Signal tracking method and apparatus, electronic device, and storage medium

Abstract

Embodiments of the present application provide a signal tracking method and device, electronic equipment and storage medium, belonging to the technical field of satellite navigation. The method comprises: determining reference parameters of a first tracking channel according to a captured signal to be processed; synchronizing the reference parameters to a second tracking channel; controlling the first tracking channel and the second tracking channel to perform coherent integration and non-coherent accumulation based on the reference parameters respectively to obtain first accumulation results and second accumulation results; in the absence of valid accumulation results, updating a carrier loop and a code loop of a BPSK signal according to integration results of coherent integration of the first tracking channel respectively to obtain updated reference parameters, and returning to synchronize the reference parameters to the second tracking channel until, in the case of detecting the presence of valid accumulation results, generating a frame-synchronized message based on the valid accumulation results. The present application can meet the stable tracking requirements of BPSK and MCSK signals.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation technology, and more specifically to a signal tracking method, apparatus, electronic device, and storage medium. Background Technology

[0002] With the increasing application of high-precision satellite navigation and positioning in various fields, there is a growing demand for higher information broadcast rates for navigation signals. In traditional navigation signal modulation techniques, binary phase shift keying (BPSK) is the mainstream modulation method. It achieves signal transmission through pseudo-code spread spectrum, and the tracking process relies on a code delay-locked loop. Stable tracking can be achieved by reproducing the lead (E), immediate (P), and lag (L) signals and correlating them with the received signal. The technology is mature and has relatively low complexity.

[0003] To overcome the transmission rate limitations of traditional BPSK modulation, Code Shift Keying (CSK) modulation technology was proposed. CSK uses different initial phases of the same basic pseudocode sequence to represent different message symbols, leveraging the autocorrelation properties of the spreading code to achieve multi-valued transmission. This allows for flexible increases in information transmission rate through the phase dimension without altering the signal bandwidth or pseudocode structure. However, a core problem with CSK modulation lies in the random phase variation of adjacent pseudocode periods with the message symbols, resulting in a phase shift condition (S=2). U The possible phase states (U is the number of information bits) result in phase ambiguity in each pseudocode period, making it difficult for traditional tracking methods to adapt to its randomness, and significantly increasing the computational complexity of real-time tracking.

[0004] To balance high transmission rates and signal correlation characteristics, Multiplexed Code Shift Keying (MCSK) modulation technology was developed. MCSK uses time-division multiplexing of code periods to combine the BPSK code period for modulating low-speed messages with the CSK code period for modulating high-speed messages into a single signal. This retains the phase stability and easy tracking characteristics of BPSK signals while also possessing the high-speed transmission advantages of CSK signals, making it an important direction for high-speed navigation signal modulation.

[0005] However, existing technologies struggle to meet the stable tracking requirements of both BPSK and MCSK signals when processing composite signals such as MCSK. Summary of the Invention

[0006] The purpose of this application is to provide a signal tracking method, apparatus, electronic device, and storage medium to solve the problem that the prior art is difficult to reconcile with the stable tracking requirements of BPSK and MCSK signals when processing composite signals such as MCSK.

[0007] In a first aspect, embodiments of this application provide a signal tracking method, the method comprising:

[0008] Based on the captured signal to be processed, the reference parameters of the first tracking channel are determined. The signal to be processed is an MCSK composite signal. The reference parameters include at least one of the BPSK component carrier frequency control word and the BPSK component code frequency control word.

[0009] The reference parameters are synchronized to the second tracking channel. The first tracking channel is a shared channel for BPSK and CSK signals, and the second tracking channel is a dedicated channel for CSK signals.

[0010] The first tracking channel and the second tracking channel are controlled to perform coherent integration and incoherent accumulation based on the reference parameters, respectively, to obtain the first accumulation result of the first tracking channel and the second accumulation result of the second tracking channel;

[0011] Iterate through the first and second accumulated results, and filter out the valid accumulated results whose accumulated results are greater than the pre-acquired threshold;

[0012] In the absence of a valid accumulation result, the carrier loop and code loop of the BPSK signal in the first tracking channel are updated according to the integration result of the coherent integration of the first tracking channel to obtain the updated reference parameters. Then, the process returns to the step of synchronizing the reference parameters to the second tracking channel until a valid accumulation result is detected. Based on the valid accumulation result, a synchronization message to be framed is generated.

