Communication endogenous positioning method and device

Abstract

The invention relates to the technical field of positioning, and provides a communication endogenous positioning method and device. The method comprises the following steps: screening out a known aircraft from a plurality of aircrafts to which a plurality of received first radio frequency signals belong in a dirty time slot; estimating a first relevant parameter of a first radio frequency signal of the known aircraft based on a second relevant parameter of a second radio frequency signal of the known aircraft acquired in a clean time slot before the dirty time slot; the first related parameter and the second related parameter are both related to the position of the known aircraft relative to the communication satellite; and performing maximum likelihood estimation by combining the first related parameter and the second related parameter to obtain the position of the known aircraft relative to the communication satellite. An external radar or navigation system does not need to be carried, and the complexity of aircraft carrying equipment cannot be increased; correlation among multiple time slot parameters is fully considered, and the positioning accuracy is effectively improved; the time delay in the process of acquiring and reporting the positioning by the aircraft is avoided, and the real-time requirement in a high-speed maneuvering scene can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning, in particular to a communication endogenous positioning method and device. BACKGROUND

[0002] In the field of modern aerospace, unmanned aerial vehicles, low-altitude aircraft, missile weapons and the like have extremely high requirements for the immediacy and reliability of communication. With the rise of the concept of low-altitude economy, the number of low-altitude aircraft is increasing, and their communication requirements are more complex and diverse. Satellite communication, with its unique advantages, can enable these aircraft to maintain stable connections with command centers, other aircraft or combat systems. In sharp contrast, traditional ground-based station communication has many limitations, is subject to geographical conditions, is vulnerable to interference and reconnaissance, and is difficult to meet the communication needs of high-speed maneuvering missiles and long-range flights, and is unable to adapt to the communication requirements of diverse aircraft in the low-altitude economy. Satellite communication, with its global coverage and stable communication quality, is undoubtedly the ideal choice for missile and aircraft communication. For this reason, space-air cross-domain communication between satellites and aircraft has become a new research direction that is currently attracting attention.

[0003] However, existing methods for aircraft accessing communication satellites mainly focus on multi-aircraft access functions and lack endogenous positioning mechanisms. In space-air cross-domain communication, the positioning of the aircraft is usually achieved by external radars or navigation systems carried by the aircraft, which are then reported to the satellite via the uplink. On the one hand, carrying external radars or navigation systems increases the complexity of the equipment carried by the aircraft. On the other hand, existing methods mainly rely on single-time-slot independent parameter estimation architecture and do not consider the correlation between multi-time-slot parameters, resulting in low positioning accuracy. On the other hand, the process of first positioning the aircraft by relying on external radars or navigation systems and then reporting to the communication satellite has a long delay, which cannot meet the real-time requirements in high-speed maneuvering scenarios. SUMMARY

[0004] The embodiments of the present application provide a communication endogenous positioning method and device to solve the technical problems that existing methods for aircraft accessing communication satellites need to carry external radars or navigation systems, increasing the complexity of the equipment carried by the aircraft; mainly rely on single-time-slot independent parameter estimation architecture and do not consider the correlation between multi-time-slot parameters, resulting in low positioning accuracy; the process of first positioning the aircraft by relying on external radars or navigation systems and then reporting to the communication satellite has a long delay, which cannot meet the real-time requirements in high-speed maneuvering scenarios.

[0005] In a first aspect, the embodiments of the present application provide a communication endogenous positioning method, comprising: When the current time slot is a dirty time slot, filtering out known aircraft from a plurality of aircraft to which a plurality of first radio frequency signals received from the dirty time slot belong; estimating a first correlation parameter of the first radio frequency signal of the known aircraft based on a second correlation parameter of the second radio frequency signal of the known aircraft acquired in a clean time slot before the dirty time slot; the first correlation parameter and the second correlation parameter are both related to a position of the known aircraft relative to the communication satellite; performing maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite; The dirty time slot is a time slot in which the number of aircrafts to which the radio frequency signal belongs is greater than 1, which is identified from an access waveform of a multi-antenna satellite receiver. The clean time slot is a time slot in which the number of aircrafts to which the radio frequency signal belongs is equal to 1, which is identified from the access waveform of the multi-antenna satellite receiver. The access waveform is a waveform after beamforming processing of a multi-element radio frequency signal received by the multi-antenna satellite receiver.

[0006] In one embodiment, the second correlation parameter includes a second estimated value, a first time slot position and a second time slot position, and the second correlation parameter is acquired based on the following steps: In the clean time slot, performing parameter estimation on the second radio frequency signal to obtain a second estimated value of the second radio frequency signal; the second estimated value includes a second amplitude estimation value, a second time delay estimation value, a second carrier frequency offset estimation value, a second carrier initial phase estimation value and a second angle of arrival estimation value; Based on the second estimated value, demodulating, decoding and de-framing the second radio frequency signal to obtain a time slot identifier in a service replica packet carried by the second radio frequency signal; the time slot identifier is an identifier of a time slot position of all service replica packets of the known aircraft; Based on the time slot identifier, acquiring a first time slot position of the dirty time slot and a second time slot position of the clean time slot.

[0007] In one embodiment, the first correlation parameter includes a first estimated value, the second correlation parameter of the second radio frequency signal of the known aircraft acquired in the clean time slot before the dirty time slot, and the first correlation parameter of the first radio frequency signal of the known aircraft is estimated based on the following steps: Based on the difference between the first time slot position and the second time slot position and the second estimated value, estimating a first estimated value of the first radio frequency signal of the known aircraft; the first estimated value includes a first amplitude estimation value, a first time delay estimation value, a first carrier frequency offset estimation value, a first carrier initial phase estimation value and a first angle of arrival estimation value.

[0008] In one embodiment, the maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite includes: perform maximum likelihood estimation based on the first amplitude estimation value and the first carrier initial phase estimation value, and the second amplitude estimation value and the second carrier initial phase estimation value, to obtain an optimal time delay, an optimal carrier frequency offset, and an optimal direction of arrival angle; based on the optimal time delay, the optimal carrier frequency offset, and the optimal direction of arrival angle, solve the position of the known aircraft relative to the communication satellite.

