the present application, after determining the total compensation amount and the compensation ratio, the total compensation amount can be allocated according to the compensation ratio to obtain the uplink compensation amount and the downlink compensation amount.

[0136] For example, if the total compensation amount is 10 and the compensation ratio is 2:3, then the determined downlink compensation amount is 4, and the determined uplink compensation amount is 6.

[0137] Optionally, a method for determining the uplink compensation amount according to the total compensation amount and the compensation ratio is further provided below, including:

[0138] Step 1. Determine the downlink compensation amount according to the total compensation amount.

[0139] In the embodiment of the present application, after obtaining the total compensation amount, the downlink compensation amount can be determined according to the total compensation amount.

[0140] Optionally, the total compensation amount can also be expressed by the following formula (6):

[0141]

[0142] Combining formula (6) with the above formula (4), the relationship between the total compensation amount and the downlink compensation amount can be obtained, as shown in the following formula (7):

[0143]

[0144] According to the above formula (7), after obtaining the total compensation amount, the downlink compensation amount can be determined.

[0145] Step 2: Determine the uplink compensation amount according to the compensation ratio and the downlink compensation amount.

[0146] In the embodiment of the present application, after determining the downlink compensation amount and the compensation ratio between the downlink compensation amount and the uplink compensation amount, the uplink compensation amount can be determined according to the compensation ratio and the downlink compensation amount.

[0147] Continuing to refer to the above formula (5), in formula (5), the compensation ratio and the downlink compensation amount are known, and the uplink compensation amount can be determined according to the above formula (5) .

[0148] Furthermore, the signal received by the UAV can be limited. Before adding the uplink compensation amount, the carrier phase received by the UAV can be expressed by the following equation (8):

[0149]

[0150] where represents the signal phase received by the UAV.

[0151] After adding the uplink compensation amount, the carrier phase received by the UAV can be expressed by the following equation (9):

[0152]

[0153] It can be seen that compensating the transmitted signal based on the uplink compensation amount can make the phase received by the UAV consistent with the phase transmitted by the ground base station.

[0154] The method for determining the uplink compensation amount provided in the present application obtains the uplink compensation amount through a series of operations on the first phase, the second phase, and the third phase of the received signal received by the ground base station, providing a data basis for subsequent compensating the transmitted signal based on the uplink compensation amount to ensure the synchronization of the uplink signal.

[0155] In one embodiment, referring to Figure 6 , a method for synchronizing uplink signals is further provided, including:

[0156] S10. Obtain the first phase of the first signal, the second phase of the second signal, and the third phase of the third signal; wherein, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third phase is the received signal received by the ground base station;

[0157] S11. Determine the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency based on the second phase and the first phase;

[0158] S12. Determine the total compensation amount based on the third phase and the second phase;

[0159] S13. Determine the compensation ratio of the downlink compensation amount to the uplink compensation amount based on the frequency ratio;

[0160] S14. Determine the uplink compensation amount according to the total compensation amount and the compensation ratio;

[0161] S15. Compensate the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal;

[0162] S16. Send the transmitted compensation signal to the unmanned aerial vehicle.

[0163] It should be noted that for the descriptions in S10 - S16 above, reference can be made to the relevant descriptions in the above embodiments, and their effects are similar, so they will not be elaborated herein.

[0164] To form a complete closed - loop compensation link, not only the transmitted signal needs to be compensated, but also the received signal needs to be compensated. The following focuses on introducing a downlink signal synchronization method described in this application.

[0165] In one embodiment, as Figure 7 shown, a downlink signal synchronization method is provided. Taking the ground base station 01 in Figure 1 as an example, the method includes the following steps:

[0166] S401. Receive the received signal sent by the unmanned aerial vehicle.

[0167] In the embodiment of the present application, the ground base station can call the signal transceiver to receive the received signal sent by the unmanned aerial vehicle.

[0168] S402. Determine the downlink compensation amount based on the first phase of the first signal, the second phase of the second signal, and the third phase of the received signal, wherein the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference.

[0169] Among them, the standard received signal refers to the signal generated by the hydrogen clock reference and compared with the received signal. It should be noted that the received signal refers to the signal sent by the UAV received by the ground base station.

[0170] Among them, the second phase can be the phase of the ground atomic clock-derived signal compared with the received signal, denoted as .