[0013] Optionally, a synchronization message to be generated based on the valid accumulation result includes:

[0014] Based on the channel type, the pseudocode cyclic shift number is calculated for the effective accumulation result;

[0015] The calculated pseudocode cyclic shift number is mapped to the corresponding message symbol to generate the synchronization message to be framed. The synchronization message to be framed consists of message symbols.

[0016] Optionally, depending on the channel type, a pseudocode cyclic shift calculation is performed on the valid accumulation result, including:

[0017] When the channel type is the first tracking channel, the pseudocode cyclic shift number is calculated on the effective accumulation result using the first formula.

[0018] The first formula is:

[0019] cskMaxCorrDem=M+i / itvl;

[0020] Where cskMaxCorrDem is the pseudocode cyclic shift number, M is the right shift number of the first tracking channel, i is the preset value of the current channel where the effective accumulation result is located, and itvl is the preset correlator interval of the first tracking channel.

[0021] Optionally, depending on the channel type, a pseudocode cyclic shift calculation is performed on the valid accumulation result, including:

[0022] When the channel type is the second tracking channel, the pseudocode cyclic shift number is calculated for the effective accumulation result using the second formula.

[0023] The second formula is:

[0024] cskMaxCorrDem=N*(cskchnum-1)+i+(64-M);

[0025] Where cskMaxCorrDem is the pseudocode cyclic shift number, N is the preset number of correlators on each channel, cskchnum is the number of second tracking channels, i is the preset value of the current channel where the valid accumulation result is located, and M is the right shift number of the first tracking channel.

[0026] Optionally, based on the captured signal to be processed, the reference parameters of the first tracking channel are determined, including:

[0027] When the reference parameters include the BPSK component code frequency control word, the BPSK component code frequency control word is calculated using the third formula, which is:

[0028]

[0029] in, Here, cdfreq is the preset reference code frequency, doppler is the carrier Doppler, which is determined based on the signal to be processed, rffreq is the preset reference carrier Doppler, itvl is the preset correlator interval of the first tracking channel, tefs is the preset sampling rate of the first tracking channel, and NCOFS is the reciprocal of the preset frequency control word register width.

[0030] Optionally, before determining the reference parameters of the first tracking channel based on the captured signal to be processed, the method further includes:

[0031] Configure the channel parameters for the first and second tracking channels. The channel parameters include coherent integration parameters, non-coherent accumulation parameters, fast Fourier transform parameters, number of correlators, and correlator interval.

[0032] Optionally, the reference parameters also include the sum of the sampling point read address and the offset of the first tracking channel.

[0033] Secondly, embodiments of this application provide a signal tracking device, the device comprising:

[0034] The determination module is used to determine the reference parameters of the first tracking channel based on the captured signal to be processed. The signal to be processed is an MCSK composite signal, and the reference parameters include at least one of the BPSK component carrier frequency control word and the BPSK component code frequency control word.

[0035] The synchronization module is used to synchronize the reference parameters to the second tracking channel. The first tracking channel is a shared channel for BPSK and CSK signals, and the second tracking channel is a dedicated channel for CSK signals.

[0036] The control module is used to control the first tracking channel and the second tracking channel to perform coherent integration and incoherent accumulation based on the reference parameters, respectively, to obtain the first accumulation result of the first tracking channel and the second accumulation result of the second tracking channel;

[0037] The filtering module is used to traverse the first and second accumulated results and filter out valid accumulated results whose accumulated results are greater than the pre-acquired threshold.

[0038] The update module is used to update the carrier loop and code loop of the BPSK signal in the first tracking channel according to the integration result of the coherent integration of the first tracking channel when no valid accumulation result exists, to obtain the updated reference parameters, and return to execute the step of synchronizing the reference parameters to the second tracking channel, until a valid accumulation result is detected, and generate the frame synchronization message based on the valid accumulation result.

[0039] Thirdly, embodiments of this application provide an electronic device, which includes: a processor and a memory storing computer program instructions;

[0040] When the processor executes computer program instructions, it implements a signal tracking method as described in any of the first aspects.

[0041] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the signal tracking method as described in any of the first aspects.

