Method and apparatus for tracking measurement and control signals with adaptive loop parameters

Abstract

This application provides a method and apparatus for tracking measurement and control signals with adaptive loop parameters, belonging to the field of measurement and control technology. The method includes: acquiring the tracking state parameters of the carrier loop, code loop, and bit loop respectively within the current tracking period; determining the bandwidth adjustment direction and rate of the carrier loop based on the tracking state parameters of the carrier loop and the bit loop; determining the carrier loop bandwidth for the next tracking period based on the bandwidth adjustment direction and rate; determining the code loop bandwidth for the next tracking period based on the tracking state parameters of the code loop; and determining the bit loop bandwidth for the next tracking period based on the tracking state parameters of the bit loop, thereby achieving joint tracking of the input measurement and control signal by the carrier loop, code loop, and bit loop. This application can achieve high-precision and robust tracking of measurement and control signals in high-dynamic, low-signal-to-noise ratio environments.

Description

Technical Field

[0001] This application belongs to the field of measurement and control technology, and more specifically, it relates to a method and device for tracking measurement and control signals with adaptive loop parameters. Background Technology

[0002] In satellite telemetry, tracking, and command (TT&C) systems, TT&C signals are the core carrier for reliable information exchange between the onboard TT&C transponder and the ground station. The ground TT&C station receives TT&C signals transmitted by the onboard transponder, and in real time captures, locks onto, and tracks the carrier wave, pseudocode, and bit synchronization information of the TT&C signals. This corrects deviations during TT&C signal transmission, ensuring stable reception and demodulation of the TT&C signals.

[0003] During telemetry and control signal tracking, the carrier loop, code loop, and bit synchronization loop (bit loop) must work together. The carrier loop is responsible for locking the signal carrier frequency and phase to correct the Doppler frequency shift caused by the high-speed motion of the satellite; the code loop is responsible for capturing and tracking the pseudo-random code phase to realize satellite distance measurement; and the bit loop is responsible for restoring the signal bit synchronization clock to ensure correct demodulation of telemetry data.

[0004] How to better achieve joint tracking of the carrier loop, code loop and bit loop in order to realize high-precision and robust tracking of measurement and control signals in high dynamic and low signal-to-noise ratio environments is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The purpose of this application is to provide a method and apparatus for tracking measurement and control signals with adaptive loop parameters, so as to solve the problem of low tracking accuracy of existing measurement and control signals and realize high-precision and robust tracking of measurement and control signals in high dynamic and low signal-to-noise ratio environments.

[0006] A first aspect of this application provides a method for tracking measurement and control signals with adaptive loop parameters, comprising:

[0007] Obtain the tracking status parameters of the carrier loop, code loop, and bit loop within the current tracking period;

[0008] The bandwidth adjustment direction and bandwidth adjustment rate of the carrier ring are determined based on the tracking state parameters of the carrier ring and the tracking state parameters of the bit ring.

[0009] The carrier loop bandwidth for the next tracking cycle is determined based on the bandwidth adjustment direction and the bandwidth adjustment rate.

[0010] The code ring bandwidth for the next tracking period is determined based on the tracking state parameters of the code ring, and the bit ring bandwidth for the next tracking period is determined based on the tracking state parameters of the bit ring.

[0011] The carrier loop bandwidth is used as the carrier loop control parameter for the next tracking period, the code loop bandwidth is used as the code loop control parameter for the next tracking period, and the bit loop bandwidth is used as the bit loop control parameter for the next tracking period, so as to realize the joint tracking of the input measurement and control signal by the carrier loop, the code loop and the bit loop.

[0012] A second aspect of this application provides a loop parameter adaptive measurement and control signal tracking device, comprising:

[0013] The parameter acquisition module is used to acquire the tracking status parameters of the carrier ring, code ring, and bit ring respectively within the current tracking period;

[0014] The first calculation module is used to determine the bandwidth adjustment direction of the carrier ring and the bandwidth adjustment rate of the carrier ring based on the tracking state parameters of the carrier ring and the tracking state parameters of the bit ring.

[0015] The second calculation module is used to determine the carrier ring bandwidth of the next tracking period based on the bandwidth adjustment direction and the bandwidth adjustment rate;

[0016] The third calculation module is used to determine the code ring bandwidth of the next tracking period based on the tracking state parameters of the code ring, and to determine the bit ring bandwidth of the next tracking period based on the tracking state parameters of the bit ring.

[0017] The joint tracking module is used to use the carrier loop bandwidth as the carrier loop control parameter for the next tracking period, the code loop bandwidth as the code loop control parameter for the next tracking period, and the bit loop bandwidth as the bit loop control parameter for the next tracking period, so as to realize the joint tracking of the input measurement and control signal by the carrier loop, the code loop, and the bit loop.

[0018] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the above-described loop parameter adaptive measurement and control signal tracking method.

