Communication endogenous distance measurement and speed measurement method and device

Abstract

The invention relates to the technical field of distance measurement and speed measurement, and provides a communication endogenous distance measurement and speed measurement method and device. The method comprises the following steps: screening out known aircrafts from aircrafts to which first radio frequency signals received in a 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 before the dirty time slot; the first related parameter is related to the distance of the known aircraft relative to the communication satellite, and the second related parameter is related to the distance and speed of the known aircraft relative to the communication satellite; and performing maximum likelihood estimation in combination with the first related parameter and the second related parameter to obtain the relative distance and the relative speed of the known aircraft. The weight and power consumption of the aircraft cannot be increased; electronic display interference is effectively avoided, and the reliability of distance measurement and speed measurement is improved; the aircraft is prevented from acquiring and reporting the time delay in the distance measurement and speed measurement process, 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 ranging and speed measurement, and in particular to a communication endogenous ranging and speed measurement 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 low-altitude economies. 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 to access communication satellites mainly focus on multi-aircraft access functions and lack endogenous ranging and speed measurement mechanisms. In space-air cross-domain communication, the ranging and speed measurement of the aircraft itself is usually achieved by external radars or navigation systems carried by the aircraft, which are then reported to the satellite through the uplink. On the one hand, carrying external radars or navigation systems increases the weight and power consumption of the aircraft. On the other hand, external radars or navigation systems are vulnerable to electronic warfare interference, affecting the reliability of their ranging and speed measurement results. On the other hand, the process of first relying on external radars or navigation systems for ranging and speed measurement 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 ranging and speed measurement method and device to solve the technical problems that existing methods for aircraft to access communication satellites carry external radars or navigation systems, which increases the weight and power consumption of the aircraft; external radars or navigation systems are vulnerable to electronic warfare interference, affecting the reliability of their ranging and speed measurement results; and the process of first relying on external radars or navigation systems for ranging and speed measurement 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 ranging and speed measurement 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 is related to a distance of the known aircraft relative to the communication satellite, and the second correlation parameter is related to a distance and a speed 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 distance and the speed 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 single-antenna satellite-borne 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 single-antenna satellite-borne 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 and a second carrier initial phase 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 is used to estimate the first correlation parameter of the first radio frequency signal of the known aircraft, including: 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 and a first carrier initial phase estimation value.

[0008] In one embodiment, the maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the distance and the speed of the known aircraft relative to the communication satellite includes: perform maximum likelihood estimation based on a relationship between the first time delay estimation value and the distance of the known aircraft relative to the communication satellite, and a relationship between the second time delay estimation value and the distance and speed of the known aircraft relative to the communication satellite, to obtain the distance and speed 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: querying whether a target pattern matching the access pattern in the clean time slot exists in a known access pattern; when the target pattern exists, determining the aircraft corresponding to the target pattern as the known aircraft.

[0010] In one embodiment, after the maximum likelihood estimation is performed by combining the first correlation parameter and the second correlation parameter, the step includes: performing waveform reconstruction on the first radio frequency signal of the known aircraft based on the first estimation value to obtain a reconstructed radio frequency signal; after the reconstructed radio frequency signal is deleted, returning 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.

[0011] In a second aspect, the embodiments of the present application provide a communication endogenous ranging and speed measuring 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 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 is related to the distance of the known aircraft relative to a communication satellite, and the second correlation parameter is related to the distance and speed of the known aircraft relative to the communication satellite; an endogenous ranging and speed measuring module configured to perform maximum likelihood estimation by combining the first correlation parameter and the second correlation parameter to obtain the distance and speed 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 single-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 single-antenna satellite-borne receiver.

[0012] In a third aspect, an electronic device is provided, which includes a processor and a memory storing a computer program, and the processor implements the steps of the communication endogenous ranging and speed measurement method of the first aspect when executing the program.

[0013] In a fourth aspect, a computer program product is provided, which includes a computer program, and the computer program implements the steps of the communication endogenous ranging and speed measurement method of the first aspect when executed by a processor.

[0014] In a fifth aspect, a non-transitory computer-readable storage medium is provided, which includes a computer program, and the computer program implements the steps of the communication endogenous ranging and speed measurement method of the first aspect when executed by a processor.

