Communication-based intrinsic ranging and velocity measurement methods and devices

Abstract

This application relates to the field of ranging and velocity measurement technology, and provides a method and apparatus for intrinsically ranging and velocity measurement in communication. The method includes: filtering out known aircraft from those belonging to a first radio frequency signal received in 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 the second radio frequency signal of the known aircraft obtained in a net 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 velocity of the known aircraft relative to the communication satellite; performing maximum likelihood estimation by combining the first and second correlation parameters to obtain the relative distance and relative velocity of the known aircraft. This application does not increase the weight or power consumption of the aircraft; effectively avoids electronic interference, improving the reliability of ranging and velocity measurement; avoids time delays in the process of the aircraft acquiring and reporting ranging and velocity measurement, and can meet the real-time requirements in high-speed maneuvering scenarios.

Description

Technical Field

[0001] This application relates to the field of ranging and velocity measurement technology, specifically to a method and apparatus for intrinsic ranging and velocity measurement in communication. Background Technology

[0002] In the modern aerospace field, drones, low-altitude aircraft, and missile weapons have extremely high requirements for the immediacy and reliability of communications. With the rise of the low-altitude economy, the number of low-altitude aircraft is increasing, and their communication needs are becoming more complex and diverse. Satellite communication, with its unique advantages, enables these aircraft to maintain stable connections with command centers, other aircraft, or combat systems. In stark contrast, traditional terrestrial base station communications have many limitations. They are not only constrained by geographical conditions but also susceptible to interference and reconnaissance, making it difficult to meet the communication needs of high-speed missile maneuvers and long-range flights, and even more unsuitable for the diverse communication requirements of aircraft in the low-altitude economy. Satellite communication, with its global coverage and stable communication quality, has undoubtedly become the ideal choice for missile and various types of aircraft communications. Therefore, inter-space communication between satellites and aircraft has become a rapidly emerging research direction attracting considerable attention.

[0003] However, existing methods for aircraft to access communication satellites mainly focus on multi-aircraft access functions and lack an endogenous ranging and velocity measurement mechanism. In cross-domain air-space communication, the aircraft usually needs to use external radar or navigation systems to perform its own ranging and velocity measurement, and then report it to the satellite through the uplink communication link. On the one hand, carrying external radar or navigation systems will increase the weight and power consumption of the aircraft; on the other hand, external radar or navigation systems are susceptible to electronic warfare interference, affecting the reliability of their ranging and velocity measurement results; furthermore, the process of the aircraft relying on external radar or navigation systems to perform ranging and velocity measurement before reporting to the communication satellite has a long delay, which cannot meet the real-time requirements of high-speed maneuvering scenarios. Summary of the Invention

[0004] This application provides a communication-inherent ranging and velocity measurement method and apparatus to address the technical problems of existing methods for connecting aircraft to communication satellites by using external radar or navigation systems, which increase the weight and power consumption of the aircraft; external radar or navigation systems are susceptible to electronic warfare interference, affecting the reliability of their ranging and velocity measurement results; and the long delay in the process of the aircraft first relying on external radar or navigation systems to perform ranging and velocity measurement before reporting to the communication satellite, which cannot meet the real-time requirements in high-speed maneuvering scenarios.

[0005] In a first aspect, embodiments of this application provide a communication-inherent ranging and velocity measurement method, including:

[0006] When the current time slot is a dirty time slot, a known aircraft is selected from the multiple aircraft to which the multiple first radio frequency signals received in the dirty time slot belong;

[0007] Based on the second correlation parameters of the second radio frequency signal of the known spacecraft obtained in the net time slot prior to the dirty time slot, the first correlation parameters of the first radio frequency signal of the known spacecraft are estimated; the first correlation parameters are related to the distance of the known spacecraft relative to the communication satellite, and the second correlation parameters are related to the distance and speed of the known spacecraft relative to the communication satellite;

[0008] By combining the first and second relevant parameters, maximum likelihood estimation is performed to obtain the distance and velocity of the known spacecraft relative to the communication satellite;

[0009] The dirty time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is greater than 1, identified from the access waveform of the single-antenna satellite receiver. The net time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is equal to 1, identified from the access waveform of the single-antenna satellite receiver.

[0010] In one embodiment, the second relevant parameter includes a second estimated value, a first time slot location, and a second time slot location, and the second relevant parameter is obtained based on the following steps:

[0011] In the net 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;

[0012] Based on the second estimate, the second radio frequency signal is demodulated, decoded, and deframed to obtain the time slot identifier within the service replica packet carried by the second radio frequency signal; the time slot identifier is the identifier of the time slot position of all service replica packets of the known aircraft.

[0013] 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 obtained.

[0014] In one embodiment, the first correlation parameter includes a first estimate, and 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 net time slot prior to the dirty time slot includes:

[0015] Based on the difference between the first time slot position and the second time slot position and the second estimated value, a first estimated value of the first radio frequency signal of the known aircraft is estimated; the first estimated value includes a first amplitude estimated value, a first time delay estimated value, a first carrier frequency offset estimated value, and a first carrier initial phase estimated value.

[0016] In one embodiment, the step of performing maximum likelihood estimation by combining the first and second relevant parameters to obtain the distance and velocity of the known spacecraft relative to the communication satellite includes:

[0017] Based on the relationship between the first time delay estimate and the distance of the known spacecraft relative to the communication satellite, and the relationship between the second time delay estimate and the distance and speed of the known spacecraft relative to the communication satellite, maximum likelihood estimation is performed to obtain the distance and speed of the known spacecraft relative to the communication satellite.

[0018] In one embodiment, the step of filtering out known aircraft from the plurality of aircraft to which the plurality of first radio frequency signals received from the dirty time slot belong includes:

[0019] Query whether there exists a target pattern among the known access patterns that matches the access pattern in the net time slot;

[0020] When the target pattern exists, the aircraft corresponding to the target pattern is identified as a known aircraft.