[0009] In one embodiment, the step of screening the known aircraft from the plurality of aircraft to which the plurality of first radio frequency signals received in the dirty time slot belong includes: query whether there is a target pattern matching the access pattern in the clean time slot in the known access pattern; when the target pattern exists, determine the aircraft corresponding to the target pattern as the known aircraft.

[0010] In one embodiment, the step of performing maximum likelihood estimation jointly on the first correlation parameter and the second correlation parameter includes: based on the optimal time delay, the optimal carrier frequency offset, and the optimal direction of arrival angle, perform element-by-element waveform reconstruction on the first radio frequency signal of the known aircraft to obtain a reconstructed multi-element radio frequency signal; After the step of performing element-by-element deletion on the reconstructed multi-element radio frequency signal, return to the step of screening the known aircraft from the plurality of aircraft to which the plurality of first radio frequency signals received in the dirty time slot belong when the current time slot is a dirty time slot.

[0011] In a second aspect, the embodiments of the present application provide a communication endogenous positioning device, which includes: a known aircraft screening module configured to screen a known aircraft from a plurality of aircraft to which a plurality of first radio frequency signals received in a dirty time slot belong when the current time slot is the dirty time slot; a dirty time slot parameter estimation module configured to estimate a first correlation parameter of a first radio frequency signal of the known aircraft based on a second correlation parameter of a second radio frequency signal of the known aircraft obtained in a clean time slot before the dirty time slot; the first correlation parameter and the second correlation parameter are both related to the position of the known aircraft relative to a communication satellite; an endogenous positioning module configured to perform maximum likelihood estimation jointly on the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite; The dirty slot is a slot in which the number of aircrafts to which the radio frequency signal belongs is greater than 1, which is identified from an access waveform of a multi-antenna spaceborne receiver; the clean slot is a slot in which the number of aircrafts to which the radio frequency signal belongs is equal to 1, which is identified from the access waveform of the multi-antenna spaceborne receiver; and the access waveform is a waveform after beamforming processing of a multi-element radio frequency signal received by the multi-antenna spaceborne receiver.

[0012] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory storing a computer program, wherein the processor implements the steps of the communication endogenous positioning method of the first aspect when executing the program.

[0013] In a fourth aspect, an embodiment of the present application provides a computer program product, comprising a computer program, wherein the computer program implements the steps of the communication endogenous positioning method of the first aspect when executed by a processor.

[0014] In a fifth aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium, comprising a computer program, wherein the computer program implements the steps of the communication endogenous positioning method of the first aspect when executed by a processor.

[0015] The communication endogenous positioning method and device provided in the application, when the current time slot is a dirty time slot, screening a known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received from the dirty time slot belong, estimating a first correlation parameter of the first radio frequency signal of the known aircraft based on a second correlation parameter of a second radio frequency signal of the known aircraft acquired in a clean time slot before the dirty time slot, performing maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite; the dirty time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is greater than 1, which is identified from the access waveform of the multi-antenna satellite-borne receiver; the clean time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is equal to 1, which is identified from the access waveform of the multi-antenna satellite-borne receiver; and the access waveform is the waveform after beamforming processing of the multi-element radio frequency signal received by the multi-antenna satellite-borne receiver. In the multi-antenna array scenario of the satellite-borne receiver of the communication satellite, the multi-element radio frequency signal received by the satellite-borne receiver is first subjected to beamforming processing to form a beam with a specific direction, thereby suppressing interference in other directions and improving the quality of the access waveform. Further, since the clean time slot only receives the second radio frequency signal of one aircraft, the acquisition of the second correlation parameter of the second radio frequency signal of the aircraft is not affected by the radio frequency signals of other aircrafts, while since the dirty time slot receives the first radio frequency signals of multiple aircrafts, the acquisition of the first correlation parameter of the first radio frequency signal of the aircraft is affected by the radio frequency signals of other aircrafts. Based on this, the communication satellite acquires a relatively accurate second correlation parameter in the clean time slot, and then estimates the correlation parameter of the first radio frequency signal of the aircraft in the dirty time slot using the second correlation parameter, so that a relatively accurate first correlation parameter can be acquired. Since the first correlation parameter and the second correlation parameter are both related to the position of the aircraft relative to the communication satellite, the position of the aircraft relative to the communication satellite can be obtained through joint maximum likelihood estimation of the first correlation parameter and the second correlation parameter. The positioning of the aircraft is endogenously performed by the communication satellite, which on the one hand does not need to carry external radars or navigation systems, and does not increase the complexity of the equipment carried by the aircraft; on the other hand, the joint estimation architecture of the parameters of the aircraft in the clean time slot and the dirty time slot fully considers the correlation between the parameters in multiple time slots, thereby effectively improving the positioning accuracy; and on the other hand, the time delay in the process of acquiring and reporting the position by the aircraft is avoided, and the real-time requirement in the high-speed maneuvering scenario can be met. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0017] Figure 1 is one of flow diagrams of the communication endogenous positioning method provided by the embodiments of the present application; Figure 2 is a scene diagram of random access to a communication satellite by multiple aircrafts in different positions in the communication endogenous positioning method provided by the embodiments of the present application; Figure 3 is a diagram of receiving radio frequency signals by a multi-antenna satellite receiver in the communication endogenous positioning method provided by the embodiments of the present application; Figure 4 is another flow diagram of the communication endogenous positioning method provided by the embodiments of the present application; Figure 5 is a third flow diagram of the communication endogenous positioning method provided by the embodiments of the present application; Figure 6 is a fourth flow diagram of the communication endogenous positioning method provided by the embodiments of the present application; Figure 7 is an algorithm flow diagram of the communication endogenous positioning method provided by the embodiments of the present application; Figure 8 is a core processing flow diagram of the communication endogenous positioning method provided by the embodiments of the present application on the communication satellite side; Figure 9 is a core processing flow diagram of the communication endogenous positioning method provided by the embodiments of the present application on the aircraft side; Figure 10 is a structural diagram of the communication endogenous positioning device provided by the embodiments of the present application; Figure 11 is a structural diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0019] It should be noted that in the description of the embodiments of the present application, the terms "comprising", "containing" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element. The terms "upper", "lower" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. Unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0020] The terms "first", "second", and the like used in the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually a class, and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" means at least one of the connected objects, and the character " / ", generally means that the front and rear associated objects are in a "or" relationship.