[0015] The communication endogenous ranging and speed measurement method and device provided by the application, when the current time slot is a dirty time slot, filters out a known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received in the 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 to obtain the distance and speed 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 identified from the access waveform of the single-antenna satellite-borne receiver, and 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 identified from the access waveform of the single-antenna satellite-borne receiver. In the single-antenna scenario of the satellite-borne receiver of the communication satellite, since the clean time slot only receives a 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, and since the dirty time slot receives first radio frequency signals of a plurality of 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 obtained. Since the first correlation parameter is related to the distance of the aircraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed of the aircraft relative to the communication satellite, the distance and speed of the aircraft relative to the communication satellite can be obtained according to the joint maximum likelihood estimation of the first correlation parameter and the second correlation parameter. The ranging and speed measurement of the aircraft is performed endogenously by the communication satellite, without the need to carry external radars or navigation systems. On the one hand, the weight and power consumption of the aircraft are not increased. On the other hand, electronic expansion interference is effectively avoided, and the reliability of the ranging and speed measurement result is improved. On the other hand, the time delay in the process of acquiring and reporting the ranging and speed measurement by the aircraft is avoided, and the real-time demand in the high-speed maneuvering scenario can be met. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 This is one of the flow charts of the communication endogenous ranging and speed measurement method provided in the embodiment of the present application; Figure 2 This is a schematic diagram of a scenario in which multiple aircraft randomly access a communication satellite in the communication endogenous ranging and speed measurement method provided by an embodiment of the present application; Figure 3 This is the second flow chart of the communication endogenous distance and speed measurement method provided in the embodiment of the present application; Figure 4 This is a schematic diagram of multi-slot delay in the communication endogenous ranging and speed measurement method provided in an embodiment of the present application; Figure 5 This is the third flow chart of the communication endogenous distance and speed measurement method provided in the embodiment of the present application; Figure 6 This is an algorithm flow chart of the communication endogenous distance and speed measurement method provided in an embodiment of the present application; Figure 7 This is a schematic diagram of the core processing flow of the communication endogenous ranging and speed measurement method provided by an embodiment of the present application on the communication satellite side and the aircraft side; Figure 8 Schematic diagram of the structure of the communication endogenous distance and speed measurement device provided in an embodiment of the present application; Figure 9 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this 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 "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device comprising 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", "connection", "connection" 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 ranging and speed measurement method provided by the embodiments of the present application; with reference to Figure 1 , the present application provides a communication endogenous ranging and speed measurement method, which can include: 101、in the current time slot is a dirty time slot, screening out a known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received from the dirty time slot belong; 102、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 is related to the distance of the known aircraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed of the known aircraft relative to the communication satellite; 103、jointly maximum likelihood estimation of the first correlation parameter and the second correlation parameter to obtain the distance and speed of the known aircraft relative to the communication satellite.

[0023] 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 single 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 single antenna satellite receiver.

[0024] Reference Figure 2 , Each of the aircrafts needs to access the communication satellite. Assuming that the communication satellite and all the aircrafts have a unified time reference, the communication satellite divides each uplink communication time frame into time slots. According to the CRDSA mechanism, the aircrafts select at least two time slots in each communication time frame to send service copy packets, i.e., the number of service copy packets In the same communication time frame, The service copy packets sent are all obtained by MAC layer framing of the same service data , and the service copy packets are further processed by encoding, modulation, and radio frequency to generate radio frequency signals and sent to the communication satellite. Taking single carrier BPSK (Binary Phase-Shift Keying) as the modulation mapping, the time domain radio frequency signal generated by the aircraft in the first time slot can be represented as follows, where : : ; Wherein, is the number of service data to be sent, is the sending shaping filter, is the duration of sending a single service data, is the carrier center frequency of the sending radio frequency signal, is the imaginary unit, denotes time, is a real operation. It is noted that, the transmit power of the .

[0025] Further, in the process of MAC layer framing, the time slot identifier of the time slot where the all service copy packets are located is encapsulated together.

[0026] In the th time slot, the radio frequency signal received by the single antenna onboard receiver of the communication satellite can be represented as: ; wherein, denotes the true value of the amplitude in the th time slot, denotes the true value of the time delay in the th time slot, denotes the true value of the carrier frequency offset in the th time slot, denotes the true value of the carrier initial phase in the th time slot, denotes the additive white Gaussian noise generated by the onboard receiver in the th time slot, denotes the access pattern of the th time slot, which can be defined as: ; The sum of the number of all active aircraft in the th time slot can be represented as: ; When , it means that in the th time slot, the onboard receiver has not received any service copy packet of the aircraft, and the time slot is an "empty time slot"; when , it means that in the th time slot, the onboard receiver has received and only received one service copy packet of the aircraft, and the time slot is a "pure time slot"; when , it means that in the th time slot, the onboard receiver has received multiple service copy packets of the aircraft, and the time slot is a "dirty time slot".