[0021] In one embodiment, the step of performing maximum likelihood estimation by combining the first correlation parameter and the second correlation parameter includes:

[0022] Based on the first estimated value, the waveform of the first radio frequency signal of the known aircraft is reconstructed to obtain the reconstructed radio frequency signal;

[0023] After deleting the reconstructed radio frequency signal, the process returns to the step of selecting a known aircraft from the multiple aircraft to which the multiple first radio frequency signals received in the dirty time slot belong when the current time slot is a dirty time slot.

[0024] Secondly, embodiments of this application provide a communication-inherent ranging and velocity measuring device, comprising:

[0025] A known aircraft screening module is used to: when the current time slot is a dirty time slot, screen out known aircraft from multiple aircraft belonging to multiple first radio frequency signals received in the dirty time slot;

[0026] The dirty time slot parameter estimation module is used to: estimate a first correlation parameter of the first radio frequency signal of the known spacecraft based on a second correlation parameter of the second radio frequency signal of the known spacecraft obtained in the net time slot before the dirty time slot; the first correlation parameter is related to the distance of the known spacecraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed of the known spacecraft relative to the communication satellite;

[0027] The endogenous ranging and velocity measurement module is used to: perform maximum likelihood estimation by combining the first relevant parameters and the second relevant parameters to obtain the distance and velocity of the known spacecraft relative to the communication satellite;

[0028] The dirty time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is greater than 1, identified from the access waveform of the single-antenna satellite receiver. The net time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is equal to 1, identified from the access waveform of the single-antenna satellite receiver.

[0029] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory storing a computer program, wherein the processor executes the program to implement the steps of the communication-inherent ranging and speed measurement method described in the first aspect.

[0030] Fourthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the communication-inherent ranging and velocity measurement method described in the first aspect.

[0031] Fifthly, embodiments of this application provide a non-transitory computer-readable storage medium, including a computer program, which, when executed by a processor, implements the steps of the communication endogenous ranging and velocity measurement method described in the first aspect.

[0032] The communication-inherent ranging and velocity measurement method and apparatus provided in this application, when the current time slot is a dirty time slot, selects known aircraft from multiple aircraft belonging to multiple first radio frequency signals received in the dirty time slot, estimates the first correlation parameters of the first radio frequency signals of the known aircraft based on the second correlation parameters of the second radio frequency signals of the known aircraft obtained in the net time slot before the dirty time slot, and performs maximum likelihood estimation by combining the first correlation parameters and the second correlation parameters to obtain the distance and velocity of the known aircraft relative to the communication satellite. The dirty time slot is the time slot in which the number of aircraft belonging to the radio frequency signals identified from the access waveform of the single-antenna satellite receiver is greater than 1, and the net time slot is the time slot in which the number of aircraft belonging to the radio frequency signals identified from the access waveform of the single-antenna satellite receiver is equal to 1. In this application, under the scenario where the satellite receiver is a single-antenna type, since the net time slot only receives the second radio frequency signal from one aircraft, the acquisition of the second correlation parameters of the second radio frequency signal of that aircraft will not be affected by the radio frequency signals of other aircraft. However, since the dirty time slot receives the first radio frequency signals from multiple aircraft, the acquisition of the first correlation parameters of the first radio frequency signal of that aircraft will be affected by the radio frequency signals of other aircraft. Based on this, the communication satellite can acquire more accurate second correlation parameters in the net time slot, and then use these second correlation parameters to estimate the correlation parameters of the first radio frequency signal of the aircraft in the dirty time slot, thereby obtaining more accurate first correlation parameters. Furthermore, since the first correlation parameters are related to the distance of the aircraft relative to the communication satellite, and the second correlation parameters are related to the distance and velocity of the aircraft relative to the communication satellite, a more accurate distance and velocity of the aircraft relative to the communication satellite can be obtained based on the joint maximum likelihood estimation of the first and second correlation parameters. This application utilizes a communication satellite to perform ranging and velocity measurement of the aircraft, eliminating the need for external radar or navigation systems. This approach avoids increasing the aircraft's weight and power consumption, effectively prevents electronic interference, and improves the reliability of ranging and velocity measurement results. Furthermore, it avoids time delays in the aircraft's acquisition and reporting of ranging and velocity measurement data, thus meeting the real-time requirements of high-speed maneuvering scenarios. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is one of the flowcharts of the communication-inherent ranging and velocity measurement method provided in the embodiments of this application;

[0035] Figure 2This is a schematic diagram of a scenario in which multiple aircraft are randomly connected to a communication satellite in the communication-inherent ranging and velocity measurement method provided in the embodiments of this application;

[0036] Figure 3 This is a second schematic flowchart of the communication-inherent ranging and velocity measurement method provided in the embodiments of this application;

[0037] Figure 4 This is a schematic diagram of multi-slot delay in the communication-inherent ranging and velocity measurement method provided in the embodiments of this application;

[0038] Figure 5 This is the third flowchart of the communication-inherent ranging and velocity measurement method provided in the embodiments of this application;

[0039] Figure 6 This is a flowchart of the algorithm for the communication-inherent ranging and velocity measurement method provided in the embodiments of this application;

[0040] Figure 7 This is a schematic diagram of the core processing flow of the communication-inherent ranging and velocity measurement method provided in this application embodiment on the communication satellite side and the spacecraft side;

[0041] Figure 8 This is a schematic diagram of the communication-inherent ranging and velocity measuring device provided in the embodiments of this application;

[0042] Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] It should be noted that in the description of the embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The terms "upper," "lower," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections or indirect connections through an intermediate medium; and they can be internal connections between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class, without limiting the number of objects; for example, a first object can be one or more. Furthermore, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects have an "or" relationship.