[0171] Among them, referring to Figure 2 , the hydrogen clock reference refers to the ground atomic clock in the ground base station. The hydrogen clock reference can derive two signals, namely the first signal and the second signal. Among them, the second signal is phase-compared with the received signal sent by the UAV received by the ground signal transceiver to obtain the phase difference between the two, and the phase difference is sent to the control and feedback system.

[0172] In the embodiment of the present application, after receiving the received signal sent by the UAV, the third phase corresponding to the received signal is obtained, and the first signal and the second signal generated by the hydrogen clock reference are obtained. Further, the first phase corresponding to the first signal and the second phase corresponding to the second signal are obtained, and the downlink compensation amount is determined according to the third phase of the received signal, the first phase of the first signal, and the second phase of the second signal.

[0173] Optionally, mathematical operations can be performed on the first phase, the second phase, and the third phase to obtain the downlink compensation amount.

[0174] Optionally, the following provides a specific implementation manner for determining the downlink compensation amount according to the first phase, the second phase, and the third phase. Referring to Figure 8 , the above S402 includes:

[0175] S4021. Determine the total compensation amount based on the third phase and the second phase.

[0176] In the embodiment of the present application, after obtaining the second phase and the third phase above, the total compensation amount can be determined according to the difference between the third phase and the second phase.

[0177] Optionally, referring to the above formulas (1)-(3), the determination process of the total compensation amount is provided, which is not elaborated in the embodiment of the present application.

[0178] S4022. Determine the compensation ratio of the downlink compensation amount and the uplink compensation amount based on the second phase and the first phase.

[0179] In the embodiment of the present application, after obtaining the first phase and the second phase above, the compensation ratio of the downlink compensation amount and the uplink compensation amount can be determined according to the ratio between the second phase and the first phase.

[0180] Optionally, referring to the above formulas (4)-(5), the determination process of the compensation ratio is provided, which will not be elaborated in the embodiments of the present application.

[0181] S4023. Determine the downlink compensation amount according to the total compensation amount and the compensation ratio.

[0182] In the embodiments of the present application, after obtaining the total compensation amount and the compensation ratio as described above, the downlink compensation amount can be determined according to the total compensation amount and the compensation ratio.

[0183] Optionally, referring to the above formulas (6)-(7), the determination process of the downlink compensation amount is provided, which will not be elaborated in the embodiments of the present application.

[0184] S403. Compensate the received signal based on the downlink compensation amount to obtain a received compensated signal.

[0185] In the embodiments of the present application, after obtaining the downlink compensation amount as described above, the received signal can be compensated based on the downlink compensation amount to obtain a received compensated signal.

[0186] The downlink signal synchronization method provided in the embodiments of the present application is applied to a ground base station. First, it receives the received signal sent by the unmanned aerial vehicle (UAV), then determines the downlink compensation amount based on the first phase of the first signal, the second phase of the second signal, and the third phase of the received signal, and then compensates the received signal based on the downlink compensation amount to obtain a received compensated signal. Among them, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference. The above downlink signal synchronization method determines the downlink compensation amount through the first phase of the signal generated by the hydrogen clock reference and having the same phase as the transmitted signal, the second phase of the standard received signal, and the third phase of the received signal, and compensates the received signal based on the downlink compensation amount. The uplink signal synchronization method and the downlink signal synchronization method together complete the closed-loop compensation of the system, achieving picosecond-level frequency synchronization accuracy on the UAV. Compared with the method of installing a crystal oscillator or a chip-level atomic clock on the UAV, the above method does not require additional installation of a crystal oscillator or a chip-level atomic clock on the UAV, saves resources, has relatively low costs, and has far higher stability and synchronization accuracy of time-frequency signals than the current airborne crystal oscillator on the UAV or the chip-level atomic clock that can be used on the UAV.

[0187] In one embodiment, referring to Figure 9 , a downlink signal synchronization method is further provided, including:

[0188] S20. Receive the received signal sent by the UAV;

[0189] S21. Determine the total compensation amount based on the third phase of the received signal and the second phase of the second signal, where the second signal is a standard received signal generated by a hydrogen clock reference;

[0190] S22. Determine the compensation ratio of the downlink compensation amount and the uplink compensation amount based on the second phase and the first phase of the first signal. The first signal is generated by a hydrogen clock reference and is a signal with the same phase as the transmitted signal.

[0191] S23. Determine the downlink compensation amount according to the total compensation amount and the compensation ratio.