[0027] In step 101, the communication satellite identifies a plurality of aircrafts sending radio frequency signals, i.e. sending service copy packets, in the current time slot, and identifies a known aircraft from the plurality of aircrafts, the known aircraft being the single aircraft in the previous clean time slot.

[0028] In step 102, since there is only a single aircraft radio frequency signal in the clean time slot and no interference from other aircraft radio frequency signals, and there are a plurality of aircraft radio frequency signals in the dirty time slot and mutual interference between the plurality of radio frequency signals, the second correlation parameter of the known aircraft radio frequency signal can be directly obtained in the clean time slot before the current time slot, and the first correlation parameter of the known aircraft radio frequency signal in the dirty time slot can be estimated using the second correlation parameter, so as to obtain the first correlation parameter more accurately.

[0029] In step 103, since the first correlation parameter is related to the distance of the known aircraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed of the known aircraft relative to the communication satellite, joint maximum likelihood estimation can be performed based on the two types of parameters to obtain the accurate distance and speed of the known aircraft relative to the communication satellite.

[0030] The communication endogenous ranging and speed measuring 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 the second radio frequency signal of the known aircraft acquired 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 distance and speed 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 single-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 single-antenna satellite-borne receiver. In the single-antenna scenario of the satellite-borne receiver of the communication satellite, the second correlation parameter of the second radio frequency signal of the aircraft is not affected by the radio frequency signals of other aircrafts because the clean time slot only receives the second radio frequency signal of one aircraft. However, the first correlation parameter of the first radio frequency signal of the aircraft is affected by the radio frequency signals of other aircrafts because the dirty time slot receives the first radio frequency signals of a plurality of aircrafts. Based on this, the communication satellite acquires a 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 that a relatively accurate first correlation parameter can be acquired. Moreover, the first correlation parameter is related to the distance of the aircraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed of the aircraft relative to the communication satellite. Therefore, the distance and speed 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 ranging and speed measuring method provided in the embodiment is endogenous to the communication satellite, and does not need to be equipped with an external radar or navigation system. On the one hand, the weight and power consumption of the aircraft are not increased. On the other hand, electronic display interference is effectively avoided, and the reliability of the ranging and speed measuring result is improved. On the other hand, the time delay in the process of acquiring and reporting the ranging and speed measuring result by the aircraft is avoided, and the real-time requirement in the high-speed maneuvering scenario can be met.

[0031] Figure 3 FIG. 2 is a flowchart of a communication endogenous ranging and speed measuring method provided in an embodiment of the application; refer to Figure 3 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 first correlation parameter includes a first estimated value. The estimation of the first correlation parameter of the known aircraft 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 can include the following steps. 301. In the clean time slot, parameter estimation is performed 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 estimated value, a second time delay estimated value, a second carrier frequency offset estimated value, and a second carrier initial phase estimated value; 302. Demodulate, decode, and deframe the second radio frequency signal based on the second estimated value to obtain a time slot identifier in the service copy packet carried by the second radio frequency signal; The time slot identifier is an identifier of the time slot position of all service copy packets of a known aircraft; 303. 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.

[0032] 304. Estimate a first estimated value of a first radio frequency signal of a known aircraft based on a difference between the first time slot position and the second time slot position and the second estimated value.

[0033] The first estimation value includes a first amplitude estimation value, a first time delay estimation value, a first carrier frequency offset estimation value, and a first carrier initial phase estimation value.

[0034] In step 301, the above The expression is used to perform parameter estimation to obtain a second amplitude estimation value, a second time delay estimation value, a second carrier frequency offset estimation value, and a second carrier initial phase estimation value.

[0035] In steps 302 to 303, since the business copy package of the clean time slot encapsulates the identifiers of the time slot positions of all business copy packages of the known aircraft, the time slot position of the dirty time slot, that is, the first time slot position, and the time slot position of the clean time slot, that is, the second time slot position, can be obtained accordingly.