[0046] Random Access (RA) technology allows multiple aircraft to randomly transmit information to the same channel without fixed time slot allocation, offering great flexibility and extremely high access efficiency, making it particularly suitable for scenarios involving small data transmission volumes and bursty multi-aircraft access. This application is based on Conflict Resolution Diversity Slotted ALOHA (CRDSA) technology.

[0047] Figure 1 This is one of the flowcharts illustrating the communication-inherent ranging and velocity measurement method provided in the embodiments of this application; see reference. Figure 1 This application provides a communication-inherent ranging and velocity measurement method, which may include:

[0048] 101. When the current time slot is a dirty time slot, select the known aircraft from the multiple aircraft to which the multiple first radio frequency signals received in the dirty time slot belong;

[0049] 102. Based on the second correlation parameters of the second radio frequency signal of the known aircraft obtained in the net time slot before the dirty time slot, estimate the first correlation parameters of the first radio frequency signal of the known aircraft;

[0050] The first relevant parameter is related to the known distance of the spacecraft relative to the communication satellite, and the second relevant parameter is related to the known distance and speed of the spacecraft relative to the communication satellite.

[0051] 103. By combining the first and second relevant parameters, maximum likelihood estimation is performed to obtain the known distance and velocity of the spacecraft relative to the communication satellite.

[0052] A dirty time slot is a time slot in which the number of aircraft to which the radio frequency signal belongs is greater than 1, identified from the access waveform of a single-antenna satellite-borne receiver. A net time slot is a time slot in which the number of aircraft to which the radio frequency signal belongs is equal to 1, identified from the access waveform of a single-antenna satellite-borne receiver.

[0053] Reference Figure 2 , One aircraft All require access to a communication satellite. Assuming that the communication satellite and all spacecraft share a unified time reference, the communication satellite divides each uplink communication time frame into... Each time slot, according to the CRDSA mechanism, the aircraft In each communication time frame, at least two time slots are selected to send service replica packets, i.e., the number of service replica packets. Within the same communication frame, In the sent Each business replica package contains the same business data. The service copy packet, obtained through MAC layer framing, is then encoded, modulated, and processed by radio frequency to generate an radio frequency signal for transmission to the communication satellite. Single-carrier BPSK (Binary Phase-Shift Keying) is used as the modulation mapping. Time-slot aircraft The generated time-domain radio frequency signal It can be represented as follows, where, :

[0054] ;

[0055] in, The amount of business data to be sent. To send a shaping filter, The duration for sending a single piece of service data. The center frequency of the carrier for transmitting radio frequency signals. The imaginary unit, Indicates time, This is for the operation of taking the real part. It should be noted that... The transmit power can be expressed as .

[0056] Furthermore, on During the MAC layer framing process, The time slot identifiers of all business replica packages are encapsulated together.

[0057] In the In each time slot, the radio frequency signal received by the single-antenna onboard receiver of a communication satellite can be expressed as:

[0058] ;

[0059] in, express In the The true value of the amplitude of each time slot. express In the The true value of the delay in each time slot. express In the The true value of carrier frequency offset for each time slot. express In the The true value of the initial phase of the carrier in each time slot. Indicates that the satellite receiver is at the 1st Additive white Gaussian noise generated in each time slot Indicates the first The access pattern for each time slot can be defined as:

[0060] ;

[0061] Then in the The sum of the number of all active aircraft in each time slot. It can be represented as:

[0062] ;

[0063] when At, it indicates the time. During a time slot, if the onboard receiver does not receive any operational copy packets from the spacecraft, this time slot is called an "empty time slot"; when At, it indicates the time. In a time slot, the onboard receiver receives one and only one copy of the operational packet from the spacecraft; this time slot is called the "net time slot". At, it indicates the time. In one time slot, the onboard receiver receives multiple service copy packets from the spacecraft; this time slot is called a "dirty time slot".

[0064] In step 101, when the communication satellite identifies multiple aircraft that have transmitted radio frequency signals in the current time slot, that is, transmitted service copy packets, the known aircraft is identified from these aircraft. This known aircraft is the single aircraft in the previous net time slot.

[0065] In step 102, since only a single aircraft's radio frequency signal exists in the net time slot, it will not be interfered with by the radio frequency signals of other aircraft. However, multiple aircraft's radio frequency signals exist in the dirty time slot, and these multiple radio frequency signals will interfere with each other. Therefore, in the net time slot before the current time slot, the second correlation parameter of the known aircraft's radio frequency signal can be directly obtained more accurately. Then, the second correlation parameter is used to estimate the first correlation parameter of the known aircraft's radio frequency signal in the dirty time slot, so as to achieve a more accurate acquisition of the first correlation parameter.

[0066] In step 103, since the first relevant parameter is related to the distance of the known spacecraft relative to the communication satellite, and the second relevant parameter is related to the distance and speed of the known spacecraft relative to the communication satellite, a joint maximum likelihood estimation can be performed based on these two types of parameters to obtain the accurate distance and speed of the known spacecraft relative to the communication satellite.