[0021] Random Access (RA) technology allows multiple aircraft to randomly send information to the same channel without fixed time slot allocation, has great flexibility and high access efficiency, and is especially suitable for small data transmission and burst multi-aircraft access scenarios. The present application is realized based on Contention Resolution Diversity Slotted ALOHA (CRDSA) technology.

[0022] Figure 1 is one of the flowcharts of the communication endogenous positioning method provided by the embodiments of the present application; with reference to Figure 1 , the present application provides a communication endogenous positioning method, which can include: 101. When the current time slot is a dirty time slot, screen out known aircraft from multiple aircraft to which multiple first radio frequency signals received in the dirty time slot belong; 102. Estimate a first relevant parameter of a first radio frequency signal of the known aircraft based on a second relevant parameter of a second radio frequency signal of the known aircraft acquired in a clean time slot before the dirty time slot; The first related parameter and the second related parameter are both related to the known position of the aircraft relative to the communication satellite; 103. Perform maximum likelihood estimation on the first related parameter and the second related parameter to obtain the position of the known aircraft relative to the communication satellite.

[0023] A dirty time slot is a time slot in which the number of aircraft to which the RF signal belongs is greater than one, as identified from the access waveform of a multi-antenna satellite receiver. A clean time slot is a time slot in which the number of aircraft to which the RF signal belongs is equal to one, as identified from the access waveform of a multi-antenna satellite receiver. The access waveform is the waveform obtained by beamforming the multi-element RF signal received by the multi-antenna satellite receiver.

[0024] Reference Figure 2 , located in different locations aircraft All need to access the communication satellite. Assuming that the communication satellite and all aircraft have a unified time base, the communication satellite divides each uplink communication time frame into time slots, according to the CRDSA mechanism, the aircraft In each communication time frame, select at least two time slots to send service copy packets, that is, the number of service copy packets In the same communication time frame, In the sent Each business copy package is for the same business data The service copy packet is obtained by MAC layer framing, and then it is coded, modulated, and processed to generate a radio frequency signal and sent to the communication satellite. Single carrier BPSK (Binary Phase-Shift Keying) is used as the modulation mapping. Time slot aircraft Generated time domain RF signal It can be expressed as follows, where : ; in, is the amount of business data to be sent, For transmit shaping filters, The duration of sending a single business data. is the carrier center frequency of the transmitted RF signal, is the imaginary unit, Indicates time, is the real part operation. It should be noted that The transmission power can be expressed as .

[0025] Further, During the MAC layer framing process, The time slot identifiers of the time slot positions of all business copy packets are encapsulated together.

[0026] In the The radio frequency signal received by the single-antenna onboard receiver of the communication satellite can be expressed as: ; in, express In the The true value of the amplitude of the time slot, express In the The true value of the time delay of time slots, express In the The true value of the carrier frequency deviation of the time slot, express In the The true value of the initial phase of the carrier in the time slot, Indicates that the satellite receiver is The additive white Gaussian noise generated by the time slots is Indicates the The access pattern of time slots can be defined as: ; In the time slots, the sum of the number of all active aircraft It can be expressed as: ; when When In a time slot, the satellite receiver does not receive any service copy packet from any aircraft, and this time slot is called an "empty time slot". When In a time slot, the satellite receiver has received only one service copy packet from the spacecraft, and this time slot is called a “clean time slot”. When In a time slot, the satellite receiver receives service copies of multiple spacecraft, and this time slot is called a "dirty time slot".

[0027] Reference Figure 3 , when the communication satellite is equipped with a multi-antenna onboard receiver, In the When a time slot reaches the receiving array, it will also carry the incoming angle, so Also related to the angle of Related to further increase the positioning basis of the aircraft.

[0028] In step 101, the communication satellite recognizes that multiple aircraft have sent radio frequency signals, that is, sent service copy packets, in the current time slot, and then identifies a known aircraft from these aircraft. The known aircraft is the single aircraft in the previous clear time slot.

[0029] In step 102, since only a single aircraft's RF signal exists in a clean time slot and is not subject to interference from other aircraft's RF signals, whereas multiple aircraft's RF signals exist in a dirty time slot and may interfere with each other, relatively accurate second correlation parameters of the known aircraft's RF signal can be directly obtained in the clean time slot preceding the current time slot. These second correlation parameters are then used to estimate the first correlation parameters of the known aircraft's RF signal in the dirty time slot, thereby achieving relatively accurate acquisition of the first correlation parameters.

[0030] In step 103, since both the first relevant parameter and the second relevant parameter are related to the position of the known aircraft relative to the communication satellite, a joint maximum likelihood estimation can be performed based on these two types of parameters to obtain the accurate position of the known aircraft relative to the communication satellite.

[0031] The communication endogenous positioning method provided in the embodiment filters out a known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received from a dirty time slot belong, estimates a first correlation parameter of the first radio frequency signal of the known aircraft based on a second correlation parameter of a second radio frequency signal of the known aircraft obtained in a clean time slot before the dirty time slot, performs maximum likelihood estimation on the first correlation parameter and the second correlation parameter, and obtains the position of the known aircraft relative to the communication satellite, when the current time slot is the dirty time slot. The dirty time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is greater than 1, which is identified from the access waveform of the multi-antenna satellite-borne receiver. The clean time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is equal to 1, which is identified from the access waveform of the multi-antenna satellite-borne receiver. The access waveform is the waveform after the beamforming processing on the multi-element radio frequency signal received by the multi-antenna satellite-borne receiver. In the multi-antenna array scenario of the satellite-borne receiver of the communication satellite, the multi-element radio frequency signal received by the satellite-borne receiver is first beamformed to form a beam with a specific direction, so as to suppress the interference in other directions and improve the quality of the access waveform. Further, since the clean time slot only receives the second radio frequency signal of one aircraft, the second correlation parameter of the second radio frequency signal of the aircraft is not affected by the radio frequency signals of other aircrafts. Since the dirty time slot receives the first radio frequency signals of a plurality of aircrafts, the first correlation parameter of the first radio frequency signal of the aircraft is affected by the radio frequency signals of other aircrafts. Based on this, the communication satellite obtains the relatively accurate second correlation parameter in the clean time slot, and estimates the correlation parameter of the first radio frequency signal of the aircraft in the dirty time slot by using the second correlation parameter, so as to obtain the relatively accurate first correlation parameter. Since the first correlation parameter and the second correlation parameter are both related to the position of the aircraft relative to the communication satellite, the position of the aircraft relative to the communication satellite can be obtained by performing joint maximum likelihood estimation on the first correlation parameter and the second correlation parameter. The positioning of the aircraft is endogenously performed by the communication satellite, which does not need to be equipped with an external radar or navigation system, and does not increase the complexity of the equipment carried by the aircraft. The joint estimation architecture of the parameters of the aircraft in the clean time slot and the dirty time slot fully considers the correlation between the parameters in multiple time slots, so as to effectively improve the positioning accuracy. The time delay in the positioning process of the aircraft is avoided, and the real-time requirement in the high-speed maneuvering scenario can be met, for example, the real-time trajectory updating requirement of a hypersonic missile (speed ≥ 5 Mach).