[0036] In step 304, the difference between the first time slot position and the second time slot position can measure the deviation between the first estimated value and the second estimated value. Therefore, on the basis of the second amplitude estimated value, the second delay estimated value, the second carrier frequency offset estimated value and the second carrier initial phase estimated value, the difference between the two time slot positions can be used for sliding processing to obtain the first estimated value, that is, the first amplitude estimated value, the first delay estimated value, the first carrier frequency offset estimated value and the first carrier initial phase estimated value.

[0037] This embodiment obtains a relatively accurate second estimated value by estimating the parameters of the clean time slot radio frequency signal, and demodulates, decodes, and deframes the radio frequency signal to obtain the time slot identifier in the clean time slot service copy packet, thereby obtaining the time slot positions of the clean time slot and the dirty time slot. The difference between the two time slot positions can then be used to perform sliding processing on the second estimated value to obtain a relatively accurate first estimated value.

[0038] In one embodiment, performing maximum likelihood estimation on the first correlation parameter and the second correlation parameter jointly to obtain the distance and the velocity of the known aircraft relative to the communication satellite can include: performing maximum likelihood estimation based on a relationship between the first time delay estimate and the distance of the known aircraft relative to the communication satellite, and a relationship between the second time delay estimate and the distance and the velocity of the known aircraft relative to the communication satellite to obtain the distance and the velocity of the known aircraft relative to the communication satellite.

[0039] Assume two service copy packets are sent in the first time slot and the second time slot respectively. Among them, the first service copy packet falls in the "clean time slot " and is successfully decoded, and the second service copy packet falls in the "dirty time slot ". The radio frequency signals received by the single antenna onboard receiver of the communication satellite in the two time slots can be represented as:

[0040] In the general assumption, the true values of the correlation parameters of the same aircraft radio frequency signal received by the onboard receiver in each time slot within a time frame are approximately constant, and only the true value of the carrier initial phase is different, that is: Therefore, the parameter estimation result of the clean time slot can be used to replace the parameter estimation result of the dirty time slot, and only the training sequence in is used to estimate .

[0041] However, in the aircraft and low-orbit satellite communication scenario, the above assumption will have limitations. This is because the aircraft and low-orbit satellite both belong to high-speed moving platforms, and the existence of a large Doppler will cause the arrival time and between the front and rear time slots to be inconsistent. Referring to Figure 4 , the aircraft​​​​​​​​​​​​​​​​ There is no relative Doppler between the satellite and the communication satellite, so it represents The orange line of movement of the aircraft is parallel to the black line representing the movement of the communication satellite; There is a large relative Doppler between the satellite and the communication satellite, so it represents The green line representing the movement of the satellite will not be parallel to the black line representing the movement of the communication satellite.

[0042] When there is no relative Doppler between the aircraft and the communication satellite, the aircraft The delay is approximately constant within a time frame, that is, When there is a relative Doppler between the aircraft and the communication satellite, the relative distance between the two will change as the time slot increases, further causing the aircraft to Delay in different time slots and Different. and Respectively In the current time slot The speed and distance relative to the communication satellite are: ; (4-1) ; (4-2) in, is the speed of light, .

[0043] From the above, we can see that when the first delay estimate is obtained, that is, The estimated value of , and the second delay estimated value, that is After obtaining the estimated value of , we can perform joint maximum likelihood estimation based on formulas (4-1) and (4-2) to obtain and .

[0044] It should be noted that the above is the case where only relative Doppler exists but not Doppler variation rate. When 3 to 5 time slots are selected in each communication time frame to send service copy packets, even if there is a Doppler variation rate, and Can also be solved.

[0045] This embodiment performs maximum likelihood estimation based on the relationship between the first time delay estimate and the known distance of the aircraft relative to the communication satellite, as well as the relationship between the second time delay estimate and the known distance and speed of the aircraft relative to the communication satellite. This can accurately measure the relative distance and speed between the aircraft and the communication satellite when there is a relative Doppler between the two.

[0046] 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 from the dirty time slot belong can comprise: querying whether there is a target pattern matching the access pattern in the net time slot in the known access pattern, and determining the aircraft corresponding to the target pattern as the known aircraft when the target pattern exists.