[0019] In a fourth aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described loop parameter adaptive measurement and control signal tracking method.

[0020] The beneficial effects of the loop parameter adaptive measurement and control signal tracking method and device provided in this application are as follows:

[0021] In this embodiment, considering the existing three-loop joint tracking process of measurement and control signals, the tracking control of each loop mainly adjusts the bandwidth of the loop in real time by evaluating the relationship between the estimated value of the thermal noise frequency error and the dynamic stress frequency error of the loop. However, the influence of other loops on the loop is ignored, resulting in a lack of coordination between loops, reduced tracking accuracy, insufficient dynamic adaptability, and poor loop stability. In fact, in high dynamic and strong interference environments, problems such as loss of lock, missynchronization, and tracking interruption are prone to occur.

[0022] Therefore, this embodiment considers the influence of the bit loop's tracking state parameters on the carrier loop during the carrier loop tracking control process. Based on the carrier loop's tracking state parameters and the bit loop's tracking state parameters, it determines the carrier loop's bandwidth adjustment direction and rate. Then, based on the carrier loop's bandwidth adjustment direction and rate, it adaptively adjusts the carrier loop bandwidth. Through this method, coordinated operation between loops can be achieved, improving the loop's dynamic adaptability and effectively preventing lock-up phenomena, thereby improving the accuracy and robustness of the measurement and control signal tracking. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a block diagram illustrating the principle of three-ring joint tracking in existing technology;

[0025] Figure 2 A schematic flowchart of a loop parameter adaptive measurement and control signal tracking method provided in an embodiment of this application;

[0026] Figure 3 A schematic diagram of a loop parameter adaptive measurement and control signal tracking method provided in an embodiment of this application;

[0027] Figure 4 Bit synchronization error for bandwidth adjustment direction provided in one embodiment of this application A diagram illustrating the membership functions;

[0028] Figure 5 This is a schematic diagram of the first membership function provided in an embodiment of this application;

[0029] Figure 6 This is a schematic diagram of a second membership function provided in an embodiment of this application;

[0030] Figure 7 Provided for an embodiment of this application Membership function diagram;

[0031] Figure 8 This is a schematic diagram of fuzzy inference control rules provided in an embodiment of this application;

[0032] Figure 9 This is a schematic diagram illustrating the output results of fuzzy logic under different input conditions, provided in an embodiment of this application.

[0033] Figure 10 This is a structural block diagram of a loop parameter adaptive measurement and control signal tracking device provided in an embodiment of this application;

[0034] Figure 11 This is a schematic block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0035] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0036] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the following description will be provided in conjunction with the accompanying drawings and specific embodiments.

[0038] Please refer to Figure 1 , Figure 1 This is a block diagram illustrating the principle of three-loop joint tracking in existing technology. The carrier loop, by identifying the estimated carrier frequency error, adjusts the local carrier frequency in real time to achieve carrier synchronization of the measurement and control signals, providing a coherent demodulation reference for subsequent code loops and bit loops. The code loop tracks the pseudo-code phase to perform pseudo-code despreading, ensuring code phase alignment and improving the signal-to-noise ratio. The bit loop extracts bit synchronization from the demodulated data to determine the optimal sampling time, achieving data symbol synchronization. The coordinated closed-loop adjustment of these three loops jointly suppresses noise, dynamic stress, and inter-loop cross-interference, achieving tracking and synchronization of the measurement and control signals.

[0039] Specifically, in Figure 1In this process, the measurement and control signal (input signal) is first input to the quadrature demodulation stage of the carrier loop. After passing through quadrature demodulation, despreading, bit recovery, and integral clearing in sequence, the integral clearing result passes through a frequency discriminator, a carrier loop filter, and a carrier loop NCO (Numerical Controlled Oscillator). The output signal of the carrier loop NCO is fed back to the quadrature demodulation stage. Simultaneously, the integral clearing result is used as the input signal to the code phase discriminator of the code loop. The output signal of the code phase discriminator passes through a code loop filter and a regenerated pseudo-code generator in sequence. The output signal of the regenerated pseudo-code generator is fed back to the despreading stage of the carrier loop. The output signal of the despreading stage is then input to the quadrature demodulation stage of the bit loop. After passing through quadrature demodulation, matched filtering, an early-late gate integrator, a bit synchronization error discriminator, a bit synchronization filter, and a bit synchronization DCO (Digitally Controlled Oscillator), the output signal of the bit synchronization DCO is fed back to the bit recovery stage of the carrier loop. The output signal of the despreading stage of the carrier loop is then passed through a bit integrator and used as the tracking result (output signal) of the measurement and control signal.

[0040] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating a loop parameter adaptive measurement and control signal tracking method according to an embodiment of this application. The loop parameter adaptive measurement and control signal tracking method provided in this embodiment can be executed by an electronic device, and the method may include:

[0041] S101: Obtain the tracking status parameters of the carrier ring, code ring, and bit ring respectively within the current tracking period.