[0192] S24. Compensate the received signal based on the downlink compensation amount to obtain a received compensated signal.

[0193] It should be noted that for the descriptions in S20 - S24 above, reference can be made to the relevant descriptions in the above - mentioned embodiments, and their effects are similar. Therefore, this embodiment will not be elaborated here.

[0194] It should be understood that although each step in the flowcharts involved in the above - mentioned embodiments is shown in sequence according to the indication of the arrow, these steps do not necessarily need to be executed in the order indicated by the arrow. Unless there is a clear description in this article, there is no strict order limit for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above - mentioned embodiments may include multiple steps or multiple stages. These steps or stages do not necessarily need to be executed at the same time, but can be executed at different times. The execution order of these steps or stages does not necessarily need to be sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0195] Based on the same inventive concept, an embodiment of the present application also provides an uplink signal synchronization device for implementing the above - mentioned uplink signal synchronization method. The solution provided by this device for solving problems is similar to the solution recorded in the above - mentioned method. Therefore, the specific limitations in one or more embodiments of the uplink signal synchronization device provided below can refer to the limitations on the uplink signal synchronization method in the above text, and will not be elaborated here.

[0196] In an exemplary embodiment, as Figure 10 shown, an uplink signal synchronization device is provided, including: an acquisition module 10, a determination module 11, a compensation module 12, and a transmission module 13, where:

[0197] The acquisition module 10 is configured to acquire the first phase of the first signal, the second phase of the second signal, and the third phase of the third signal; wherein, the first signal is generated by a hydrogen clock reference and is a signal with the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is the received signal received by the ground base station.

[0198] A determination module 11, configured to determine an uplink compensation amount based on a first phase, a second phase, and a third phase;

[0199] A compensation module 12, configured to compensate a transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal;

[0200] A transmission module 13, configured to transmit the transmitted compensation signal to the unmanned aerial vehicle.

[0201] In an exemplary embodiment, the above-mentioned determination module 11 includes: a first determination unit, a second determination unit, and a third determination unit, where:

[0202] The first determination unit is specifically configured to determine a frequency ratio of a downlink carrier angular frequency to an uplink carrier angular frequency based on the second phase and the first phase;

[0203] The second determination unit is specifically configured to determine a total compensation amount based on the third phase and the second phase;

[0204] The third determination unit is specifically configured to determine the uplink compensation amount based on the frequency ratio and the total compensation amount.

[0205] In an exemplary embodiment, the above-mentioned third determination unit is specifically further configured to determine a compensation ratio of the downlink compensation amount to the uplink compensation amount based on the frequency ratio; and determine the uplink compensation amount according to the total compensation amount and the compensation ratio.

[0206] In an exemplary embodiment, the above-mentioned third determination unit is specifically further configured to determine the downlink compensation amount according to the total compensation amount, and determine the uplink compensation amount according to the compensation ratio and the downlink compensation amount.

[0207] Each module in the above-mentioned uplink signal synchronization device can be implemented in whole or in part by software, hardware, and a combination thereof. The above-mentioned modules can be embedded in a processor in a computer device in a hardware form or be independent of the processor, or can be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the above-mentioned respective modules.

[0208] In an exemplary embodiment, as Figure 11 shown, a downlink signal synchronization device is provided, including: a receiving module 20, a determination module 21, and a compensation module 22, where:

[0209] The receiving module 20 is configured to receive a received signal sent by the unmanned aerial vehicle;

[0210] A determination module 21, configured to determine a downlink compensation amount based on a first phase of a first signal, a second phase of a second signal, and a third phase of a received signal, where the first signal is a signal generated based on a hydrogen clock reference and having the same phase as a transmitted signal, and the second signal is a standard received signal generated based on a hydrogen clock reference;

[0211] A compensation module 22, configured to compensate the received signal based on the downlink compensation amount to obtain a received compensated signal.

[0212] In an exemplary embodiment, the above determination module 21 includes: a first determination unit and a second determination unit, where:

[0213] The first determination unit is specifically configured to determine a total compensation amount based on the third phase and the second phase;

[0214] The second determination unit is specifically configured to determine a compensation ratio between the downlink compensation amount and the uplink compensation amount based on the second phase and the first phase;

[0215] The third determination unit is specifically configured to determine the downlink compensation amount according to the total compensation amount and the compensation ratio.