[0067] The communication-inherent ranging and velocity measurement method provided in this embodiment, when the current time slot is a dirty time slot, selects known aircraft from multiple aircraft belonging to multiple first radio frequency signals received in the dirty time slot. Based on the second correlation parameters of the second radio frequency signals of the known aircraft obtained in the net time slot before the dirty time slot, estimates the first correlation parameters of the first radio frequency signals of the known aircraft. Combines the first correlation parameters and the second correlation parameters to perform maximum likelihood estimation to obtain the distance and velocity of the known aircraft relative to the communication satellite. The dirty time slot is the time slot in which the number of aircraft belonging to the radio frequency signals identified from the access waveform of the single-antenna satellite receiver is greater than 1. The net time slot is the time slot in which the number of aircraft belonging to the radio frequency signals identified from the access waveform of the single-antenna satellite receiver is equal to 1. In this embodiment, under the scenario where the satellite receiver is a single-antenna type, since the net time slot only receives the second radio frequency signal from one aircraft, the acquisition of the second correlation parameters of the second radio frequency signal of that aircraft will not be affected by the radio frequency signals of other aircraft. However, since the dirty time slot receives the first radio frequency signals from multiple aircraft, the acquisition of the first correlation parameters of the first radio frequency signal of that aircraft will be affected by the radio frequency signals of other aircraft. Based on this, the communication satellite can obtain a more accurate second correlation parameter in the net time slot, and then use the second correlation parameter to estimate the correlation parameters of the first radio frequency signal of the aircraft in the dirty time slot, thereby obtaining a more accurate first correlation parameter. 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, a more accurate distance and speed of the aircraft relative to the communication satellite can be obtained based on the joint maximum likelihood estimation of the first and second correlation parameters. This embodiment uses the communication satellite to perform ranging and velocity measurement of the aircraft, eliminating the need for external radar or navigation systems. On the one hand, this does not increase the weight and power consumption of the aircraft; on the other hand, it effectively avoids electronic interference and improves the reliability of ranging and velocity measurement results; furthermore, it avoids the time delay in the process of the aircraft acquiring and reporting ranging and velocity measurement, thus meeting the real-time requirements in high-speed maneuvering scenarios.

[0068] Figure 3 This is a second schematic flowchart of the communication-inherent ranging and velocity measurement method provided in the embodiments of this application; see also... 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. The first correlation parameter includes a first estimated value. Estimated first correlation parameters of the first radio frequency signal of the known aircraft based on the second correlation parameters of the second radio frequency signal of the known aircraft obtained in the net time slot before the dirty time slot may include:

[0069] 301. In the net time slot, perform parameter estimation on the second radio frequency signal to obtain a second estimated value of the second radio frequency signal;

[0070] The second estimate includes the second amplitude estimate, the second time delay estimate, the second carrier frequency offset estimate, and the second carrier initial phase estimate;

[0071] 302. Based on the second estimate, demodulate, decode, and deframe the second radio frequency signal to obtain the time slot identifier in the service copy packet carried by the second radio frequency signal;

[0072] A time slot identifier is an identifier indicating the time slot location of all known service replica packets of an aircraft;

[0073] 303. Based on the time slot identifier, obtain the first time slot position of the dirty time slot and the second time slot position of the clean time slot.

[0074] 304. Based on the difference between the first time slot position and the second time slot position and the second estimated value, estimate the first estimated value of the first radio frequency signal of the known aircraft.

[0075] The first estimate includes the first amplitude estimate, the first time delay estimate, the first carrier frequency offset estimate, and the first carrier initial phase estimate.

[0076] In step 301, the aforementioned can be processed in the net time slot. The expression is used to perform parameter estimation, resulting in the second amplitude estimate, the second time delay estimate, the second carrier frequency offset estimate, and the second carrier initial phase estimate.

[0077] In steps 302 to 303, since the service copy packet of the net time slot encapsulates the identifier of the time slot location of all service copy packets of the known aircraft, the time slot location of the dirty time slot, i.e. the first time slot location, and the time slot location of the net time slot, i.e. the second time slot location, can be obtained accordingly.

[0078] In step 304, the difference between the first time slot position and the second time slot position can measure the deviation between the first estimate and the second estimate. Therefore, based on the second amplitude estimate, the second time delay estimate, the second carrier frequency offset estimate, and the second carrier initial phase estimate, the difference between the two time slot positions can be used to perform sliding processing to obtain the first estimate, namely the first amplitude estimate, the first time delay estimate, the first carrier frequency offset estimate, and the first carrier initial phase estimate.

[0079] This embodiment obtains a more accurate second estimate by estimating the parameters of the net timeslot radio frequency signal, and demodulates, decodes and deframes the radio frequency signal to obtain the timeslot identifier in the net timeslot service copy packet. This allows the timeslot positions of the net timeslot and the dirty timeslot to be obtained. Then, the difference between the two timeslot positions can be used to slide the second estimate to obtain a more accurate first estimate.

[0080] In one embodiment, performing maximum likelihood estimation by combining the first and second relevant parameters to obtain the known distance and velocity of the spacecraft relative to the communication satellite may include:

[0081] Based on the relationship between the first time delay estimate and the known distance of the spacecraft relative to the communication satellite, and the relationship between the second time delay estimate and the known distance and velocity of the spacecraft relative to the communication satellite, maximum likelihood estimation is performed to obtain the distance and velocity of the known spacecraft relative to the communication satellite.

[0082] Assumption respectively in the The first time slot and the first Two service replica packets were sent, one before and one after the other, within each time slot. The first service replica packet fell within the "net time slot". "and was successfully decrypted; the second business copy packet fell into the 'dirty time slot'." The single-antenna onboard receivers of these two time-slot communication satellites received... The radio frequency signals can be represented as follows:

[0083] ;

[0084] ;

[0085] in, This represents the pure thermal noise of the spaceborne receiver; This represents the sum of the pure thermal noise of the spaceborne receiver and interference from other aircraft. , , , These respectively represent the net time slots "middle Time-domain radio frequency signal The true values ​​of amplitude, time delay, carrier frequency offset, and carrier initial phase that arrive at the satellite receiver.

[0086] In the general assumption, within a time frame, the true values ​​of the correlation parameters of the same spacecraft radio frequency signal received by the spaceborne receiver in each time slot are approximately unchanged, with only the true value of the initial phase of the carrier differing, i.e.:

[0087] ;

[0088] Therefore, the parameter estimation results of the net time slot can be used instead of the parameter estimation results of the dirty time slot, using only the parameters of the net time slot. To estimate using training sequences .

[0089] However, in the scenario of communication between spacecraft and low-Earth orbit satellites, the above assumptions will have limitations. This is because both spacecraft and low-Earth orbit satellites are high-speed moving platforms, and the presence of Doppler can affect the arrival time between consecutive time slots. and Inconsistent. (Refer to...) Figure 4 aircraft There is no relative Doppler between the satellite and the communication satellite, therefore it represents The orange line representing the movement is parallel to the black line representing the movement of the communication satellite; the spacecraft There is a large relative Doppler effect between the satellite and the communication satellite, therefore representing The moving green line will not be parallel to the moving black line representing the communication satellite.