[0042] In this embodiment, joint tracking control of the carrier loop, code loop, and bit loop can be performed according to a preset tracking period (e.g., 1ms). Within the current tracking period, the tracking status parameters of each of the carrier loop, code loop, and bit loop can be acquired to perceive the current synchronization accuracy, tracking stability, and degree of noise influence of each loop in real time, providing a data basis for subsequent loop control. Specifically, the tracking status parameters of the carrier loop can include the carrier frequency estimate output by the carrier loop NCO, the integration clearing result output by the integration clearing stage, and the frequency error discrimination result output by the frequency discriminator; the tracking status parameters of the bit loop can include the bit synchronization error output by the bit synchronization error discriminator; and the tracking status parameters of the code loop can include the code phase error discrimination result output by the code phase discriminator.

[0043] S102: Determine the direction of the carrier ring bandwidth adjustment and the rate of the carrier ring bandwidth adjustment based on the tracking status parameters of the carrier ring and the tracking status parameters of the bit ring.

[0044] In this embodiment, considering the existing three-loop joint tracking process of measurement and control signals, the tracking control of each loop is mainly achieved by evaluating the relationship between the estimated value of the thermal noise frequency error and the dynamic stress frequency error of the loop, and adjusting the bandwidth of the loop in real time to balance accuracy and dynamic adaptability, while ignoring the influence of other loops on the loop.

[0045] For example, in the three-loop joint tracking process of measurement and control signals, the carrier loop, code loop, and bit loop are usually locked in sequence. When the carrier loop is locked first, the error generated by the bit synchronization loop that has not yet been locked will cause the estimated signal-to-noise ratio after integration to decrease, resulting in an abnormally large thermal noise error estimate. If the carrier loop bandwidth is blindly reduced at this time according to the traditional adjustment method, the dynamic adaptability of the loop will decrease, or even cause loss of lock.

[0046] To address the aforementioned issues, this embodiment considers the influence of the bit loop's tracking state parameters on the carrier loop during the carrier loop's tracking control process. Based on the carrier loop's tracking state parameters and the bit loop's tracking state parameters, the carrier loop's bandwidth adjustment direction and bandwidth adjustment rate are determined.

[0047] For example, determining the bandwidth adjustment direction of the carrier ring based on the tracking state parameters of the carrier ring and the tracking state parameters of the bit ring includes:

[0048] Obtain historical carrier frequency estimates, which include carrier frequency estimates from multiple tracking periods prior to the current tracking period;

[0049] The carrier frequency error estimate is determined based on the carrier frequency estimate of the current tracking period and the historical carrier frequency estimate.

[0050] The estimated value of thermal noise frequency error is determined based on the integral clearing results;

[0051] The direction of the carrier loop bandwidth adjustment is determined based on the estimated carrier frequency error, the estimated thermal noise frequency error, and the bit synchronization error.

[0052] In this embodiment, please refer to Figure 3 , Figure 3 This is a block diagram illustrating the principle of a loop parameter adaptive measurement and control signal tracking method provided in one embodiment of this application. The block diagram of an existing three-loop joint tracking method (…) Figure 1 Based on the previous embodiment, this embodiment adds a bandwidth adjustment direction fuzzy logic control unit. The estimated carrier frequency output by the carrier loop NCO, the integration clearing result output by the integration clearing stage, and the bit synchronization error output by the bit synchronization error discriminator are input into the bandwidth adjustment direction fuzzy logic control unit. The bandwidth adjustment direction fuzzy logic control unit outputs the bandwidth adjustment direction of the carrier loop.

[0053] The calculation process of the bandwidth adjustment direction fuzzy logic control unit includes: taking the current tracking period as the kth tracking period as an example, the (local) carrier frequency estimate for the kth tracking period can be obtained by using a two-difference method based on the second-order dynamic model of the carrier. Processing is performed to estimate the carrier frequency error variance. The carrier frequency error variance As a carrier frequency error estimate The specific calculation formula is as follows:

[0054] ;

[0055] in, This represents the normalization coefficient, and N represents the N tracking cycles preceding the current tracking cycle. This represents the estimated carrier frequency value in the nth tracking period preceding the current tracking period. This represents the estimated carrier frequency for the (n+m)th tracking period preceding the current tracking period.

[0056] The derivation of the above formula is as follows:

[0057] Carrier frequency error Based on the second-order dynamic model of carrier We can obtain,

[0058] ;

[0059] in, This represents the actual value of the carrier frequency. This represents the rate of change of carrier frequency caused by dynamic stress.