[0042] In the above technical solution, by designing a first tracking channel shared by BPSK and CSK and a second tracking channel dedicated to CSK, the advantage of BPSK component phase stability is effectively utilized. The reference parameters determined by the first tracking channel are synchronized to the second tracking channel, allowing CSK tracking to rely on the stable reference of BPSK, thus solving the tracking difficulty problem caused by the random changes in CSK phase with the message. Through coherent integration, incoherent accumulation, and effective result filtering, combined with a closed-loop mechanism that dynamically updates the carrier and code loop based on BPSK components and synchronizes parameters when no effective results are found, the real-time performance and stability of tracking are ensured. This application retains the easy tracking characteristics of BPSK while leveraging the high-speed transmission advantages of CSK. Without changing the signal bandwidth and pseudocode structure in the prior art, it reduces the computational complexity caused by CSK phase ambiguity, achieving compatible and stable tracking of BPSK and CSK in MCSK composite signals.

[0043] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0044] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0045] Figure 1 The illustration shows a schematic flowchart of a signal tracking method according to an embodiment of this application;

[0046] Figure 2 The schematic diagram illustrates a structural schematic of a signal tracking device according to an embodiment of this application;

[0047] Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0049] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0050] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0051] Figure 1 A schematic flowchart of a signal tracking method according to an embodiment of this application is shown. Figure 1 As shown in the figure, this application provides a signal tracking method, which includes:

[0052] Step 101: Determine the reference parameters of the first tracking channel based on the captured signal to be processed;

[0053] In this embodiment, the signal to be processed is an MCSK composite signal, comprising time-division multiplexed BPSK and CSK signal components. During the acquisition phase, after obtaining coarse carrier frequency, code phase, and other information of the signal through searching, the first tracking channel calculates reference parameters based on this. These reference parameters include at least one of the BPSK component carrier frequency control word and the BPSK component code frequency control word. In addition, the reference parameters also include the sum of the sampling point read address and the offset of the first tracking channel. It should be noted that the objective of this invention is to locally reproduce a reference signal synchronized with the signal to be processed. Specifically, using the BPSK component as a reference, a local reference signal adapted to both BPSK and CSK is reproduced through multi-channel collaborative reproduction, while maintaining dynamic synchronization through closed-loop updates, ultimately achieving compatible tracking and demodulation of the composite signal (i.e., the signal to be processed). The reference parameters are used to control the synchronization between the local reference signal and the MCSK composite signal of the signal to be processed.

[0054] The BPSK component carrier frequency control word controls the local carrier digitally controlled oscillator to generate a local carrier synchronized with the BPSK component carrier in the received signal to be processed, thereby canceling Doppler frequency offset and carrier phase deviation. The BPSK component code frequency control word controls the local pseudocode generator to generate a local pseudocode synchronized with the BPSK component pseudocode in the received signal to be processed, thereby canceling code rate deviation and code phase deviation. The sum of the sampling point read address and the offset is used to determine the sampling time of the received signal to be processed, ensuring that all channels process the received signal within the same time period. The sampling point read address specifies the starting address of the current processing sampling point, and the offset is used to fine-tune the sampling time.

[0055] Based on the above embodiments, as an optional embodiment, determining the reference parameters of the first tracking channel according to the captured signal to be processed includes:

[0056] When the reference parameters include the BPSK component code frequency control word, the BPSK component code frequency control word is calculated using the third formula, which is:

[0057]

[0058] in, Here, cdfreq is the preset reference code frequency, doppler is the carrier Doppler, which is determined based on the signal to be processed, rffreq is the preset reference carrier Doppler, itvl is the preset correlator interval of the first tracking channel, tefs is the preset sampling rate of the first tracking channel, and NCOFS is the reciprocal of the preset frequency control word register width.

[0059] Step 102: Synchronize the reference parameters to the second tracking channel. The first tracking channel is a shared channel for BPSK and CSK signals, and the second tracking channel is a dedicated channel for CSK signals.

[0060] The first tracking channel performs both BPSK tracking and partial CSK pseudo-code phase detection functions, while the second tracking channel is only used to detect other phase states of the CSK signal components. By synchronizing the determined reference parameters to the second tracking channel, the local signal generation references of both are kept consistent. This ensures that the local carrier and pseudo-code of the second tracking channel are of the same origin as those of the first tracking channel, avoiding phase deviations caused by parameter differences; and utilizes the stability of the BPSK components locked by the first tracking channel to counteract interference from random phase jumps in the CSK signal, solving the phase ambiguity problem during independent CSK tracking.