[0090] When there is no relative Doppler between the spacecraft and the communication satellite, the spacecraft The time delay is approximately constant within a time frame, that is... When there is a relative Doppler effect between the spacecraft and the communication satellite, the relative distance between them changes as the time slot increases, further affecting the spacecraft's... Delay in different time slots and Different. Let's assume... and They represent In the current time slot Given the speed and distance relative to the communication satellite, then:

[0091] (4-1)

[0092] (4-2)

[0093] in, At the speed of light, .

[0094] As can be seen from the above, when the first time delay estimate is obtained, that is... The estimated value, and the second time delay estimate, namely After obtaining the estimated value, a joint maximum likelihood estimation can be performed based on formulas (4-1) and (4-2) to obtain the result. and .

[0095] It should be noted that the above applies only to the case where relative Doppler exists but Doppler rate of change does not. When selecting 3 to 5 time slots to send service copy packets in each communication frame, even if Doppler rate of change exists, and It can also be solved.

[0096] This embodiment performs maximum likelihood estimation based on the relationship between the first time delay estimate and the known distance between the spacecraft and the communication satellite, and the relationship between the second time delay estimate and the known distance and velocity of the spacecraft relative to the communication satellite. This enables accurate measurement of the relative distance and velocity between the spacecraft and the communication satellite even when there is a relative Doppler effect.

[0097] In one embodiment, filtering out known aircraft from a plurality of aircraft to which a plurality of first radio frequency signals received in a dirty time slot belong may include:

[0098] Check if there is a target pattern in the known access patterns that matches the access pattern in the net time slot. If a target pattern exists, identify the aircraft corresponding to the target pattern as a known aircraft.

[0099] Assuming the dirty time slot is the first The first time slot, the previous net time slot was the [number]th time slot. In one time slot, only [number] were detected in the net time slot. Once the radio frequency signal is sent, which is equivalent to sending a service copy packet, the access pattern for the net timeslot is as follows: Does the dirty time slot query contain a known access pattern? If it exists, then The corresponding aircraft is identified as a known aircraft, that is, an aircraft that matches a single aircraft in the net time slot.

[0100] This embodiment is based on the matching of access patterns. It finds the aircraft that matches the net time slot in the dirty time slot, which is beneficial for the subsequent estimation of parameters of the dirty time slot using the parameter estimation results of the net time slot, and finally realizes the measurement of the distance and speed of the aircraft relative to the communication satellite.

[0101] Figure 5 This is the third flowchart illustrating the communication-inherent ranging and velocity measurement method provided in the embodiments of this application; see also... Figure 5 In one embodiment, after performing maximum likelihood estimation using both the first and second correlation parameters, the following may be included:

[0102] 501. Based on the first estimated value, the waveform of the first radio frequency signal of the known aircraft is reconstructed to obtain the reconstructed radio frequency signal;

[0103] 502. After deleting the reconstructed radio frequency signal, return to the step of filtering out the known aircraft from the multiple aircraft to which the multiple first radio frequency signals received in the dirty time slot belong when the current time slot is a dirty time slot.

[0104] In step 501, since the first radio frequency signal of the known aircraft is known to be interfered with by the first radio frequency signal of other aircraft in the dirty time slot, resulting in signal distortion, it is necessary to reconstruct the waveform of the first radio frequency signal of the known aircraft based on the aforementioned estimated first value, so that the reconstructed radio frequency signal is as close as possible to its original radio frequency signal.

[0105] In step 502, the aforementioned maximum likelihood estimation method can achieve high-precision ranging and velocities for a single aircraft in the scenario of a single aircraft accessing a communication satellite, with an accuracy reaching CRLB (Cramer-Rao Lower Bound), where the ranging accuracy is improved to the meter level. However, in the scenario of multiple aircraft accessing a communication satellite, it is also necessary to delete the reconstructed radio frequency signals of known aircraft in the dirty time slots to avoid interference with the ranging and velocities of other aircraft, thereby achieving high-precision ranging and velocities for multiple aircraft.

[0106] In this embodiment, by reconstructing the waveform of the radio frequency signal of the known aircraft in the dirty time slot and deleting the reconstructed radio frequency signal, and then performing ranging and velocity measurement on other aircraft according to the method of this 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 accuracy of multiple aircraft and increasing the throughput of the entire access process.

[0107] Reference Figure 6 In one embodiment, the algorithm flow of this application is described as follows:

[0108] 1. Initial stage:

[0109] (1) Start: The algorithm process begins;

[0110] (2) Access pattern generation: aircraft Generate a custom access pattern This provides a basis for subsequent signal processing;

[0111] (3) Radio frequency signal generation: aircraft Based on the generated access pattern Controlling generation radio frequency signals It is used for transmission within the corresponding time slot.

[0112] 2. Channel overlay and acquisition stage:

[0113] (1) Channel superposition: radio frequency signals The image is generated after superimposing Doppler and other aircraft influences into the wireless channel. ;

[0114] (2) Access waveform acquisition: The single-antenna satellite-borne receiver of the communication satellite acquires the access waveform. It acquires the signal information sent by the aircraft as the data basis for subsequent processing.

[0115] 3. Iterative initialization and control:

[0116] (1) Iterative initialization: Initialize the number of iterations This sets the initial state for subsequent iterative processing;

[0117] (2) Iteration count update: Each time the iteration process begins, the iteration count is incremented by 1, i.e. ;

[0118] (3) Maximum iteration judgment: Determine whether the preset maximum number of iterations has been reached. If it has been reached, proceed to the next time frame; if it has not been reached, continue subsequent processing.