[0060] After the first difference processing, the [effect] can be eliminated. Variables:

[0061] ;

[0062] After a second difference processing step, it can be eliminated Zhongyu The relevant variables yielded the following:

[0063] ;

[0064] in, This represents the average carrier frequency after removing dynamic components;

[0065] Furthermore, since carrier frequency error includes frequency error caused by dynamic stress... Frequency error caused by thermal noise , that is:

[0066] ;

[0067] Therefore, we get The variance is:

[0068] ;

[0069] in, express The variance of , E[] represents the expected value, and These are the variances of the frequency errors caused by dynamic stress and thermal noise, respectively.

[0070] ;

[0071] in, This represents the frequency error caused by dynamic stress in the (k+1)th tracking cycle. This represents the frequency error caused by dynamic stress during the (k+1)th (n)th tracking cycle. This represents the frequency error caused by dynamic stress during the (k+1) to (Nn)th tracking cycles. This represents the frequency error caused by thermal noise in the (k+1)th tracking cycle. This represents the frequency error caused by thermal noise during the (k+1)th tracking cycle. This represents the frequency error caused by thermal noise during the (k+1) to (Nn)th tracking cycles;

[0072] This represents the variance introduced by thermal noise in the difference result after performing a second-order difference operation on the carrier frequency error. This represents the variance of the original carrier frequency error in the received signal introduced only by thermal noise, characterizing the frequency error noise level before differential processing. Because second-order differential operations alter the statistical characteristics and amplitude of the noise, it cannot be used directly. By performing loop decision and applying the normalization process described above, the differential noise variance can be restored to the equivalent noise variance in the original frequency error domain. This ensures that the dynamic stress frequency error and the thermal noise frequency error are compared under the same dimensions and statistical domain, thereby improving the accuracy and reliability of carrier loop state determination.

[0073] Furthermore, the carrier frequency error estimate can be defined:

[0074] ;

[0075] Make In the formula:

[0076] .

[0077] Furthermore, the real-time estimated signal-to-noise ratio can be utilized. Calculate the variance of thermal noise frequency error As an estimate of the thermal noise frequency error, the specific calculation formula is as follows:

[0078] ;

[0079] Where F is the thermal noise figure, which takes a value of 2 when the input carrier-to-noise ratio is close to the receiver carrier-to-noise ratio threshold, and a value of 1 when the input carrier-to-noise ratio is high; B n The loop bandwidth is set for the signal receiver; after integration and clearing, the signal-to-noise ratio (SNR) is estimated using the second-order moment-fourth-order moment (M2M4) algorithm based on the signal envelope. The specific calculation formula is as follows:

[0080] ;

[0081] in, Represents the second moment of the signal. The fourth moment of the signal, The number of tracking cycles used in signal-to-noise ratio estimation. Indicates the first The integral clearing results for each tracking period.

[0082] Furthermore, the direction of carrier loop bandwidth adjustment can be determined based on the estimated carrier frequency error, the estimated thermal noise frequency error, and the bit synchronization error. The specific process includes:

[0083] If the estimated carrier frequency error is less than or equal to the estimated thermal noise frequency error, the estimated thermal noise frequency error is less than or equal to the preset first error threshold, and the bit synchronization error is less than or equal to the preset second error threshold, then the direction of the carrier ring bandwidth adjustment is determined to be to reduce the bandwidth.

[0084] If the estimated carrier frequency error is greater than the estimated thermal noise frequency error, or the estimated thermal noise frequency error is greater than the preset first error threshold, or the bit synchronization error is greater than the preset second error threshold, then the direction of the carrier ring bandwidth adjustment is determined to be increasing the bandwidth.

[0085] In this embodiment, a first error threshold can be preset (e.g. The first error threshold is set based on the following: when the estimated thermal noise frequency error is greater than 1 / 4 of the discriminator's linear pull range, it indicates that the thermal noise frequency error is too large. According to common knowledge in the field, the discriminator's linear range = ±1 / (2T), where T represents the integration clearing cycle, i.e., the tracking cycle. To be safer, more conservative, and to avoid cycle skipping, it is divided by 3 as a margin, resulting in the first error threshold. .

[0086] Based on this, if and only if the following conditions are met (i.e., the loop is stable and thermal noise is dominant.) (That is, the frequency error is within 1 / 4 of the linear pull range of the frequency discriminator) and the bit synchronization error When the bit synchronization error is within a very small range and has little impact on carrier tracking, the bandwidth adjustment direction is determined to be decreasing to improve tracking accuracy. The range determined by the second error threshold, that is, the range between less than 0 and the second error threshold.

[0087] In all other scenarios except those mentioned above, the bandwidth adjustment direction is determined to be an increase, and the principle is as follows:

[0088] like This indicates that the carrier frequency error exceeds the maximum random error range that can be caused solely by thermal noise, and there is a frequency error caused by dynamic stress (such as Doppler frequency offset caused by acceleration and velocity changes). The bandwidth needs to be increased to enhance dynamic adaptability.

[0089] If the estimated thermal noise frequency error is greater than the preset first error threshold, it indicates that the thermal noise frequency error is too large and there is a risk of loss of lock-on. It is necessary to increase the bandwidth for capture compensation.