[0061] The number of first tracking channels can be one or more, and the number of second tracking channels can be one or more. As an example, the number of first tracking channels can be configured to be one, and the number of second tracking channels can be configured to be five.

[0062] It should be noted that, since this application uses the BPSK component in the first tracking channel as a reference and reproduces the local reference signal adapted to BPSK and CSK through multi-channel collaborative reproduction, when there are multiple first tracking channels, a target channel can be selected, and the reference parameters of the target channel can be synchronized to the second tracking channel. Specifically, the tracking results of multiple first tracking channels can be sorted by quality, and the channel with a signal-to-noise ratio higher than a preset threshold, a stable and locked loop, and the smallest phase jitter can be selected as the target channel. The reference parameters of the target channel can then be synchronized to the second tracking channel. The tracking result can be determined based on the signal to be processed or the reference parameters.

[0063] In another embodiment, when multiple first tracking channels exist, in addition to selecting the reference parameters of a single optimal channel to synchronize to the second tracking channel, a multi-channel parameter fusion synchronization method can also be used, the specific logic of which is as follows:

[0064] First, the baseline parameters of all first tracking channels are validated for consistency, and channel parameters that are in a stable locked state (i.e., no loop loss and acceptable signal-to-noise ratio) are selected as valid samples. Then, weights are assigned to each channel based on its tracking quality metrics (such as signal-to-noise ratio and phase jitter), with channels having higher signal-to-noise ratios and lower jitter receiving greater weights. Finally, the fused baseline parameters are calculated using a weighted average, and the fusion result is synchronized to the second tracking channel.

[0065] This method reduces the impact of random errors or transient interference in a single channel by coordinating the optimization of multi-channel data, thereby improving the robustness of the reference parameters. It is particularly suitable for scenarios with complex signal environments, retaining the advantages of multi-channel redundancy while avoiding the risks that may arise from selecting a single channel.

[0066] Step 103: Control the first tracking channel and the second tracking channel to perform coherent integration and incoherent accumulation based on the reference parameters, respectively, to obtain the first accumulation result of the first tracking channel and the second accumulation result of the second tracking channel;

[0067] In this embodiment, the first tracking channel can be controlled to perform coherent integration based on reference parameters to obtain the coherent integration result of the first tracking channel. Then, incoherent accumulation is performed based on the coherent integration result to obtain the first accumulation result. The second tracking channel is similarly controlled. First, the second tracking channel is controlled to perform coherent integration based on reference parameters to obtain the coherent integration result of the second tracking channel. Then, incoherent accumulation is performed based on the coherent integration result to obtain the second accumulation result.

[0068] Step 104: Iterate through the first and second accumulated results and filter out valid accumulated results whose accumulated results are greater than the pre-acquired threshold;

[0069] In this embodiment, the amplitude of the accumulation result of the incoherent accumulation can reflect the degree of synchronization between the received signal to be processed and the local reference signal. The higher the amplitude, the better the phase matching between the two.

[0070] Filtering valid accumulation results is used to identify valid signals and eliminate noise interference. Specifically, the accumulation results of both channels are iterated. When the amplitude of a result is greater than a threshold, it is determined to be a valid accumulation result, indicating that the phase of the local signal corresponding to the result matches the phase of the received signal, i.e., a valid signal has been captured. If the result is less than the threshold, it is determined to be noise-dominated and will not participate in subsequent processing. This ensures that subsequent message processing is based solely on valid signals, avoiding misjudgments caused by noise. The pre-acquired threshold is set based on the noise power of the captured signal to be processed; in one example, it can be set to 3-5 times the noise variance.

[0071] Step 105: In the absence of a valid accumulation result, based on the integration result of the coherent integration of the first tracking channel, update the carrier loop and code loop of the BPSK signal in the first tracking channel respectively to obtain the updated reference parameters, and return to execute the step of synchronizing the reference parameters to the second tracking channel until a valid accumulation result is detected, and generate the frame synchronization message based on the valid accumulation result.