[0047] Suppose the dirty time slot is the i th time slot, and the previous net time slot is the (i-1) th time slot, and only one aircraft is identified in the net time slot, that is, the aircraft corresponding to the target pattern is determined as the known aircraft. Suppose the dirty time slot is the i th time slot, and the previous net time slot is the (i-1) th time slot, and only one aircraft is identified in the net time slot, that is, the aircraft corresponding to the target pattern is determined as the known aircraft. Suppose the dirty time slot is the i th time slot, and the previous net time slot is the (i-1) th time slot, and only one aircraft is identified in the net time slot, that is, the aircraft corresponding to the target pattern is determined as the known aircraft. Suppose the dirty time slot is the i th time slot, and the previous net time slot is the (i-1) th time slot, and only one aircraft is identified in the net time slot, that is, the aircraft corresponding to the target pattern is determined as the known aircraft. Suppose the dirty time slot is the i th time slot, and the previous net time slot is the (i-1) th time slot, and only one aircraft is identified in the net time slot, that is, the aircraft corresponding to the target pattern is determined as the known aircraft. Suppose the dirty time slot is the i th time slot, and the previous net time slot is the (i-1) th time slot, and only one aircraft is identified in the net time slot, that is, the aircraft corresponding to the target pattern is determined as the known aircraft. Suppose the dirty time slot is the i th time slot, and the previous net time slot is the (i-1) th time slot, and only one aircraft is identified in the net time slot, that is, the aircraft corresponding to the target pattern is determined as the known aircraft.

[0048] The embodiment is based on the matching of the access pattern, and the aircraft matching the net time slot is queried in the dirty time slot, so as to facilitate subsequent estimation of the parameters of the dirty time slot by using the parameter estimation result of the net time slot, and finally realize the measurement of the distance and speed of the aircraft relative to the communication satellite.

[0049] Figure 5 is a third flowchart of the communication endogenous ranging and velocity measuring method provided by the embodiment of the application; refer to Figure 5 In one embodiment, after the maximum likelihood estimation of the first correlation parameter and the second correlation parameter, the step can comprise: 501, reconstructing the waveform of the first radio frequency signal of the known aircraft based on the first estimation value to obtain a reconstructed radio frequency signal; 502, after deleting the reconstructed 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 belong when the current time slot is the dirty time slot.

[0050] In step 501, since the first radio frequency signal of the known aircraft will be interfered by the first radio frequency signals of other aircraft in the dirty time slot, the signal is distorted, therefore, the waveform of the first radio frequency signal of the known aircraft needs to be reconstructed according to the first estimation value estimated in the foregoing, so that the reconstructed radio frequency signal is closest to the original radio frequency signal.

[0051] In step 502, the aforementioned maximum likelihood estimation method can achieve high-precision ranging and velocity measurement of a single aircraft accessing a communication satellite, with the precision reaching the CRLB (Cramer-Rao Lower Bound), wherein the ranging precision is improved to the meter level, but in the scenario of multiple aircrafts accessing the communication satellite, the reconstructed radio frequency signals of the known aircrafts in the dirty time slot need to be deleted to avoid interference with the ranging and velocity measurement of other aircrafts, so as to achieve high-precision ranging and velocity measurement of multiple aircrafts.

[0052] In the embodiment, by reconstructing the radio frequency signals of the known aircrafts in the dirty time slot and deleting the reconstructed radio frequency signals, and then performing ranging and velocity measurement of other aircrafts according to the method of the application, the reconstructed radio frequency signals 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 ranging and velocity measurement precision of multiple aircrafts and improving the throughput of the entire access process.

[0053] Reference Figure 6 In one embodiment, the algorithmic process of the application is described as follows: 1. Start stage: (1) Start: the algorithmic process is started; (2) Access pattern generation: the aircraft generates a dedicated access pattern to provide an identification basis for subsequent signal processing; (3) Radio frequency signal generation: the aircraft controls the generation of a radio frequency signal according to the generated access pattern for transmission in the corresponding time slot.

[0054] 2. Channel superposition and collection stage: (1) Channel superposition: the radio frequency signal is superimposed in the wireless channel to generate after being affected by the Doppler and other aircrafts; (2) Access waveform collection: the single-antenna satellite-borne receiver of the communication satellite collects the access waveform to obtain the signal information sent by the aircraft, which serves as the data basis for subsequent processing.