[0216] Each module in the above downlink signal synchronization device can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in a processor in a computer device in a hardware form or be independent of the processor, or can be stored in a memory in the computer device in a software form, so as to facilitate the processor to call and execute operations corresponding to each of the above modules.

[0217] In an exemplary embodiment, a ground base station is provided. The ground base station can be a server, and its internal structure diagram can be as Figure 12 shown. The ground base station includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the ground base station is used to provide computing and control capabilities. The memory of the ground base station includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store phase data. The input / output interface of the ground base station is used to exchange information between the processor and external devices. The communication interface of the ground base station is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements an uplink signal synchronization method.

[0218] Those skilled in the art can understand, Figure 12The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0219] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented:

[0220] Obtain the first phase of the first signal, the second phase of the second signal, and the third phase of the third signal; wherein, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is a received signal received by a ground base station;

[0221] Based on the first phase, the second phase, and the third phase, determine the uplink compensation amount;

[0222] Compensate the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal;

[0223] Send the transmitted compensation signal to the drone.

[0224] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0225] Based on the second phase and the first phase, determine the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency;

[0226] Based on the third phase and the second phase, determine the total compensation amount;

[0227] Based on the frequency ratio and the total compensation amount, determine the uplink compensation amount.

[0228] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0229] Based on the frequency ratio, determine the compensation ratio of the downlink compensation amount to the uplink compensation amount;

[0230] According to the total compensation amount and the compensation ratio, determine the uplink compensation amount.

[0231] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0232] According to the total compensation amount, determine the downlink compensation amount;

[0233] According to the compensation ratio and the downlink compensation amount, determine the uplink compensation amount.

[0234] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0235] Receive the received signal sent by the drone;

[0236] Based on the first phase of the first signal, the second phase of the second signal, and the third phase of the received signal, determine the downlink compensation amount, where the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference;

[0237] Compensate the received signal based on the downlink compensation amount to obtain a received compensation signal.

[0238] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0239] Based on the third phase and the second phase, determine the total compensation amount;

[0240] Based on the second phase and the first phase, determine the compensation ratio of the downlink compensation amount and the uplink compensation amount;

[0241] According to the total compensation amount and the compensation ratio, determine the downlink compensation amount.

[0242] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0243] Obtain the first phase of the first signal, the second phase of the second signal, and the third phase of the third signal; where the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is the received signal received by the ground base station;

[0244] Based on the first phase, the second phase, and the third phase, determine the uplink compensation amount;

[0245] Compensate the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal;

[0246] Send the transmitted compensation signal to the drone.

[0247] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0248] Based on the second phase and the first phase, determine the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency;

[0249] Based on the third phase and the second phase, determine the total compensation amount;

[0250] Determine the uplink compensation amount based on the frequency ratio and the total compensation amount.

[0251] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0252] Based on the frequency ratio, determine the compensation ratio of the downlink compensation amount and the uplink compensation amount;

[0253] Based on the total compensation amount and the compensation ratio, determine the uplink compensation amount.

[0254] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0255] Based on the total compensation amount, determine the downlink compensation amount;

[0256] Based on the compensation ratio and the downlink compensation amount, determine the uplink compensation amount.

[0257] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0258] Receive the received signal sent by the drone;

[0259] Based on the first phase of the first signal, the second phase of the second signal, and the third phase of the received signal, determine the downlink compensation amount, where the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference;

[0260] Compensate the received signal based on the downlink compensation amount to obtain a received compensated signal.

[0261] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0262] Based on the third phase and the second phase, determine the total compensation amount;

[0263] Based on the second phase and the first phase, determine the compensation ratio of the downlink compensation amount and the uplink compensation amount;

[0264] Based on the total compensation amount and the compensation ratio, determine the downlink compensation amount.

[0265] In one embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0266] Obtain the first phase of the first signal, the second phase of the second signal, and the third phase of the third signal; where the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is the received signal received by the ground base station;

[0267] Determine the uplink compensation amount based on the first phase, the second phase, and the third phase;

[0268] Compensate the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal;

[0269] Send the transmitted compensation signal to the drone.

[0270] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0271] Determine the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency based on the second phase and the first phase;

[0272] Determine the total compensation amount based on the third phase and the second phase;

[0273] Determine the uplink compensation amount based on the frequency ratio and the total compensation amount.