[0072] In this embodiment, if no valid results are found, it indicates that there is a synchronization deviation between the local reference signal and the signal to be processed, such as carrier frequency offset or code phase offset. In this case, the BPSK component I / Q value obtained by coherent integration of the first tracking channel is used to adjust the carrier loop and the code loop through the phase detector to generate updated reference parameters.

[0073] The updated reference parameters are resynchronized to the second tracking channel. Steps 103 to 104 are repeated for integration, accumulation and filtering until a valid accumulation result is obtained. This process continuously optimizes the synchronization accuracy through the stability of the BPSK components and solves the tracking instability problem caused by the random phase of CSK.

[0074] When a valid accumulation result is detected, the corresponding message symbols are solved by mapping the pseudocode cyclic shift bit to form a continuous sequence of symbols, i.e. the message to be synchronized for frames, which provides raw data for subsequent frame synchronization and information parsing.

[0075] In this embodiment, by designing a first tracking channel shared by BPSK and CSK and a second tracking channel dedicated to CSK, the advantage of BPSK component phase stability is effectively utilized. The reference parameters determined by the first tracking channel are synchronized to the second tracking channel, allowing CSK tracking to rely on the stable reference of BPSK, thus solving the tracking difficulty problem caused by the random changes in CSK phase with the message. Through coherent integration, incoherent accumulation, and effective result filtering, combined with a closed-loop mechanism that dynamically updates the carrier and code loop based on BPSK components and synchronizes parameters when no effective results are found, the real-time performance and stability of tracking are ensured. This application retains the easy tracking characteristics of BPSK while leveraging the high-speed transmission advantages of CSK. Without changing the signal bandwidth and pseudocode structure in the prior art, it reduces the computational complexity caused by CSK phase ambiguity, achieving compatible and stable tracking of BPSK and CSK in MCSK composite signals.

[0076] Based on the above embodiments, as an optional embodiment, generating the synchronization message to be framed based on the effective accumulation result includes:

[0077] Based on the channel type, the pseudocode cyclic shift number is calculated for the effective accumulation result;

[0078] The calculated pseudocode cyclic shift number is mapped to the corresponding message symbol to generate the synchronization message to be framed. The synchronization message to be framed consists of message symbols.

[0079] In this embodiment, when the effective accumulation result comes from the first tracking channel, this channel tracks both the BPSK component and detects part of the CSK phase state. Its calculation requires combining the channel's preset right shift bits and the correlator index where the effective peak is located. The pseudocode cyclic shift bits are calculated using the first formula to reflect the anchoring effect of the BPSK reference on the CSK phase. The first formula is:

[0080] cskMaxCorrDem=M+i / itvl;

[0081] Where cskMaxCorrDem is the pseudocode cyclic shift number, M is the right shift number of the first tracking channel, i is the preset value of the current channel where the effective accumulation result is located, and itvl is the preset correlator interval of the first tracking channel.

[0082] When the valid accumulation result comes from the second tracking channel, this channel focuses on detecting the phase state of the remaining CSK channels, calculating the channel number to be correlated, the number of correlators for each channel, and the effective peak index. The phase offset between channels is eliminated using the second formula, ensuring a unified benchmark for phase calculation across different CSK-specific channels. The second formula is:

[0083] cskMaxCorrDem=N*(cskchnum-1)+i+(64-M);

[0084] Where cskMaxCorrDem is the pseudocode cyclic shift number, N is the preset number of correlators on each channel, cskchnum is the number of second tracking channels, i is the preset value of the current channel where the valid accumulation result is located, and M is the right shift number of the first tracking channel.

[0085] The pseudocode cyclic shift is essentially a symbol identifier transmitted by the CSK signal through different initial phases. Its correspondence with message symbols is predefined by the communication protocol; for example, shift 0 corresponds to symbol "0", shift 1 corresponds to symbol "1", shift 2 corresponds to symbol "10", and so on. The specific mapping rule varies with the number of bits U in the CSK modulation. By consulting a predefined mapping table, the calculated shift is directly converted into binary or multi-level message symbols.

[0086] The message symbols obtained from continuous mapping are concatenated in the order of reception time to form a sequence of symbols without frame structure identifiers (such as "01101001..."), which is the message to be synchronized. This message contains complete original symbol information, but the frame header, check bits, and other structures are not yet determined. The frame structure can be aligned later using a frame synchronization algorithm to finally complete the information parsing.