[0032] Figure 4 FIG. 2 is a flowchart of a communication endogenous positioning method provided in the embodiment; refer to Figure 4In one embodiment, the second correlation parameter comprises a second estimation value, a first time slot position and a second time slot position, the first correlation parameter comprises a first estimation value, the first estimation value of the first radio frequency signal of the known aircraft is estimated based on the second correlation parameter of the second radio frequency signal of the known aircraft acquired in the clean time slot before the dirty time slot, which can comprise: 401. In the clean time slot, parameter estimation is performed on the second radio frequency signal to obtain a second estimation value of the second radio frequency signal; The second estimation value comprises a second amplitude estimation value, a second delay estimation value, a second carrier frequency offset estimation value, a second carrier initial phase estimation value and a second angle of arrival estimation value; 402. Based on the second estimation value, demodulation, decoding and frame extraction are performed on the second radio frequency signal to obtain a time slot identifier in a service replica package carried by the second radio frequency signal; The time slot identifier is an identifier of the time slot position of all service replica packages of the known aircraft; 403. Based on the time slot identifier, the first time slot position of the dirty time slot and the second time slot position of the clean time slot are acquired; 404. Based on the difference between the first time slot position and the second time slot position and the second estimation value, the first estimation value of the first radio frequency signal of the known aircraft is estimated.

[0033] The first estimation value comprises a first amplitude estimation value, a first delay estimation value, a first carrier frequency offset estimation value, a first carrier initial phase estimation value and a first angle of arrival estimation value.

[0034] In step 401, the aforementioned increased angle of arrival The expression is parameter estimated to obtain a second amplitude estimation value, a second delay estimation value, a second carrier frequency offset estimation value, a second carrier initial phase estimation value and a second angle of arrival estimation value.

[0035] In steps 402 to 403, since the time slot identifier of all service replica packages of the known aircraft is encapsulated in the service replica package of the clean time slot, the time slot position of the dirty time slot, i.e. the first time slot position, and the time slot position of the clean time slot, i.e. the second time slot position, can be acquired accordingly.

[0036] In step 404, the difference between the first time slot position and the second time slot position can measure the deviation between the first estimation value and the second estimation value, so that the first estimation value, i.e. the first amplitude estimation value, the first delay estimation value, the first carrier frequency offset estimation value, the first carrier initial phase estimation value and the first angle of arrival estimation value, can be obtained by respectively performing sliding processing on the second amplitude estimation value, the second delay estimation value, the second carrier frequency offset estimation value, the second carrier initial phase estimation value and the second angle of arrival estimation value based on the difference between the two time slot positions.

[0037] The embodiment obtains a more accurate second estimation value through parameter estimation of the net time slot radio frequency signal, demodulates, decodes and frames the radio frequency signal to obtain the time slot identifier in the copy package of the net time slot service, so that the time slot positions of the net time slot and the dirty time slot can be obtained, and then the difference between the two time slot positions can be used to slide the second estimation value to obtain a more accurate first estimation value.

[0038] Figure 5 FIG. 3 is a flowchart of a communication endogenous positioning method provided by the embodiment of the application; Figure 5 In one embodiment, the maximum likelihood estimation is performed on the first related parameter and the second related parameter to obtain the position of the known aircraft relative to the communication satellite, which can include: 501. Perform maximum likelihood estimation based on the first amplitude estimation value and the first carrier initial phase estimation value, and the second amplitude estimation value and the second carrier initial phase estimation value to obtain the optimal time delay, the optimal carrier frequency offset and the optimal direction angle; 502. Calculate the position of the known aircraft relative to the communication satellite based on the optimal time delay, the optimal carrier frequency offset and the optimal direction angle.

[0039] In step 501, the direction angle is increased which can be expressed as follows: , ; Suppose that the is obtained under and a multi-dimensional parameter space is constructed.The joint likelihood function under different time slots is: ; wherein represents the generation probability of under the condition of , a cost function is constructed, and a numerical optimization algorithm is used to solve , that is, the optimal time delay, the optimal carrier frequency offset and the optimal direction angle of the joint maximum likelihood estimation under time slots can be obtained. In the embodiment, in the case of only including one net time slot and one dirty time slot, the maximum likelihood estimation can be performed on the related data under the two time slots according to the above formula to obtain the optimal time delay, the optimal carrier frequency offset and the optimal direction angle.

[0040] It should be noted that although the first time delay estimation value, the first carrier frequency offset estimation value and the first direction of arrival estimation value have been estimated according to the second time delay estimation value, the second carrier frequency offset estimation value and the second direction of arrival estimation value of the clean time slot, the embodiment further takes the time delay estimation value, the carrier frequency offset estimation value and the direction of arrival estimation value in the two time slots as unknowns, takes other estimation values as known values for maximum likelihood estimation, can further utilize the correlation between the parameters between the two time slots to obtain the time delay, the carrier frequency offset and the direction of arrival under the global optimization, and thus the position of the known aircraft relative to the communication satellite is calculated based on the time delay, the carrier frequency offset and the direction of arrival, and a more accurate position can be obtained.