[0119] 4. Signal Processing and Detection:

[0120] (1) Time-slot-by-time signal detection: The acquired access waveform is subjected to time-slot-by-time signal detection in order to identify the signal situation in each time slot;

[0121] (2) Maximum time slot determination: Determine whether the maximum time slot has been reached. If the condition is met, complete one iteration and perform the corresponding processing; if not, continue with the subsequent steps.

[0122] 5. Calculation of active aircraft count and branch processing:

[0123] (1) Calculation of active aircraft count: Calculate the number of active aircraft in the current time slot. ;

[0124] (2) Branch processing:

[0125] (2.1) For net time slots, first perform net time slot parameter estimation to obtain a second estimated value, and then perform demodulation, decoding, and deframing operations in sequence based on this to obtain the time slot identifier, and then obtain the corresponding time slot position based on this. Solve the access pattern and update it, and then proceed to the next time slot.

[0126] (2.2) For dirty time slots, first check the known access patterns to determine if a known aircraft exists in this dirty time slot. If not, proceed directly to the next time slot; if so, calculate the first estimated value and combine it with the second estimated value from the previous net time slot to perform maximum likelihood parameter estimation to obtain the distance and velocity, and reconstruct the waveform. Finally, perform serial interference removal to remove the reconstructed radio frequency signal, and then proceed to the next time slot.

[0127] (2.3) : Empty time slot, proceed directly to the next time slot.

[0128] 6. Looping and Termination:

[0129] After completing one round of iteration (reaching the maximum time slot or processing all cases), the system decides whether to enter the next time frame based on whether the maximum number of iterations has been reached, and continues the next round of iteration processing until the termination condition is met.

[0130] As can be seen from the above algorithm flow, the ranging and velocity measurement method of this application can calculate the phase distance and relative velocity of the aircraft in real time by the communication satellite when multiple aircraft are connected to the satellite, providing important support for subsequent accurate information transmission services. A hierarchical parameter estimation framework of single-aircraft optimal and multi-aircraft suboptimal is proposed. In the single-aircraft scenario, the Cramer-Rao lower bound optimal estimation is achieved by using dual time slot joint maximum likelihood estimation. In the multi-aircraft scenario, the contradiction between mutual interference of multiple aircraft and estimation accuracy is solved by serial interference removal. Neither the aircraft nor the communication satellite payload needs to be modified in any hardware. Only software upgrades are required to obtain high-precision ranging and velocity measurement functions, and the system upgrade pressure is small.

[0131] Reference Figure 7 In one embodiment, the communication satellite side includes an integrated processing unit for access ranging and velocity measurement, and the aircraft side includes a transmission unit.

[0132] The core processing flow on the communication satellite side includes:

[0133] 1. Time-slot-by-time signal detection: Time-slot-by-time waveform input for multiple aircraft Perform time-slot-by-time signal detection;

[0134] 2. Net Time Slot Judgment and Processing: Determine if the time slot is a net time slot. If it is a net time slot, perform net time slot parameter estimation, and then perform demodulation, decoding, and deframe operations in sequence; if it is a dirty time slot and there is a known aircraft in this dirty time slot, then proceed to range and velocity calculation and interference removal operations.

[0135] 3. Distance and velocity calculation and interference removal: This includes calculating the first estimate in sequence, combining the second estimate of the previous net time slots to perform maximum likelihood parameter estimation and obtain distance and velocity, waveform reconstruction, and finally iterative interference removal.

[0136] The core processing flow on the aircraft side includes:

[0137] 1. Business data input: Business data Upon entering the sending unit, it is temporarily stored in the service queue.

[0138] 2. MAC layer framing: Service data in the service queue enters the MAC layer for framing operations, organizing the data into a CRDSA frame structure;

[0139] 3. Encoding and Modulation: The framed service data undergoes encoding and modulation processing;

[0140] 4. Access Timing Control and Pattern Generation: Access patterns are generated through timing control. and determine Each time slot identifier, access pattern In conjunction with radio frequency gating, it controls the timing and method of transmitting radio frequency signals;

[0141] 5. Radio Frequency Processing: Generating radio frequency signals and with power It is output to the multi-vehicle access channel and superimposed with additive white Gaussian noise.

[0142] The communication-inherent ranging and velocity measuring device provided in the embodiments of this application is described below. The communication-inherent ranging and velocity measuring device described below can be referred to in correspondence with the communication-inherent ranging and velocity measuring method described above.

[0143] Figure 8 This is a schematic diagram of the communication-inherent ranging and velocity measuring device provided in an embodiment of this application. (Refer to...) Figure 8 This application provides a communication-inherent ranging and velocity measuring device, which may include:

[0144] The known aircraft screening module 801 is used to: when the current time slot is a dirty time slot, screen out known aircraft from multiple aircraft belonging to multiple first radio frequency signals received in the dirty time slot;

[0145] The dirty time slot parameter estimation module 802 is used to: estimate a first correlation parameter of the first radio frequency signal of the known spacecraft based on a second correlation parameter of the second radio frequency signal of the known spacecraft obtained in the net time slot before the dirty time slot; the first correlation parameter is related to the distance of the known spacecraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed of the known spacecraft relative to the communication satellite;

[0146] The endogenous ranging and velocity measurement module 803 is used to: perform maximum likelihood estimation by combining the first relevant parameters and the second relevant parameters to obtain the distance and velocity of the known spacecraft relative to the communication satellite;

[0147] The dirty time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is greater than 1, identified from the access waveform of the single-antenna satellite receiver. The net time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is equal to 1, identified from the access waveform of the single-antenna satellite receiver.