[0087] In this embodiment, by calculating the pseudocode cyclic shift number differently according to channel type, the functional differences between shared and dedicated channels are adapted, ensuring the accuracy of CSK signal phase encoding and parsing, and resolving the problem of conflicting solution rules for different components in composite signals. By converting the shift number into message symbols and forming the synchronization message to be framed through preset mapping rules, efficient conversion from physical layer phase features to data layer symbols is achieved, providing a reliable original symbol sequence for subsequent frame synchronization and information extraction, and improving the stability of MCSK signal parsing.

[0088] Based on the above embodiments, as an optional embodiment, before determining the reference parameters of the first tracking channel according to the captured signal to be processed, the method further includes:

[0089] Configure the channel parameters for the first and second tracking channels. The channel parameters include coherent integration parameters, non-coherent accumulation parameters, fast Fourier transform parameters, number of correlators, and correlator interval.

[0090] In this embodiment, to ensure that the signal tracking method adapts to the signal characteristics, before performing the step of determining the reference parameters of the first tracking channel based on the captured signal to be processed, the channel parameters of the first tracking channel and the second tracking channel need to be configured first.

[0091] Coherent integration parameters refer to the duration or number of sampling points for coherent integration of the signal by the channel, determining the degree of signal energy accumulation. Incoherent accumulation parameters are the number of times the coherent integration results are incoherently accumulated, used to further improve signal detection gain. Fast Fourier Transform (FFT) parameters include the number of FFT points and transform frequency resolution, used for frequency shift search of the carrier Doppler within the channel to determine the carrier Doppler. The number of correlators refers to the number of parallel correlators within the channel, determining the resolution of code phase search and tracking. Correlator interval refers to the code phase or time interval between adjacent correlators.

[0092] The channel parameters for each channel can be set to the same parameters or different parameters; this embodiment does not impose any restrictions on this.

[0093] In this embodiment, by pre-configuring parameters such as coherent integration and non-coherent accumulation of the first and second tracking channels, it is possible to adapt to different signal scenarios and channel function differences.

[0094] Figure 2 A schematic diagram of a signal tracking device according to another embodiment of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0095] Reference Figure 2 The signal tracking device 200 may include:

[0096] The determining module 201 is used to determine the reference parameters of the first tracking channel based on the captured signal to be processed. The signal to be processed is an MCSK composite signal, and the reference parameters include at least one of the BPSK component carrier frequency control word and the BPSK component code frequency control word.

[0097] Synchronization module 202 is used to synchronize the reference parameters to the second tracking channel. The first tracking channel is a shared channel for BPSK and CSK signals, and the second tracking channel is a dedicated channel for CSK signals.

[0098] Control module 203 is used to control the first tracking channel and the second tracking channel to perform coherent integration and incoherent accumulation based on the reference parameters, respectively, to obtain the first accumulation result of the first tracking channel and the second accumulation result of the second tracking channel;

[0099] The filtering module 204 is used to traverse the first and second accumulated results and filter out valid accumulated results whose accumulated results are greater than the pre-acquired threshold.

[0100] The update module 205 is used to update the carrier loop and code loop of the BPSK signal in the first tracking channel according to the integration result of the coherent integration of the first tracking channel when no valid accumulation result exists, to obtain the updated reference parameters, and return to execute the step of synchronizing the reference parameters to the second tracking channel, until a valid accumulation result is detected, and generate the frame synchronization message based on the valid accumulation result.

[0101] Optionally, update module 205 also includes:

[0102] The calculation submodule is used to perform pseudocode cyclic shift calculation on the valid accumulation results according to the channel type;

[0103] The generation submodule is used to map the calculated pseudocode cyclic shift number to the corresponding message symbol to generate the synchronization message to be framed. The synchronization message to be framed consists of message symbols.

[0104] Optionally, the computation submodule is specifically used for:

[0105] When the channel type is the first tracking channel, the pseudocode cyclic shift number is calculated on the effective accumulation result using the first formula.