[0041] In one embodiment, screening the known aircraft from the plurality of aircraft to which the plurality of first radio frequency signals received from the dirty time slot belongs can include: querying whether there is a target pattern matching the access pattern in the clean time slot, and determining the aircraft corresponding to the target pattern as the known aircraft when the target pattern exists.

[0042] Suppose the dirty time slot is the i th time slot, and the previous clean time slot is the (i-1) th time slot, and only one aircraft is identified in the clean time slot, that is, the aircraft corresponding to the access pattern in the clean time slot is the i th aircraft. Suppose the dirty time slot is the i th time slot, and the previous clean time slot is the (i-1) th time slot, and only one aircraft is identified in the clean time slot, that is, the aircraft corresponding to the access pattern in the clean time slot is the i th aircraft. Suppose the dirty time slot is the i th time slot, and the previous clean time slot is the (i-1) th time slot, and only one aircraft is identified in the clean time slot, that is, the aircraft corresponding to the access pattern in the clean time slot is the i th aircraft. Suppose the dirty time slot is the i th time slot, and the previous clean time slot is the (i-1) th time slot, and only one aircraft is identified in the clean time slot, that is, the aircraft corresponding to the access pattern in the clean time slot is the i th aircraft. Suppose the dirty time slot is the i th time slot, and the previous clean time slot is the (i-1) th time slot, and only one aircraft is identified in the clean time slot, that is, the aircraft corresponding to the access pattern in the clean time slot is the i th aircraft. Suppose the dirty time slot is the i th time slot, and the previous clean time slot is the (i-1) th time slot, and only one aircraft is identified in the clean time slot, that is, the aircraft corresponding to the access pattern in the clean time slot is the i th aircraft. Suppose the dirty time slot is the i th time slot, and the previous clean time slot is the (i-1) th time slot, and only one aircraft is identified in the clean time slot, that is, the aircraft corresponding to the access pattern in the clean time slot is the i th aircraft.

[0043] The embodiment based on the matching of the access pattern queries the aircraft matching the clean time slot in the dirty time slot, thereby facilitating subsequent estimation of the parameters of the dirty time slot using the parameter estimation results of the clean time slot, and ultimately realizing aircraft positioning.

[0044] Figure 6 is a fourth flowchart of the communication endogenous positioning method provided by the embodiment of the application; refer to Figure 6 In one embodiment, after jointly performing maximum likelihood estimation on the first related parameter and the second related parameter, the method can include: 601, based on the optimal time delay, the optimal carrier frequency offset and the optimal direction of arrival, performing element-by-element waveform reconstruction on the first radio frequency signal of the known aircraft, to obtain a reconstructed multi-element radio frequency signal; 602, after performing element-by-element deletion on the reconstructed multi-element radio frequency signal, returning to the step of screening the known aircraft from the plurality of aircraft to which the plurality of first radio frequency signals received from the dirty time slot belongs when the current time slot is the dirty time slot.

[0045] In step 601, since the first radio frequency signal of the known aircraft will be interfered by the first radio frequency signals of other aircrafts in the dirty time slot, resulting in signal distortion, it is necessary to perform element-by-element waveform reconstruction on the first radio frequency signal of the known aircraft according to the obtained optimal time delay, optimal carrier frequency offset and optimal direction angle, so that the reconstructed multi-element radio frequency signal is maximized to approach the original radio frequency signal.

[0046] In step 602, the aforementioned maximum likelihood estimation method can achieve high-precision positioning of a single aircraft accessing the communication satellite, and the positioning accuracy can reach CRLB (Cramer-Rao Lower Bound), but in the scenario of multiple aircrafts accessing the communication satellite, the reconstructed multi-element radio frequency signal of the known aircraft in the dirty time slot needs to be deleted to avoid interference with the positioning of other aircrafts, and high-precision positioning of multiple aircrafts is achieved.

[0047] In this embodiment, by performing waveform reconstruction on the radio frequency signal of the known aircraft in the dirty time slot, and deleting the reconstructed radio frequency signal, and then positioning other aircrafts according to the method of the application, the reconstructed multi-element radio frequency signal of each known aircraft in the dirty time slot can be gradually deleted, so that the dirty time slot is gradually converted into a clean time slot, thereby gradually improving the positioning accuracy of multiple aircrafts. In addition, since the application is in the scenario of a multi-antenna array on-board receiver of a communication satellite, waveform reconstruction and signal deletion need to be performed element by element to improve the accuracy of waveform reconstruction and signal deletion.

[0048] Reference Figure 7 In one embodiment, the algorithm flow of the application is described as follows: 1. Start stage: (1) Start: the algorithm flow is started; (2) Access pattern generation: the aircraft generates a dedicated access pattern to provide a basis for identification for subsequent signal processing; (3) Radio frequency signal generation: the aircraft controls the generation of one radio frequency signal according to the generated access pattern for transmission in the corresponding time slot.

[0049] 2. Channel superposition and acquisition stage: (1) Channel superposition: the radio frequency signal is superimposed in the wireless channel to generate after Doppler and other aircraft influences; (2) Access waveform acquisition: the multi-antenna on-board receiver of the communication satellite acquires the access waveform , acquire the signal information sent by the aircraft as the data basis for subsequent processing.

[0050] 3. Iterative initialization and control: (1) Iterative initialization: initialize the number of iterations , set the initial state for subsequent iterative processing; (2) Iterative number update: add 1 to the number of iterations each time the iterative process is entered, that is ; (3) Maximum iteration judgment: judge whether the maximum number of iterations set in advance is reached. If so, enter the next time frame; if not, continue subsequent processing.

[0051] 4. Signal processing and detection: (1) Beamforming processing: multi-element signals are processed by a beamforming network to form a single-channel processing signal, which pre-processes the collected signals to improve signal quality; (2) Time slot by time slot signal detection: time slot by time slot signal detection is performed on the collected access waveform to identify the signal situation in each time slot; (3) Maximum time slot judgment: judge whether the maximum time slot is reached. If so, complete one iteration and perform corresponding processing; if not, continue to the next step.