[0090] If bit synchronization error To prevent carrier loop loss due to bit synchronization errors, the carrier bandwidth is forcibly increased to improve robustness.

[0091] For example, it can be combined , and The specific value is determined, and the above judgment logic is used as fuzzy logic to determine the direction of bandwidth adjustment. Specifically, when determining the membership range of the synchronization error, the bit synchronization error output by the bit synchronization error discriminator can be used. As input, according to such Figure 4 The membership function (function curve) shown determines its membership range (negative large NL, negative small NS, zero ZE, positive small PS, positive large PL).

[0092] For example, determining the bandwidth adjustment rate of the carrier ring based on the tracking state parameters of the carrier ring and the tracking state parameters of the bit ring includes:

[0093] The first membership range corresponding to the frequency error identification result is determined based on the preset first membership function;

[0094] The second membership range of the bit synchronization error is determined based on the preset second membership function;

[0095] Based on the first and second membership ranges, and using fuzzy reasoning methods, the fuzzy logic output results are obtained;

[0096] The bandwidth adjustment rate of the carrier loop is determined based on the fuzzy logic output.

[0097] In this embodiment, the principle block diagram of the existing three-ring joint tracking is as follows ( Figure 1 Based on the above, this embodiment also adds a bandwidth adjustment rate fuzzy logic control unit. The frequency error discrimination result and the bit synchronization error output by the bit synchronization error discriminator are input into the bandwidth adjustment rate fuzzy logic control unit to obtain the bandwidth adjustment rate of the carrier ring.

[0098] Specifically, the bandwidth adjustment rate fuzzy logic control unit determines the bandwidth adjustment rate through dual-input-single-output fuzzy logic. Specifically, it can first determine the first membership range corresponding to the frequency error identification result based on a preset first membership function, and then determine the second membership range of the bit synchronization error based on a preset second membership function. Both the first and second membership functions are in the form of function curves, with the universe of discourse as the horizontal axis and the corresponding membership degree as the vertical axis. The specific form of the first membership function is as follows: Figure 5 As shown, the specific form of the second membership function is as follows: Figure 6 As shown, the second membership function is divided into three ranges: negative large (NL), zero (ZE), and positive large (PL).

[0099] Secondly, using the frequency error membership range (first membership range) and the bit synchronization error membership range (second membership range) as inputs, the Mamdani Fuzzy Inference Method is employed to determine the fuzzy logic output. And calculate the bandwidth adjustment rate.

[0100] For example, the bandwidth adjustment rate of the carrier loop is calculated using the following formula:

[0101] ;

[0102] in, Indicates the bandwidth adjustment rate. This represents the output result of fuzzy logic. Represents the natural constant.

[0103] in The corresponding output membership functions are divided into zero (ZE), small positive (PS), medium positive (PM), and large positive (PL), such as... Figure 7 As shown. The control rules for fuzzy inference are as follows: Figure 8 As shown, the fuzzy logic output under different input conditions like Figure 9 As shown.

[0104] The above formula can achieve the following:

[0105] (1) Carrier state feedback: when the frequency error identification result A large value indicates a significant deviation between the local carrier frequency and the input signal, suggesting that the carrier loop is not yet stable. In this case, the value needs to be increased. L m To accelerate bandwidth adjustment, allowing the local frequency to quickly adapt to the input signal; conversely, if If it is smaller, then it should be reduced. L m To maintain tracking accuracy.

[0106] (2) Bit loop interference compensation: When bit synchronization error When the value is large, instability in the bit loop may induce carrier loop loss of lock. In this case, increasing... L m This can improve the sensitivity of bandwidth adjustment and enhance the dynamic adaptability of the loop; when the position loop tends to stabilize ( When it is relatively small, reduce L m To prevent loss of lock due to drastic parameter changes.

[0107] In the above formula, to better align with the idea that frequency changes rapidly when the loop is not tracking stably and slowly when tracking is stable, this embodiment transforms the bandwidth adjustment rate range into an exponential function of e. Based on practical engineering experience, to prevent loss of lock caused by excessively rapid loop bandwidth adjustment, the adjustment multiple of the loop bandwidth should be controlled within the range of 1 ± 122‰ between adjacent tracking cycles to ensure a smooth bandwidth transition and stable loop tracking. Therefore... The universe of discourse ranges from [0,3], and the coefficient is 6.05, such that... .