[0106] The first formula is:

[0107] cskMaxCorrDem=M+i / itvl;

[0108] Where cskMaxCorrDem is the pseudocode cyclic shift number, M is the right shift number of the first tracking channel, i is the preset value of the current channel where the effective accumulation result is located, and itvl is the preset correlator interval of the first tracking channel.

[0109] Optionally, the computation submodule is specifically used for:

[0110] When the channel type is the second tracking channel, the pseudocode cyclic shift number is calculated for the effective accumulation result using the second formula.

[0111] The second formula is:

[0112] cskMaxCorrDem=N*(cskchnum-1)+i+(64-M);

[0113] Where cskMaxCorrDem is the pseudocode cyclic shift number, N is the preset number of correlators on each channel, cskchnum is the number of second tracking channels, i is the preset value of the current channel where the valid accumulation result is located, and M is the right shift number of the first tracking channel.

[0114] Optionally, module 201 is specifically used for:

[0115] When the reference parameters include the BPSK component code frequency control word, the BPSK component code frequency control word is calculated using the third formula, which is:

[0116]

[0117] in, Here, cdfreq is the preset reference code frequency, doppler is the carrier Doppler, which is determined based on the signal to be processed, rffreq is the preset reference carrier Doppler, itvl is the preset correlator interval of the first tracking channel, tefs is the preset sampling rate of the first tracking channel, and NCOFS is the reciprocal of the preset frequency control word register width.

[0118] Optionally, the signal tracking device 200 is specifically used for:

[0119] Configure the channel parameters for the first and second tracking channels. The channel parameters include coherent integration parameters, non-coherent accumulation parameters, fast Fourier transform parameters, number of correlators, and correlator interval.

[0120] Optionally, the reference parameters also include the sum of the sampling point read address and the offset of the first tracking channel.

[0121] Figure 3 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0122] The device may include a processor 301 and a memory 302 storing program instructions.

[0123] When processor 301 executes the program, it implements the steps in any of the above method embodiments.

[0124] For example, the program can be divided into one or more modules / units, one or more of which are stored in memory 302 and executed by processor 301 to complete this application. The one or more modules / units can be a series of program instruction segments capable of performing a specific function, which describe the execution process of the program in the device.

[0125] Specifically, the processor 301 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0126] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 302 is non-volatile solid-state memory.

[0127] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0128] The processor 301 implements any of the methods described in the above embodiments by reading and executing program instructions stored in the memory 302.

[0129] In one example, the electronic device may also include a communication interface 303 and a bus 310. The processor 301, memory 302, and communication interface 303 are connected via the bus 310 and communicate with each other.

[0130] The communication interface 303 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0131] Bus 310 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 310 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0132] Furthermore, in conjunction with the methods in the above embodiments, this application embodiment can provide a storage medium for implementation. This storage medium stores program instructions; when these program instructions are executed by a processor, they implement any of the methods in the above embodiments.

[0133] This application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0134] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0135] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above method embodiments and achieve the same technical effects. To avoid repetition, it will not be described again here.

[0136] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0137] The functional modules shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on machine-readable media or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer grids such as the Internet, intranets, etc.

[0138] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0139] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to create a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0140] The above are merely specific embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A signal tracking method, characterized by, The method comprises: determining reference parameters of a first tracking channel according to a captured to-be-processed signal, the to-be-processed signal being an MCSK composite signal, the reference parameters comprising at least one of a BPSK component carrier frequency control word and a BPSK component code frequency control word; synchronizing the reference parameters to a second tracking channel, the first tracking channel being a common channel of BPSK signals and CSK signals, and the second tracking channel being a dedicated channel of CSK signals; controlling the first tracking channel and the second tracking channel to respectively perform coherent integration and non-coherent accumulation based on the reference parameters, to obtain a first accumulation result of the first tracking channel and a second accumulation result of the second tracking channel; traversing the first accumulation result and the second accumulation result to filter out valid accumulation results whose accumulation results are greater than a pre-acquired threshold value; in the absence of the valid accumulation results, updating a carrier loop and a code loop of the BPSK signals in the first tracking channel according to an integration result of the coherent integration of the first tracking channel, to obtain updated reference parameters, and returning to perform the step of synchronizing the reference parameters to the second tracking channel, until in the case where the valid accumulation results are detected, generating a to-be-frame-synchronized text based on the valid accumulation results.