[0052] 5. Active aircraft number calculation and branch processing: (1) Active aircraft number calculation: calculate the number of active aircrafts in the current time slot ; (2) Branch processing: (2.1) : clean time slot, first perform clean time slot parameter estimation to obtain a second estimation value, and based on this, sequentially perform demodulation, decoding, and frame operation to obtain a time slot identifier, and based on this, obtain the corresponding time slot position, solve the access pattern and update, and then enter the next time slot; (2.2) : dirty time slot, first query the known access pattern to determine whether there is a known aircraft in the dirty time slot. If not, directly enter the next time slot; if so, sequentially calculate the first estimation value, perform maximum likelihood parameter estimation with the second estimation value of the previous clean time slot, solve the position, and reconstruct the waveform per element, and finally independently perform serial interference cancellation in the elements to delete the reconstructed multi-element radio frequency signal, and then enter the next time slot; (2.3) : empty time slot, directly enter the next time slot.

[0053] 6. Loop and end: When a round of iteration is completed (the maximum time slot is reached or all cases are processed), it is determined whether to enter the next time frame according to whether the maximum number of iterations is reached, and the next round of iteration processing is continued until the end condition is met.

[0054] It can be known from the above algorithm flow that the positioning method of the application can solve the relative positions of the aircrafts in real time by the communication satellite when the aircrafts access the satellite, greatly reducing the system processing time delay; the positioning function is completely integrated with the communication access, without the need for additional frequency point or time slot resources, thereby improving the system capacity; without the need for special sequence training, the positioning information is implied in the access waveform, thereby improving the system anti-interception performance; without the need for any hardware modification of the aircraft and the communication satellite load, only software upgrade is needed to obtain high-precision positioning function, and the system upgrade pressure is small.

[0055] Referring to Figure 8 In one embodiment, the communication satellite side includes a satellite-borne receiver and an access and positioning integrated processing unit, wherein the multi-antenna array of the satellite-borne receiver is composed of antenna units, each antenna unit includes an LNA (Low Noise Amplifier), an LO (Local Oscillator), a BPF (Band-Pass Filter), etc., and the core processing flow of the communication satellite side includes: 1. Array beam forming: the multi-element signals accessed from the multi-antenna satellite-borne receiver enter the array beam forming network, and through weighted summation and other processing of the element signals, a beam with a specific direction is formed, the signal in the expected direction is enhanced, the interference in other directions is suppressed, and the signal reception quality and directivity are improved; 2. Time slot by time slot signal detection: the signals processed through the beam forming are subjected to time slot by time slot signal detection to determine whether there is a signal in each time slot and the characteristics of the signal; 3. Net time slot judgment and processing: whether the time slot is a net time slot is judged. If it is a net time slot, net time slot parameter estimation is performed, and then demodulation, decoding, and frame operation are performed in turn; if it is a dirty time slot and there is a known aircraft in the dirty time slot, position solving and interference deletion operations are entered; 4. Position solving and interference deletion: including sequentially calculating a first estimation value, performing maximum likelihood parameter estimation and solving the position by combining the second estimation value of the previous net time slot, reconstructing the waveform of each element, and finally performing iterative interference deletion of each element.

[0056] Referring to Figure 9 In one embodiment, the aircraft side includes a transmitting antenna and a sending unit, and the core processing flow of the aircraft side includes: 1. Business data input: the business data ​Enter the sending unit, the service queue is sent into the temporary storage; 2, MAC layer framing: service data in the service queue enters the MAC layer for framing operation, and data is organized into CRDSA frame structure; 3, encoding and modulation: the service data after framing is encoded and modulated; 4, access timing control and pattern generation: through timing control, access pattern is generated And determine Slot identification, access pattern And radio frequency gate cooperation, control the sending time and mode of radio frequency signal; 5, radio frequency processing: generate radio frequency signal And output to the multi-aircraft access channel through the transmitting antenna with power .

[0057] The communication endogenous positioning device provided by the embodiment of the application is described below. The communication endogenous positioning device described below can be correspondingly referred to the communication endogenous positioning method described above.

[0058] Figure 10 The structure diagram of the communication endogenous positioning device provided by the embodiment of the application. Referring to Figure 10 , the embodiment of the application provides a communication endogenous positioning device, which can include: Known aircraft screening module 1001, for: when the current time slot is a dirty time slot, screening a known aircraft from a plurality of aircraft to which a plurality of first radio frequency signals received from the dirty time slot belong; Dirty time slot parameter estimation module 1002, for: based on the second correlation parameter of the second radio frequency signal of the known aircraft obtained in the clean time slot before the dirty time slot, estimating the first correlation parameter of the first radio frequency signal of the known aircraft; the first correlation parameter and the second correlation parameter are related to the position of the known aircraft relative to the communication satellite; Endogenous positioning module 1003, for: joint maximum likelihood estimation of the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite; The dirty time slot is the time slot in which the number of aircrafts to which the radio frequency signal belongs is greater than 1 identified from the access waveform of the multi-antenna satellite receiver, and the clean time slot is the time slot in which the number of aircrafts to which the radio frequency signal belongs is equal to 1 identified from the access waveform of the multi-antenna satellite receiver; the access waveform is the waveform after beam forming processing of the multi-element radio frequency signal received by the multi-antenna satellite receiver.