[0148] The communication-inherent ranging and velocity measuring device provided in this embodiment, when the current time slot is a dirty time slot, filters out known aircraft from multiple aircraft belonging to multiple first radio frequency signals received in the dirty time slot. Based on the second correlation parameters of the second radio frequency signals of the known aircraft obtained in the net time slot before the dirty time slot, it estimates the first correlation parameters of the first radio frequency signals of the known aircraft. It then performs maximum likelihood estimation by combining the first and second correlation parameters to obtain the distance and velocity of the known aircraft relative to the communication satellite. The dirty time slot is the time slot in which the number of aircraft belonging to the radio frequency signals identified from the access waveform of the single-antenna satellite receiver is greater than 1, and the net time slot is the time slot in which the number of aircraft belonging to the radio frequency signals identified from the access waveform of the single-antenna satellite receiver is equal to 1. In this embodiment, under the scenario where the satellite receiver is a single-antenna type, since the net time slot only receives the second radio frequency signal from one aircraft, the acquisition of the second correlation parameters of the second radio frequency signal of that aircraft will not be affected by the radio frequency signals of other aircraft. However, since the dirty time slot receives the first radio frequency signals from multiple aircraft, the acquisition of the first correlation parameters of the first radio frequency signal of that aircraft will be affected by the radio frequency signals of other aircraft. Based on this, the communication satellite can obtain a more accurate second correlation parameter in the net time slot, and then use the second correlation parameter to estimate the correlation parameters of the first radio frequency signal of the aircraft in the dirty time slot, thereby obtaining a more accurate first correlation parameter. 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, a more accurate distance and speed of the aircraft relative to the communication satellite can be obtained based on the joint maximum likelihood estimation of the first and second correlation parameters. This embodiment uses the communication satellite to perform ranging and velocity measurement of the aircraft, eliminating the need for external radar or navigation systems. On the one hand, this does not increase the weight and power consumption of the aircraft; on the other hand, it effectively avoids electronic interference and improves the reliability of ranging and velocity measurement results; furthermore, it avoids the time delay in the process of the aircraft acquiring and reporting ranging and velocity measurement, thus meeting the real-time requirements in high-speed maneuvering scenarios.

[0149] In one embodiment, a net time slot parameter acquisition module (not shown in the figure) is further included, for:

[0150] In the net 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;

[0151] Based on the second estimate, the second radio frequency signal is demodulated, decoded, and deframed to obtain the time slot identifier within the service replica packet carried by the second radio frequency signal; the time slot identifier is the identifier of the time slot position of all service replica packets of the known aircraft.

[0152] 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 obtained.

[0153] In one embodiment, the dirty time slot parameter estimation module 802 is specifically used for:

[0154] Based on the difference between the first time slot position and the second time slot position and the second estimated value, a first estimated value of the first radio frequency signal of the known aircraft is estimated; the first estimated value includes a first amplitude estimated value, a first time delay estimated value, a first carrier frequency offset estimated value, and a first carrier initial phase estimated value.

[0155] In one embodiment, the endogenous ranging and velocity measuring module 803 is specifically used for:

[0156] Based on the relationship between the first time delay estimate and the distance of the known spacecraft relative to the communication satellite, and the relationship between the second time delay estimate and the distance and speed of the known spacecraft relative to the communication satellite, maximum likelihood estimation is performed to obtain the distance and speed of the known spacecraft relative to the communication satellite.

[0157] In one embodiment, the known aircraft screening module 801 is specifically used for:

[0158] Query whether there exists a target pattern among the known access patterns that matches the access pattern in the net time slot;

[0159] When the target pattern exists, the aircraft corresponding to the target pattern is identified as a known aircraft.

[0160] In one embodiment, a waveform reconstruction and interference removal module (not shown in the figure) is further included for:

[0161] Based on the first estimated value, the waveform of the first radio frequency signal of the known aircraft is reconstructed to obtain the reconstructed radio frequency signal;

[0162] After deleting the reconstructed radio frequency signal, the process returns to the step of selecting a known aircraft from the multiple aircraft to which the multiple first radio frequency signals received in the dirty time slot belong when the current time slot is a dirty time slot.

[0163] Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application, such as... Figure 9As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other via the communication bus 940. The processor 910 can call a computer program in the memory 930 to execute the steps of the communication-inherent ranging and velocity measurement method, such as including:

[0164] When the current time slot is a dirty time slot, a known aircraft is selected from the multiple aircraft to which the multiple first radio frequency signals received in the dirty time slot belong;

[0165] Based on the second correlation parameters of the second radio frequency signal of the known spacecraft obtained in the net time slot prior to the dirty time slot, the first correlation parameters of the first radio frequency signal of the known spacecraft are estimated; the first correlation parameters are related to the distance of the known spacecraft relative to the communication satellite, and the second correlation parameters are related to the distance and speed of the known spacecraft relative to the communication satellite;

[0166] By combining the first and second relevant parameters, maximum likelihood estimation is performed to obtain the distance and velocity of the known spacecraft relative to the communication satellite;

[0167] The dirty time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is greater than 1, identified from the access waveform of the single-antenna satellite receiver. The net time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is equal to 1, identified from the access waveform of the single-antenna satellite receiver.

[0168] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0169] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the steps of the communication endogenous ranging and velocity measurement method provided in the above embodiments, such as including:

[0170] When the current time slot is a dirty time slot, a known aircraft is selected from the multiple aircraft to which the multiple first radio frequency signals received in the dirty time slot belong;

[0171] Based on the second correlation parameters of the second radio frequency signal of the known spacecraft obtained in the net time slot prior to the dirty time slot, the first correlation parameters of the first radio frequency signal of the known spacecraft are estimated; the first correlation parameters are related to the distance of the known spacecraft relative to the communication satellite, and the second correlation parameters are related to the distance and speed of the known spacecraft relative to the communication satellite;

[0172] By combining the first and second relevant parameters, maximum likelihood estimation is performed to obtain the distance and velocity of the known spacecraft relative to the communication satellite;

[0173] The dirty time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is greater than 1, identified from the access waveform of the single-antenna satellite receiver. The net time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is equal to 1, identified from the access waveform of the single-antenna satellite receiver.