2. The signal tracking method of claim 1, wherein, generating a to-be-frame-synchronized text based on the valid accumulation results comprises: performing pseudo-code cyclic shift number calculation on the valid accumulation result according to a channel type; mapping the calculated pseudo-code cyclic shift number to a corresponding text symbol to generate a to-be-frame-synchronized text, the to-be-frame-synchronized text being composed of the text symbol.

3. The signal tracking method of claim 2, wherein, the pseudo-code cyclic shift number calculation on the valid accumulation result according to the channel type comprises: in the case where the channel type is the first tracking channel, performing pseudo-code cyclic shift number calculation on the valid accumulation result by using a first formula; the first formula is: cskMaxCorrDem=M+i / itvl; wherein cskMaxCorrDem is the pseudo-code cyclic shift number, M is a right shift number of the first tracking channel, i is a preset value of a current channel in which the valid accumulation result is located, and itvl is a preset correlator interval of the first tracking channel.

4. The signal tracking method of claim 2, wherein, the pseudo-code cyclic shift number calculation on the valid accumulation result according to the channel type comprises: in the case where the channel type is the second tracking channel, performing pseudo-code cyclic shift number calculation on the valid accumulation result by using a second formula; the second formula is: cskMaxCorrDem=N*(cskchnum-1)+i+(64-M); wherein cskMaxCorrDem is the pseudo-code cyclic shift number, N is a preset number of correlators on each channel, cskchnum is the number of the second tracking channels, i is a preset value of a current channel in which the valid accumulation result is located, and M is a right shift number of the first tracking channel.

5. The signal tracking method of claim 1, wherein, the determination of the reference parameters of the first tracking channel according to the captured to-be-processed signal comprises: In a case that the reference parameter comprises the BPSK component code frequency control word, the BPSK component code frequency control word is calculated by a third formula, the third formula being: wherein, is a BPSK component code frequency control word, cdfreq is a preset reference code frequency, doppler is a carrier Doppler, which is determined based on the signal to be processed, rffreq is a preset reference carrier Doppler, itvl is a preset correlator interval of a first tracking channel, tefs is a preset sampling rate of the first tracking channel, and NCOFS is a preset inverse of a frequency control word register width.

6. The signal tracking method of claim 1, wherein, Before the determining the reference parameter of the first tracking channel according to the captured to-be-processed signal, the method further comprises: configuring channel parameters of the first tracking channel and the second tracking channel, the channel parameters comprising coherent integration parameters, non-coherent accumulation parameters, fast Fourier transform parameters, correlator quantity and correlator interval.

7. The signal tracking method of claim 1, wherein, The reference parameter further comprises a sum of a sampling point reading address and a bias of the first tracking channel.

8. A signal tracking device, characterized by The apparatus comprises: a determining module configured to determine a reference parameter of a first tracking channel according to a captured to-be-processed signal, the to-be-processed signal being an MCSK composite signal, the reference parameter comprising at least one of a BPSK component carrier frequency control word and a BPSK component code frequency control word; a synchronizing module configured to synchronize the reference parameter to a second tracking channel, the first tracking channel being a common channel of BPSK signals and CSK signals, and the second tracking channel being a dedicated channel of CSK signals; a controlling module configured to control the first tracking channel and the second tracking channel to perform coherent integration and non-coherent accumulation based on the reference parameter respectively, to obtain a first accumulation result of the first tracking channel and a second accumulation result of the second tracking channel; a screening module configured to traverse the first accumulation result and the second accumulation result, and screen out valid accumulation results whose accumulation results are greater than a pre-acquired threshold value; an updating module configured to, in a case that there is no valid accumulation result, update a carrier loop and a code loop of the BPSK signals in the first tracking channel respectively according to an integration result of coherent integration of the first tracking channel, to obtain an updated reference parameter, and return to perform the step of synchronizing the reference parameter to the second tracking channel until, in a case that the valid accumulation result is detected, generating a to-be-frame-synchronized text based on the valid accumulation result.

9. An electronic device, comprising: The electronic device comprises a processor and a memory having computer program instructions stored therein; The processor, when executing the computer program instructions, implements the signal tracking method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium has computer program instructions stored thereon, and the computer program instructions, when executed by a processor, implement the signal tracking method according to any one of claims 1-7.

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