[0059] The communication endogenous positioning device provided by the embodiment filters known aircraft from a plurality of aircraft to which a plurality of first radio frequency signals received from a dirty time slot belong, estimates a first correlation parameter of the first radio frequency signal of the known aircraft based on a second correlation parameter of the second radio frequency signal of the known aircraft obtained in a clean time slot before the dirty time slot, performs maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite; the dirty time slot is a time slot in which the number of aircrafts to which the radio frequency signal belongs is greater than 1, which is identified from the access waveform of the multi-antenna satellite receiver; the clean time slot is a time slot in which the number of aircrafts to which the radio frequency signal belongs is equal to 1, which is identified from the access waveform of the multi-antenna satellite receiver; and the access waveform is a waveform obtained by performing beamforming processing on the multi-element radio frequency signal received by the multi-antenna satellite receiver. In the multi-antenna array scenario of the satellite receiver of the communication satellite, the multi-element radio frequency signal received by the satellite receiver is first processed by beamforming to form a beam with a specific direction, thereby suppressing interference in other directions and improving the quality of the access waveform. Further, since the clean time slot only receives the second radio frequency signal of one aircraft, the second correlation parameter of the second radio frequency signal of the aircraft is not affected by the radio frequency signals of other aircrafts. Since the dirty time slot receives the first radio frequency signals of multiple aircrafts, the first correlation parameter of the first radio frequency signal of the aircraft is affected by the radio frequency signals of other aircrafts. Based on this, the communication satellite obtains more accurate second correlation parameters in the clean time slot, and then estimates the correlation parameter of the first radio frequency signal of the aircraft in the dirty time slot using the second correlation parameters, so that more accurate first correlation parameters can be obtained. Since the first correlation parameter and the second correlation parameter are both related to the position of the aircraft relative to the communication satellite, the position of the aircraft relative to the communication satellite can be obtained by performing joint maximum likelihood estimation on the first correlation parameter and the second correlation parameter. The positioning of the aircraft is endogenously performed by the communication satellite, which does not need to carry external radars or navigation systems, and does not increase the complexity of the equipment carried by the aircraft. The joint estimation architecture of the parameters of the aircraft in the clean time slot and the dirty time slot fully considers the correlation between the parameters in multiple time slots, thereby effectively improving the positioning accuracy. In addition, the time delay in the positioning process of the aircraft is avoided, which can meet the real-time requirements in high-speed maneuvering scenarios, such as real-time trajectory updating requirements of hypersonic missiles (speed ≥ 5 Mach).

[0060] In one embodiment, the clean time slot parameter obtaining module (not shown in the figure) is further included, which is configured to: perform parameter estimation on the second radio frequency signal to obtain a second estimation value of the second radio frequency signal in the clean time slot; the second estimation value comprises a second amplitude estimation value, a second time delay estimation value, a second carrier frequency offset estimation value, a second carrier initial phase estimation value and a second angle of arrival estimation value; based on the second estimation value, demodulate, decode and de-frame the second radio frequency signal to obtain a time slot identifier in a service replica packet carried by the second radio frequency signal; the time slot identifier is an identifier of a time slot position of all service replica packets of the known aircraft; based on the time slot identifier, obtain a first time slot position of the dirty time slot and a second time slot position of the clean time slot.

[0061] In one embodiment, the dirty time slot parameter estimation module 1002 is specifically configured to: based on the difference between the first time slot position and the second time slot position and the second estimation value, estimate a first estimation value of the first radio frequency signal of the known aircraft; the first estimation value comprises a first amplitude estimation value, a first time delay estimation value, a first carrier frequency offset estimation value, a first carrier initial phase estimation value and a first angle of arrival estimation value.

[0062] In one embodiment, the endogenous positioning module 1003 is specifically configured to: based on the first amplitude estimation value and the first carrier initial phase estimation value, and the second amplitude estimation value and the second carrier initial phase estimation value, perform maximum likelihood estimation to obtain an optimal time delay, an optimal carrier frequency offset and an optimal angle of arrival; based on the optimal time delay, the optimal carrier frequency offset and the optimal angle of arrival, calculate the position of the known aircraft relative to the communication satellite.

[0063] In one embodiment, the known aircraft screening module 1001 is specifically configured to: query whether there is a target pattern matching the access pattern in the clean time slot in the known access pattern; when the target pattern exists, determine the aircraft corresponding to the target pattern as the known aircraft.

[0064] In one embodiment, it further comprises a waveform reconstruction and interference deletion module (not shown in the figure) configured to: based on the optimal time delay, the optimal carrier frequency offset and the optimal angle of arrival, perform element-by-element waveform reconstruction on the first radio frequency signal of the known aircraft to obtain a reconstructed multi-element radio frequency signal; after performing element-by-element deletion on the reconstructed multi-element radio frequency signal, return to the step of screening the known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received in the current time slot as a dirty time slot belong.

[0065] Figure 11 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Figure 11 As shown, the electronic device may include: a processor 1110, a communication interface 1120, a memory 1130, and a communication bus 1140, wherein the processor 1110, the communication interface 1120, and the memory 1130 communicate with each other via the communication bus 1140. The processor 1110 may call a computer program in the memory 1130 to execute the steps of the communication-based positioning method, for example, including: When the current time slot is a dirty time slot, screening out known aircraft from a plurality of aircraft to which a plurality of first radio frequency signals received in the dirty time slot belong; estimating a first relevant parameter of a first radio frequency signal of the known aircraft based on a second relevant parameter of a second radio frequency signal of the known aircraft acquired in a clean time slot prior to the dirty time slot, wherein both the first relevant parameter and the second relevant parameter are related to a position of the known aircraft relative to a communication satellite; performing maximum likelihood estimation on the first related parameter and the second related parameter to obtain a position of the known aircraft relative to the communication satellite; The dirty time slot is a time slot in which the number of aircraft to which the radio frequency signal belongs is greater than 1 as identified from the access waveform of the multi-antenna satellite receiver, and the clean time slot is a time slot in which the number of aircraft to which the radio frequency signal belongs is equal to 1 as identified from the access waveform of the multi-antenna satellite receiver; the access waveform is a waveform obtained by beamforming the multi-element radio frequency signal received by the multi-antenna satellite receiver.

[0066] In addition, the logical instructions in the above-mentioned memory 1130 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0067] In another aspect, the embodiments of the present application also provide a computer program product, which comprises a computer program stored in a non-transitory computer-readable storage medium, and the computer program can be executed by a processor to enable a computer to perform the steps of the communication-internal positioning method provided by the above-mentioned embodiments, for example comprising: when the current time slot is a dirty time slot, screening a known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received in the dirty time slot belong; estimating a first correlation parameter of the first radio frequency signals of the known aircraft based on a second correlation parameter of second radio frequency signals of the known aircraft acquired in a clean time slot before the dirty time slot; the first correlation parameter and the second correlation parameter are both related to the position of the known aircraft relative to the communication satellite; performing maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite; the dirty time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is greater than 1, which is identified from an access waveform of a multi-antenna satellite-borne receiver; the clean time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is equal to 1, which is identified from the access waveform of the multi-antenna satellite-borne receiver; and the access waveform is a waveform after beamforming processing of multi-element radio frequency signals received by the multi-antenna satellite-borne receiver.