[0108] S103: Determine the carrier loop bandwidth for the next tracking cycle based on the bandwidth adjustment direction and bandwidth adjustment rate. The specific process includes:

[0109] Obtain the carrier ring bandwidth for the current tracking period;

[0110] If the bandwidth adjustment direction is to increase bandwidth, the bandwidth adjustment factor is calculated using the following formula:

[0111] ;

[0112] If the bandwidth adjustment direction is to reduce bandwidth, the bandwidth adjustment factor is calculated using the following formula:

[0113] ;

[0114] in,

[0115] ;

[0116] in, Indicates the bandwidth adjustment factor. Indicates the points clearing cycle. This represents the estimated carrier frequency error. This represents the estimated carrier frequency. This represents the estimated carrier frequency value in the nth tracking period prior to the current tracking period. Indicates the average carrier frequency. This represents the difference between the estimated carrier frequency and the mean carrier frequency. This represents the N tracking periods preceding the current tracking period. Describes the minimum value function;

[0117] The carrier ring bandwidth for the next tracking period is determined based on the bandwidth adjustment factor and the carrier ring bandwidth of the current tracking period; wherein the carrier ring bandwidth of the next tracking period is positively correlated with the bandwidth adjustment factor.

[0118] In this embodiment, during electronic device initialization, an initial value (e.g., 50Hz) of the carrier ring bandwidth for the current tracking period can be set based on experience. Then, the bandwidth adjustment factor for the current tracking period is determined according to the bandwidth adjustment direction and bandwidth adjustment rate. Based on the bandwidth adjustment factor and the carrier ring bandwidth of the current tracking period, the carrier ring bandwidth for the next tracking period is determined. This process is repeated to calculate the carrier ring bandwidth for each tracking period.

[0119] For example, determining the bandwidth adjustment factor for the current tracking period based on the bandwidth adjustment direction and bandwidth adjustment rate of the current tracking period includes:

[0120] If the bandwidth adjustment direction is to increase bandwidth, the bandwidth adjustment factor is calculated using the following formula:

[0121] ;

[0122] If the bandwidth adjustment direction is to reduce bandwidth, the bandwidth adjustment factor is calculated using the following formula:

[0123] ;

[0124] in,

[0125] ;

[0126] in, Indicates the bandwidth adjustment factor. Indicates the points clearing cycle. This represents the estimated carrier frequency error. This represents the estimated carrier frequency. Indicates the average carrier frequency. This represents the difference between the estimated carrier frequency and the mean carrier frequency. This represents the N tracking periods preceding the current tracking period. Describes the minimum value function;

[0127] In the above formula for calculating the bandwidth adjustment factor, "1" indicates that the bandwidth is adjusted based on the original bandwidth (i.e., the carrier ring bandwidth of the current tracking period). This achieves limiting and adaptive adjustment of the carrier rate of change. The formula consists of two parts: T and T is the integration clearing period (i.e., the tracking period), which is a preset constant. It indicates that the bandwidth adjustment rate is related to the tracking period. A larger tracking period results in greater changes in the received signal frequency, requiring a larger bandwidth adjustment rate. In this item, Determined by current and historical tracking parameters of the loop, it reflects the rate of change of the local frequency, and thus the loop tracking status. During unstable tracking, the local frequency changes rapidly. A larger value increases the bandwidth adjustment rate to adapt to the received signal frequency more quickly, while also applying a minimum value function. right Amplitude limiting is applied to prevent loop parameter instability or even loop lockout due to drastic bandwidth changes; during stable tracking, the local frequency changes slowly. Smaller values ​​reduce the bandwidth adjustment rate, making the loop parameters more stable and improving tracking accuracy.

[0128] For example, determining the carrier ring bandwidth for the next tracking period based on the bandwidth adjustment factor and the carrier ring bandwidth of the current tracking period includes:

[0129] If the bandwidth adjustment factor is less than the preset first threshold, the preset minimum carrier ring bandwidth will be determined as the carrier ring bandwidth for the next tracking period.

[0130] If the bandwidth adjustment factor is greater than the preset second threshold, the preset maximum carrier ring bandwidth will be determined as the carrier ring bandwidth for the next tracking period.

[0131] If the bandwidth adjustment factor is between the first threshold and the second threshold (inclusive), the bandwidth adjustment factor is multiplied by the carrier ring bandwidth of the current tracking period to obtain the carrier ring bandwidth of the next tracking period.

[0132] In this embodiment, to prevent carrier loop bandwidth divergence, it can be limited by setting a maximum bandwidth. B max and minimum loop bandwidthB min Using the bandwidth adjustment factor obtained in the above steps, the carrier loop bandwidth for the next tracking period can be determined according to the following formula. B k+1 :

[0133] ;

[0134] in, Indicates the first threshold. This represents the second threshold. B k For the carrier ring bandwidth of the current tracking period, B k+1 The carrier loop control parameters are set for the next tracking cycle to perform a new tracking cycle. This process is repeated to ensure that the carrier loop bandwidth can always be dynamically optimized in real time based on the current signal environment.

[0135] S104: Determine the code ring bandwidth for the next tracking period based on the tracking state parameters of the code ring, and determine the bit ring bandwidth for the next tracking period based on the tracking state parameters of the bit ring.