[0055] 3. Iterative initialization and control: (1) Iterative initialization: the number of iterations is initialized to set the initial state for subsequent iterative processing; (2) Iterative number update: the number of iterations is increased by 1, i.e. , each time the iterative process is entered. (3) Maximum iteration judgment: judge whether the maximum iteration number is reached. If yes, go to the next time frame; if not, continue the subsequent processing.

[0056] 4. Signal processing and detection: (1) Time slot by time slot signal detection: perform time slot by time slot signal detection on the collected access waveform to identify the signal condition in each time slot; (2) Maximum time slot judgment: judge whether the maximum time slot is reached . If yes, complete one iteration and perform corresponding processing; if not, continue the subsequent steps.

[0057] 5. Active aircraft number calculation and branch processing: (1) Active aircraft number calculation: calculate the active aircraft number 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 go to the next time slot; (2.2) : dirty time slot, first query the known access pattern to judge whether there is a known aircraft in the dirty time slot. If not, go to the next time slot directly; if yes, sequentially calculate a first estimation value, perform maximum likelihood parameter estimation based on the second estimation value of the previous clean time slot to obtain distance and speed, waveform reconstruction, and finally perform serial interference cancellation to delete the reconstructed radio frequency signal, and then go to the next time slot; (2.3) : empty time slot, go to the next time slot directly.

[0058] 6. Loop and end: After completing one round of iteration (reaching the maximum time slot or processing all cases), decide whether to enter the next time frame according to whether the maximum iteration number is reached, continue the next round of iteration processing until the end condition is met.

[0059] It can be known from the above algorithm process that the ranging and speed measurement method of the application can be used to solve the phase distance and relative speed of the aircraft in real time by the communication satellite when multiple aircrafts access the satellite, thereby providing important support for subsequent precise information transmission services; a hierarchical parameter estimation framework of single-aircraft optimal and multiple-aircraft suboptimal is proposed, the double-time-slot joint maximum likelihood estimation is used to realize the optimal estimation of the Cramer-Rao lower bound in the single-aircraft scene, and the contradiction between the mutual interference of multiple aircrafts and the estimation accuracy is solved based on the serial interference cancellation in the multiple-aircraft scene; the aircraft and the communication satellite load do not need to be changed in any hardware, and only software upgrading is needed to obtain high-precision ranging and speed measurement function, and the system upgrading pressure is small.

[0060] Reference Figure 7 In one embodiment, the communication satellite side includes an access ranging and speed measurement integrated processing unit, and the aircraft side includes a sending unit.

[0061] Then the core processing flow of the communication satellite side includes: 1. Time-slot signal detection: for multiple aircrafts accessing waveforms in time slots Time-slot signal detection is performed; 2. Net time slot judgment and processing: judging whether the time slot is a net time slot. 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, distance and speed solving and interference cancellation operation are entered; 3. Distance and speed solving and interference cancellation: including sequentially calculating a first estimation value, performing maximum likelihood parameter estimation on the second estimation value of the previous net time slot and obtaining distance and speed, waveform reconstruction, and finally iterative interference cancellation.

[0062] Then the core processing flow of the aircraft side includes: 1. Business data input: business data Enter the sending unit and be sent to the business queue for temporary storage; 2. MAC layer framing: the business data in the business queue enters the MAC layer for framing operation, and the data is organized into a CRDSA frame structure; 3. Encoding and modulation: the framed business data is encoded and modulated; 4. Access timing control and pattern generation: generate access patterns by timing control, determine time slot identifiers, and the access patterns are matched with the radio frequency gate control to control the sending time and mode of the radio frequency signal; 5. Radio frequency processing: generate radio frequency signals , and output them to the multiple aircraft access channel with power .

[0063] The communication endogenous ranging and speed measuring device provided by the embodiments of the present application is described below. The communication endogenous ranging and speed measuring device described below can be referred to in correspondence with the communication endogenous ranging and speed measuring method described above.

[0064] Figure 8 FIG. 1 is a structural schematic diagram of a communication endogenous ranging and speed measuring device provided by the embodiments of the present application. Referring to FIG. 1, the communication endogenous ranging and speed measuring device provided by the embodiments of the present application can include: Figure 8 The communication endogenous ranging and speed measuring device provided by the embodiments of the present application can include: The known aircraft screening module 801 is configured to screen known aircraft from a plurality of aircraft 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. The dirty time slot parameter estimation module 802 is configured to estimate 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 is related to the distance of the known aircraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed of the known aircraft relative to the communication satellite. The endogenous ranging and speed measuring module 803 is configured to perform maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the distance and speed 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 single-antenna satellite-borne 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 single-antenna satellite-borne receiver.