[0274] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0275] Determine the compensation ratio of the downlink compensation amount to the uplink compensation amount based on the frequency ratio;

[0276] Determine the uplink compensation amount according to the total compensation amount and the compensation ratio.

[0277] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0278] Determine the downlink compensation amount according to the total compensation amount;

[0279] Determine the uplink compensation amount according to the compensation ratio and the downlink compensation amount.

[0280] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0281] Receive the received signal sent by the drone;

[0282] Determine the downlink compensation amount based on the first phase of the first signal, the second phase of the second signal, and the third phase of the received signal, where the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference;

[0283] Compensate the received signal based on the downlink compensation amount to obtain a received compensation signal.

[0284] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0285] Determine the total compensation amount based on the third phase and the second phase;

[0286] Determine the compensation ratios of the downlink compensation amount and the uplink compensation amount based on the second phase and the first phase;

[0287] Determine the downlink compensation amount according to the total compensation amount and the compensation ratio.

[0288] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0289] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this application.

[0290] The above-described embodiments merely represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application shall be subject to the appended claims.

Claims

1. An uplink signal synchronization method, characterized in that, Applied to a ground base station, the method includes: Obtain the first phase of the first signal, the second phase of the second signal, and the third phase of the third signal; wherein, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is the received signal received by the ground base station; Determine an uplink compensation amount based on the first phase, the second phase, and the third phase; Compensate the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal; Send the transmitted compensation signal to the unmanned aerial vehicle.

2. The method according to claim 1, characterized in that, The determining the uplink compensation amount based on the first phase, the second phase, and the third phase includes: Determine the frequency ratio of the downlink carrier angular frequency to the uplink carrier angular frequency based on the second phase and the first phase; Determine the total compensation amount based on the third phase and the second phase; Determine the uplink compensation amount based on the frequency ratio and the total compensation amount.

3. The method according to claim 2, characterized in that, The determining the uplink compensation amount based on the frequency ratio and the total compensation amount includes: Determine the compensation ratio of the downlink compensation amount to the uplink compensation amount based on the frequency ratio; Determine the uplink compensation amount according to the total compensation amount and the compensation ratio.

4. The method according to claim 3, characterized in that The determining the uplink compensation amount according to the total compensation amount and the compensation ratio includes: Determine the downlink compensation amount according to the total compensation amount; Determine the uplink compensation amount according to the compensation ratio and the downlink compensation amount.

5. A downlink signal synchronization method, characterized in that, Applied to a ground base station, the method includes: Receive the received signal sent by the unmanned aerial vehicle; Determine the downlink compensation amount based on the first phase of the first signal, the second phase of the second signal, and the third phase of the received signal, wherein, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, and the second signal is a standard received signal generated by a hydrogen clock reference; Compensate the received signal based on the downlink compensation amount to obtain a received compensation signal.

6. The method according to claim 5, wherein The determining the downlink compensation amount based on the first phase of the first signal, the second phase of the second signal, and the third phase of the received signal includes: Determine the total compensation amount based on the third phase and the second phase; Determine the compensation ratio of the downlink compensation amount to the uplink compensation amount based on the second phase and the first phase; Determine the downlink compensation amount according to the total compensation amount and the compensation ratio.

7. A ground base station, characterized in that, The ground base station includes: An acquisition module, configured to acquire the first phase of the first signal, the second phase of the second signal, and the third phase of the third signal; wherein, the first signal is a signal generated by a hydrogen clock reference and having the same phase as the transmitted signal, the second signal is a standard received signal generated by a hydrogen clock reference, and the third signal is the received signal received by the ground base station; A determination module, configured to determine an uplink compensation amount based on the first phase, the second phase, and the third phase; A compensation module, configured to compensate the transmitted signal based on the uplink compensation amount to obtain a transmitted compensation signal; Send the emission compensation signal to the drone.

8. A ground base station, characterized in that, The ground base station includes: a receiving module configured to receive a received signal sent by the drone; a determining module configured to determine a downlink compensation amount based on a first phase of a first signal, a second phase of a second signal, and a third phase of the received signal, wherein the first signal is a signal generated by a hydrogen clock reference and having the same phase as the emission signal, and the second signal is a standard received signal generated by the hydrogen clock reference; a compensation module configured to compensate the received signal based on the downlink compensation amount to obtain a received compensation signal.

9. A ground base station, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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

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