[0136] In this embodiment, based on carrier loop tracking control, parallel joint tracking of the code loop and bit loop can be performed simultaneously. The code loop tracking control can be implemented using the existing Delay-Locked Loop (DLL) tracking method. Specifically, using the baseband signal after carrier stripping from the carrier loop as input, the code phase error signal is obtained through lead, lag, and instantaneous correlation operations. After loop filtering, the local pseudo-code phase is adjusted, and finally, the local pseudo-random code and code phase estimate are output, achieving stable tracking of the pseudo-code and providing a reliable code phase reference for bit loop synchronization and signal demodulation. The bit loop tracking control can be implemented using the existing Costas Loop or bit synchronization phase-locked loop tracking method. Specifically, using the baseband demodulated signal after code loop phase synchronization as input, the signal undergoes bit synchronization error extraction and loop filtering to obtain the bit synchronization error signal. This error signal is used to adjust the local bit synchronization clock, and finally, the bit synchronization clock signal and bit synchronization phase estimate are output, completing accurate bit synchronization tracking and providing a reliable timing reference for subsequent data demodulation.

[0137] This embodiment optimizes the adaptive adjustment strategy of the carrier ring bandwidth by interacting with the state information between the carrier ring and the bit ring, thereby improving the stability and dynamic adaptability of carrier tracking. The improved carrier ring tracking performance can provide a more accurate and stable carrier reference for the code ring and the bit ring, reduce the interference of carrier error on code ring pseudocode tracking and bit ring bit synchronization extraction, effectively suppress the transmission and accumulation of error among the three rings, and finally realize the coordinated work of the carrier ring, code ring and bit ring, improving the accuracy, stability and robustness of the joint tracking of the three rings of measurement and control signals.

[0138] S105: The carrier loop bandwidth is used as the carrier loop control parameter for the next tracking cycle, the code loop bandwidth is used as the code loop control parameter for the next tracking cycle, and the bit loop bandwidth is used as the bit loop control parameter for the next tracking cycle, so as to realize the joint tracking of the input measurement and control signal by the carrier loop, code loop and bit loop.

[0139] In this embodiment, the carrier loop bandwidth, code loop bandwidth, and bit loop bandwidth calculated in the current tracking period are used as the control parameters of the corresponding loops in the next tracking period, which can realize joint tracking of the carrier loop, code loop, and bit loop, thereby maintaining high robustness locking and high precision synchronization of the signal under complex conditions.

[0140] As can be seen from the above, in the existing three-loop joint tracking process of measurement and control signals, the tracking control of each loop mainly adjusts the bandwidth of the loop in real time by evaluating the relationship between the estimated value of the thermal noise frequency error and the dynamic stress frequency error of the loop. The influence of other loops on the loop is ignored, resulting in a lack of coordination between loops, reduced tracking accuracy, insufficient dynamic adaptability, and poor loop stability. In fact, in high dynamic and strong interference environments, problems such as loss of lock, missynchronization and tracking interruption are likely to occur.

[0141] Therefore, this embodiment considers the influence of the tracking state parameters of the bit loop on the carrier loop during the carrier loop tracking control process. Based on the tracking state parameters of both the carrier loop and the bit loop, it determines the direction and rate of carrier loop bandwidth adjustment. Then, based on these adjustment directions and rates, it adaptively adjusts the carrier loop bandwidth. When the bit loop or carrier loop is subjected to environmental interference, it can promptly and quickly increase the carrier loop bandwidth, improving the loop's dynamic adaptability and effectively preventing loss of lock-up. This, in turn, enhances the accuracy and robustness of the adaptive measurement and control signal tracking.

[0142] Based on the same inventive concept, this application also provides a loop parameter adaptive measurement and control signal tracking device for implementing the loop parameter adaptive measurement and control signal tracking method described above. The solution provided by this device is similar to the implementation described in the above method. Therefore, the specific limitations in one or more loop parameter adaptive measurement and control signal tracking device embodiments provided below can be found in the limitations of the loop parameter adaptive measurement and control signal tracking method described above, and will not be repeated here.

[0143] This application provides a loop parameter adaptive measurement and control signal tracking device, such as... Figure 10 As shown, the loop parameter adaptive measurement and control signal tracking device 20 includes: parameter acquisition module 21, first calculation module 22, second calculation module 23, third calculation module 24 and joint tracking module 25.

[0144] Among them, the parameter acquisition module 21 is used to acquire the tracking status parameters of the carrier ring, code ring and bit ring respectively in the current tracking period;

[0145] The first calculation module 22 is used to determine the bandwidth adjustment direction and the bandwidth adjustment rate of the carrier ring based on the tracking state parameters of the carrier ring and the tracking state parameters of the bit ring.