[0174] On the other hand, embodiments of this application also provide a non-transitory computer-readable storage medium storing a computer program thereon, the computer program being used to cause a processor to execute the steps of the communication endogenous ranging and velocity measurement methods provided in the above embodiments, for example including:

[0175] When the current time slot is a dirty time slot, a known aircraft is selected from the multiple aircraft to which the multiple first radio frequency signals received in the dirty time slot belong;

[0176] Based on the second correlation parameters of the second radio frequency signal of the known spacecraft obtained in the net time slot prior to the dirty time slot, the first correlation parameters of the first radio frequency signal of the known spacecraft are estimated; the first correlation parameters are related to the distance of the known spacecraft relative to the communication satellite, and the second correlation parameters are related to the distance and speed of the known spacecraft relative to the communication satellite;

[0177] By combining the first and second relevant parameters, maximum likelihood estimation is performed to obtain the distance and velocity of the known spacecraft relative to the communication satellite;

[0178] The dirty time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is greater than 1, identified from the access waveform of the single-antenna satellite receiver. The net time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is equal to 1, identified from the access waveform of the single-antenna satellite receiver.

[0179] 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 magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0180] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0181] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0182] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A communication-inherent ranging and velocity measurement method, characterized in that, include: When the current time slot is a dirty time slot, a known aircraft is selected from the multiple aircraft to which the multiple first radio frequency signals received in the dirty time slot belong; Based on the second correlation parameters of the second radio frequency signal of the known aircraft obtained in the net time slot prior to the dirty time slot, the first correlation parameters of the first radio frequency signal of the known aircraft are estimated, including: The second related parameters include a second estimated value, a first time slot position, and a second time slot position. 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. The first related parameters include a first estimated value. Based on the difference between the first time slot position and the second time slot position and the second estimated value, a first estimated value of the first radio frequency signal of the known aircraft is estimated; the first estimated value includes a first amplitude estimated value, a first time delay estimated value, a first carrier frequency offset estimated value, and a first carrier initial phase estimated value; The first relevant parameter is related to the distance of the known spacecraft relative to the communication satellite, and the second relevant parameter is related to the distance and speed of the known spacecraft relative to the communication satellite. By combining the first and second relevant parameters, maximum likelihood estimation is performed to obtain the distance and velocity of the known spacecraft relative to the communication satellite; The dirty time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is greater than 1, identified from the access waveform of the single-antenna satellite receiver. The net time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is equal to 1, identified from the access waveform of the single-antenna satellite receiver.

2. The communication-inherent ranging and velocity measurement method according to claim 1, characterized in that, The second relevant parameter is obtained based on the following steps: In the net time slot, parameter estimation is performed on the second radio frequency signal to obtain a second estimated value of the second radio frequency signal; Based on the second estimate, the second radio frequency signal is demodulated, decoded, and deframed to obtain the time slot identifier within the service replica packet carried by the second radio frequency signal; the time slot identifier is the identifier of the time slot position of all service replica packets of the known aircraft. 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 obtained.

3. The communication-inherent ranging and velocity measurement method according to claim 1, characterized in that, The step of performing maximum likelihood estimation by combining the first and second relevant parameters to obtain the distance and velocity of the known spacecraft relative to the communication satellite includes: Based on the relationship between the first time delay estimate and the distance of the known spacecraft relative to the communication satellite, and the relationship between the second time delay estimate and the distance and speed of the known spacecraft relative to the communication satellite, maximum likelihood estimation is performed to obtain the distance and speed of the known spacecraft relative to the communication satellite.

4. The communication-inherent ranging and velocity measurement method according to claim 1, characterized in that, The process of selecting known aircraft from among the multiple aircraft to which the multiple first radio frequency signals received from the dirty time slot belong includes: Query whether there exists a target pattern among the known access patterns that matches the access pattern in the net time slot; When the target pattern exists, the aircraft corresponding to the target pattern is identified as a known aircraft.

5. The communication-inherent ranging and velocity measurement method according to claim 1, characterized in that, After performing maximum likelihood estimation by combining the first correlation parameter and the second correlation parameter, the process includes: Based on the first estimated value, the waveform of the first radio frequency signal of the known aircraft is reconstructed to obtain the reconstructed radio frequency signal; After deleting the reconstructed radio frequency signal, the process returns to the step of selecting a known aircraft from the multiple aircraft to which the multiple first radio frequency signals received in the dirty time slot belong when the current time slot is a dirty time slot.

6. A communication-inherent ranging and velocity measuring device, characterized in that, The method for performing the communication-inherent ranging and velocity measurement method of claim 1 includes: A known aircraft screening module is used to: when the current time slot is a dirty time slot, screen out known aircraft from multiple aircraft belonging to multiple first radio frequency signals received in the dirty time slot; The dirty time slot parameter estimation module is used to: estimate a first correlation parameter of the first radio frequency signal of the known spacecraft based on a second correlation parameter of the second radio frequency signal of the known spacecraft obtained in the net time slot before the dirty time slot; the first correlation parameter is related to the distance of the known spacecraft relative to the communication satellite, and the second correlation parameter is related to the distance and speed of the known spacecraft relative to the communication satellite; The endogenous ranging and velocity measurement module is used to: perform maximum likelihood estimation by combining the first relevant parameters and the second relevant parameters to obtain the distance and velocity of the known spacecraft relative to the communication satellite; The dirty time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is greater than 1, identified from the access waveform of the single-antenna satellite receiver. The net time slot is the time slot from which the number of aircraft to which the radio frequency signal belongs is equal to 1, identified from the access waveform of the single-antenna satellite receiver.

7. An electronic device comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the communication endogenous ranging and velocity measurement method according to any one of claims 1 to 5.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the communication endogenous ranging and velocity measurement method according to any one of claims 1 to 5.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the communication endogenous ranging and velocity measurement method according to any one of claims 1 to 5.

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