[0065] The communication endogenous ranging and speed measuring device provided by 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 when the current time slot is the dirty time slot, 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 acquired 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 distance and speed 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 identified from the access waveform of the single-antenna satellite-borne receiver, and 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 identified from the access waveform of the single-antenna satellite-borne receiver. In the single-antenna scenario of the satellite-borne receiver of the communication satellite, the second correlation parameter of the second radio frequency signal of the aircraft is not affected by the radio frequency signals of other aircrafts because the clean time slot only receives the second radio frequency signal of one aircraft, and the first correlation parameter of the first radio frequency signal of the aircraft is affected by the radio frequency signals of other aircrafts because the dirty time slot receives the first radio frequency signals of a plurality of aircrafts. Based on this, the communication satellite acquires a 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 that a relatively accurate first correlation parameter can be acquired. Because the first correlation parameter is related to the distance of the aircraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed of the aircraft relative to the communication satellite, the distance and speed 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 ranging and speed measuring of the aircraft is performed by the communication satellite in the embodiment, and an external radar or navigation system does not need to be carried. On the one hand, the weight and power consumption of the aircraft are not increased. On the other hand, electronic display interference is effectively avoided, and the reliability of the ranging and speed measuring result is improved. On the other hand, the time delay in the process of acquiring and reporting the ranging and speed measuring by the aircraft is avoided, and the real-time requirement in the high-speed maneuvering scenario can be met.

[0066] In one embodiment, the clean time slot parameter acquisition module (not shown in the figure) is further included, and is configured to: In the clean time slot, a 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 includes a second amplitude estimation value, a second time delay estimation value, a second carrier frequency offset estimation value, and a second carrier initial phase estimation value; Based on the second estimation value, demodulation, decoding, and frame disassembly 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 a time slot position of all service replica packages of the known aircraft; Based on the time slot identifier, a first time slot position of the dirty time slot and a second time slot position of the clean time slot are obtained.

[0067] In one embodiment, the dirty time slot parameter estimation module 802 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, a first estimation value of the first radio frequency signal of the known aircraft is estimated; the first estimation value includes a first amplitude estimation value, a first time delay estimation value, a first carrier frequency offset estimation value and a first carrier initial phase estimation value.

[0068] In one embodiment, the endogenous ranging and speed measurement module 803 is specifically configured to: Based on the relationship between the first time delay estimation value and the distance of the known aircraft relative to the communication satellite, and the relationship between the second time delay estimation value and the distance and speed of the known aircraft relative to the communication satellite, maximum likelihood estimation is performed to obtain the distance and speed of the known aircraft relative to the communication satellite.

[0069] In one embodiment, the known aircraft screening module 801 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, the aircraft corresponding to the target pattern is determined as the known aircraft.

[0070] In one embodiment, it further includes a waveform reconstruction and interference deletion module (not shown in the figure), which is configured to: Based on the first estimation value, the first radio frequency signal of the known aircraft is reconstructed to obtain a reconstructed radio frequency signal; After deleting the reconstructed radio frequency signal, the step of screening 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 is returned.

[0071] Figure 9 is a structural schematic diagram of an electronic device provided by the embodiment of the application, as Figure 9 shown, the electronic device can include a processor (processor) 910, a communication interface (communication interface) 920, a memory (memory) 930 and a communication bus 940, wherein the processor 910, the communication interface 920, the memory 930 complete the communication among each other through the communication bus 940. The processor 910 can call the computer program in the memory 930 to execute the steps of the communication endogenous ranging and speed measurement method, for example, including: filtering out a known aircraft from a plurality of aircraft to which a plurality of first radio frequency signals received from the dirty time slot belong, when the current time slot is a dirty time slot; 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 is related to a distance of the known aircraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed 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 distance and speed 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 single-antenna satellite-borne receiver; and 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 single-antenna satellite-borne receiver.