[0068] In another aspect, the embodiments of the present application also provide a non-transitory computer-readable storage medium, which stores a computer program for enabling a processor to perform the steps of the communication-internal positioning method provided by the above-mentioned embodiments, for example comprising: when the current time slot is a dirty time slot, screening a known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received in the dirty time slot belong; estimating a first correlation parameter of the first radio frequency signals of the known aircraft based on a second correlation parameter of second radio frequency signals of the known aircraft acquired in a clean time slot before the dirty time slot; the first correlation parameter and the second correlation parameter are both related to the position of the known aircraft relative to the communication satellite; performing maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite; the dirty time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is greater than 1, which is identified from an access waveform of a multi-antenna satellite-borne receiver; the clean time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is equal to 1, which is identified from the access waveform of the multi-antenna satellite-borne receiver; and the access waveform is a waveform after beamforming processing of multi-element radio frequency signals received by the multi-antenna satellite-borne receiver.

[0069] The non-transitory computer-readable storage medium can be any available medium or data storage device that a processor can access, including but not limited to a magnetic storage (e.g., floppy disks, hard disks, tape, MO, etc.), optical storage (e.g., CD, DVD, BD, HVD, etc.), and semiconductor storage (e.g., ROM, EPROM, EEPROM, NAND FLASH, SSD, etc.), etc.

[0070] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed to multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0071] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including a plurality of instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute the method described in each embodiment or some part of the embodiment.

[0072] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A communication endogenous positioning method, characterized in that: The method comprises: when the current time slot is a dirty time slot, screening a known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received from the dirty time slot belong; estimating a first correlation parameter of the first radio frequency signal of the known aircraft based on a second correlation parameter of a second radio frequency signal of the known aircraft obtained in a clean time slot before the dirty time slot; the first correlation parameter and the second correlation parameter are both related to the position of the known aircraft relative to a communication satellite; performing maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite; the dirty time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is greater than 1, which is identified from an access waveform of a multi-antenna satellite receiver; the clean time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is equal to 1, which is identified from the access waveform of the multi-antenna satellite receiver; and the access waveform is a waveform obtained after beamforming processing of a multi-element radio frequency signal received by the multi-antenna satellite receiver.

2. The method of claim 1, wherein, The second correlation parameter comprises a second estimation value, a first time slot position and a second time slot position, and the second correlation parameter is obtained based on the following steps: in the clean time slot, performing parameter estimation on the second radio frequency signal to obtain a second estimation value of the second radio frequency signal; the second estimation value comprises a second amplitude estimation value, a second time delay estimation value, a second carrier frequency offset estimation value, a second carrier initial phase estimation value and a second direction of arrival estimation value; based on the second estimation value, demodulating, decoding and de-framing the second radio frequency signal to obtain a time slot identifier in a service replica packet carried by the second radio frequency signal; the time slot identifier is an identifier of a time slot position of all service replica packets of the known aircraft; based on the time slot identifier, obtaining a first time slot position of the dirty time slot and a second time slot position of the clean time slot.

3. The method of claim 2, wherein, The first correlation parameter comprises a first estimation value, and the estimating the first correlation parameter of the first radio frequency signal of the known aircraft based on the second correlation parameter of the second radio frequency signal of the known aircraft obtained in the clean time slot before the dirty time slot comprises: estimating a first estimation value of the first radio frequency signal of the known aircraft based on the difference between the first time slot position and the second time slot position and the second estimation value; the first estimation value comprises a first amplitude estimation value, a first time delay estimation value, a first carrier frequency offset estimation value, a first carrier initial phase estimation value and a first direction of arrival estimation value.

4. The communication-based positioning method according to claim 3, wherein: The performing maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite comprises: performing maximum likelihood estimation based on the first amplitude estimation value and the first carrier initial phase estimation value, and the second amplitude estimation value and the second carrier initial phase estimation value to obtain an optimal time delay, an optimal carrier frequency offset and an optimal direction of arrival; solving the position of the known aircraft relative to the communication satellite based on the optimal time delay, the optimal carrier frequency offset and the optimal direction of arrival.

5. The method of claim 1, wherein, The known aircraft is selected from a plurality of aircrafts to which the plurality of first radio frequency signals received from the dirty time slot belong, comprising: querying whether a target pattern matching the access pattern in the clean time slot exists in the known access pattern; when the target pattern exists, determining the aircraft corresponding to the target pattern as the known aircraft.

6. The method of claim 4, wherein, After the maximum likelihood estimation of the first correlation parameter and the second correlation parameter, comprising: based on the optimal time delay, the optimal carrier frequency offset and the optimal direction angle, performing element-by-element waveform reconstruction on the first radio frequency signal of the known aircraft to obtain a reconstructed multi-element radio frequency signal; after the element-by-element deletion of the reconstructed multi-element radio frequency signal, returning to the step of selecting the known aircraft from the plurality of aircrafts to which the plurality of first radio frequency signals received from the dirty time slot belong when the current time slot is a dirty time slot.

7. A communication-based positioning device, characterized by comprising: a known aircraft screening module, configured to: select a known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received from a dirty time slot belong when the current time slot is the dirty time slot; a dirty time slot parameter estimation module, configured to: estimate a first correlation parameter of a first radio frequency signal of a known aircraft based on a second correlation parameter of a second radio frequency signal of the known aircraft obtained in a clean time slot before the dirty time slot; the first correlation parameter and the second correlation parameter are related to the position of the known aircraft relative to a communication satellite; an endogenous positioning module, configured to: perform maximum likelihood estimation of the first correlation parameter and the second correlation parameter to obtain the position of the known aircraft relative to the communication satellite; the dirty time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is greater than 1, which is identified from the access waveform of the multi-antenna satellite-borne receiver; the clean time slot is a time slot in which the number of aircrafts to which the radio frequency signals belong is equal to 1, which is identified from the access waveform of the multi-antenna satellite-borne receiver; the access waveform is a waveform obtained by beamforming processing on the multi-element radio frequency signal received by the multi-antenna satellite-borne receiver.

8. An electronic device comprising a processor and a memory having a computer program stored therein, characterized in that, The processor executes the computer program to realize the steps of the communication endogenous positioning method in any one of claims 1 to 6.

9. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the communication endogenous positioning method in any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the communication endogenous positioning method in any one of claims 1 to 6.

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