[0072] In addition, the logical instructions in the memory 930 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0073] On the other hand, the embodiments of the present application also provide a computer program product, which includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by a processor, so that the computer can execute the steps of the communication endogenous ranging and speed measurement method provided by the above-mentioned embodiments, for example, including: filtering out a known aircraft from a plurality of aircraft to which a plurality of first radio frequency signals received from the dirty time slot belong, when the current time slot is a dirty time slot; estimate 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; the first correlation parameter is related to a distance of the known aircraft relative to the communication satellite, and the second correlation parameter is related to a distance and a speed of the known aircraft relative to the communication satellite; perform maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the distance and the speed 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 single-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 single-antenna satellite-borne receiver.

[0074] In another aspect, the embodiments of the present application also provide a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being configured to cause a processor to perform the steps of the communication endogenous ranging and speed measurement method provided by the above-mentioned embodiments, for example comprising: When the current time slot is a dirty time slot, filter a known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received in the dirty time slot belong; estimate 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; the first correlation parameter is related to a distance of the known aircraft relative to the communication satellite, and the second correlation parameter is related to a distance and a speed of the known aircraft relative to the communication satellite; perform maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the distance and the speed 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 single-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 single-antenna satellite-borne receiver.

[0075] The non-transitory computer-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to a magnetic memory (such as a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical memory (such as a CD, a DVD, a BD, a HVD, etc.), and a semiconductor memory (such as a ROM, an EPROM, an EEPROM, a non-volatile memory (NAND FLASH), a solid state disk (SSD)), etc.

[0076] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0077] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the 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 products, and the computer software products can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and include a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0078] 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 for 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 method for communication endogenous ranging and speed estimation, characterized in that, Comprising: filtering a known aircraft from a plurality of aircraft 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; estimating 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 acquired in a clean time slot before the dirty time slot; the first correlation parameter is related to a distance of the known aircraft relative to a communication satellite, and the second correlation parameter is related to the distance and a speed 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 distance and the speed 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 radio frequency signals belong is greater than 1, which is identified from an access waveform of a single-antenna satellite-borne receiver; and the clean time slot is a time slot in which the number of aircrafts to which radio frequency signals belong is equal to 1, which is identified from the access waveform of the single-antenna satellite-borne receiver.

2. The method of claim 1, wherein, 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: performing parameter estimation on the second radio frequency signal in the clean time slot 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 and a second carrier initial phase 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, obtaining a first time slot position of the dirty time slot and a second time slot position of the clean time slot.

3. The communication endogenous ranging and velocimetry method of claim 2, wherein, The first correlation parameter includes a first estimated 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 acquired in the clean time slot before the dirty time slot includes: estimating a first estimated value of the first radio frequency signal of the known aircraft based on a difference between the first time slot position and the second time slot position and the second estimated value; the first estimated value includes a first amplitude estimation value, a first time delay estimation value, a first carrier frequency offset estimation value and a first carrier initial phase estimation value.

4. The communication endogenous ranging and velocimetry method of claim 3, wherein, The performing maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the distance and the speed of the known aircraft relative to the communication satellite includes: performing maximum likelihood estimation based on a relationship between the first time delay estimation value and the distance of the known aircraft relative to the communication satellite, and a relationship between the second time delay estimation value and the distance and the speed of the known aircraft relative to the communication satellite, to obtain the distance and the speed of the known aircraft relative to the communication satellite.

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

6. The communication endogenous ranging and velocimetry method of claim 3, wherein, After maximum likelihood estimation is performed on the first correlation parameter and the second correlation parameter, the method comprises: performing waveform reconstruction on the first radio frequency signal of the known aircraft based on the first estimated value, to obtain a reconstructed radio frequency signal; After the reconstructed radio frequency signal is deleted, returning to the step of screening out the known aircraft from a plurality of aircrafts to which a 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 endogenous ranging and speed measurement device, characterized in that, The method comprises: a known aircraft screening module, configured to screen out a known aircraft from a plurality of aircrafts to which a plurality of first radio frequency signals received from the dirty time slot belong when the current time slot is a dirty time slot; a dirty time slot parameter estimation module, configured to estimate 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; the first correlation parameter is related to the distance of the known aircraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed of the known aircraft relative to the communication satellite; an endogenous ranging and speed measurement module, configured to perform maximum likelihood estimation on the first correlation parameter and the second correlation parameter to obtain the distance and speed 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 single-antenna satellite-borne receiver; and 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 single-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 ranging and speed measurement 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 ranging and speed measurement 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 ranging and speed measurement method in any one of claims 1 to 6.

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