[0146] The second calculation module 23 is used to determine the carrier ring bandwidth of the next tracking cycle based on the bandwidth adjustment direction and bandwidth adjustment rate;

[0147] The third calculation module 24 is used to determine the code ring bandwidth of the next tracking period based on the tracking state parameters of the code ring, and to determine the bit ring bandwidth of the next tracking period based on the tracking state parameters of the bit ring.

[0148] The joint tracking module 25 is used to use the carrier loop bandwidth as the carrier loop control parameter for the next tracking period, the code loop bandwidth as the code loop control parameter for the next tracking period, and the bit loop bandwidth as the bit loop control parameter for the next tracking period, so as to realize the joint tracking of the input measurement and control signal by the carrier loop, code loop and bit loop.

[0149] In one embodiment of this application, the tracking state parameters of the carrier loop include a carrier frequency estimate and an integration clearing result, and the tracking state parameters of the bit loop include a bit synchronization error; the first calculation module 22 is specifically used for:

[0150] Obtain historical carrier frequency estimates, which include carrier frequency estimates from multiple tracking periods prior to the current tracking period;

[0151] The carrier frequency error estimate is determined based on the carrier frequency estimate of the current tracking period and the historical carrier frequency estimate.

[0152] The estimated value of thermal noise frequency error is determined based on the integral clearing results;

[0153] The direction of the carrier loop bandwidth adjustment is determined based on the estimated carrier frequency error, the estimated thermal noise frequency error, and the bit synchronization error.

[0154] In one embodiment of this application, the first calculation module 22 is further configured to:

[0155] If the estimated carrier frequency error is less than or equal to the estimated thermal noise frequency error, the estimated thermal noise frequency error is less than or equal to the preset first error threshold, and the bit synchronization error is less than or equal to the preset second error threshold, then the direction of the carrier ring bandwidth adjustment is determined to be to reduce the bandwidth.

[0156] If the estimated carrier frequency error is greater than the estimated thermal noise frequency error, or the estimated thermal noise frequency error is greater than the preset first error threshold, or the bit synchronization error is greater than the preset second error threshold, then the direction of the carrier ring bandwidth adjustment is determined to be increasing the bandwidth.

[0157] In one embodiment of this application, the tracking state parameters of the carrier loop include the frequency error discrimination result, and the tracking state parameters of the bit loop include the bit synchronization error; the first calculation module 22 is specifically used for:

[0158] The first membership range corresponding to the frequency error identification result is determined based on the preset first membership function;

[0159] The second membership range of the bit synchronization error is determined based on the preset second membership function;

[0160] Based on the first and second membership ranges, and using fuzzy reasoning methods, the fuzzy logic output results are obtained;

[0161] The bandwidth adjustment rate of the carrier loop is determined based on the fuzzy logic output.

[0162] In one embodiment of this application, the first calculation module 22 is further configured to:

[0163] The bandwidth adjustment rate of the carrier loop is calculated using the following formula:

[0164] ;

[0165] in, Indicates the bandwidth adjustment rate. This represents the output result of fuzzy logic. Represents the natural constant.

[0166] In one embodiment of this application, the second calculation module 22 is specifically used for:

[0167] Obtain the carrier ring bandwidth for the current tracking period;

[0168] If the bandwidth adjustment direction is to increase bandwidth, the bandwidth adjustment factor is calculated using the following formula:

[0169] ;

[0170] If the bandwidth adjustment direction is to reduce bandwidth, the bandwidth adjustment factor is calculated using the following formula:

[0171] ;

[0172] in,

[0173] ;

[0174] in, Indicates the bandwidth adjustment factor. Indicates the points clearing cycle. This represents the estimated carrier frequency error. This represents the estimated carrier frequency. This represents the estimated carrier frequency value in the nth tracking period prior to the current tracking period. Indicates the average carrier frequency. This represents the difference between the estimated carrier frequency and the mean carrier frequency. This represents the N tracking periods preceding the current tracking period. Describes the minimum value function;

[0175] The carrier ring bandwidth for the next tracking period is determined based on the bandwidth adjustment factor and the carrier ring bandwidth of the current tracking period; wherein the carrier ring bandwidth of the next tracking period is positively correlated with the bandwidth adjustment factor.

[0176] In one embodiment of this application, the second calculation module 22 is specifically used for:

[0177] If the bandwidth adjustment factor is less than the preset first threshold, the preset minimum carrier ring bandwidth will be determined as the carrier ring bandwidth for the next tracking period.

[0178] If the bandwidth adjustment factor is greater than the preset second threshold, the preset maximum carrier ring bandwidth will be determined as the carrier ring bandwidth for the next tracking period.

[0179] If the bandwidth adjustment factor is between the first threshold and the second threshold, the bandwidth adjustment factor is multiplied by the carrier ring bandwidth of the current tracking period to obtain the carrier ring bandwidth of the next tracking period.

[0180] See Figure 11 , Figure 11 This is a schematic block diagram of an electronic device provided according to an embodiment of this application. Figure 11The electronic device 300 in this embodiment may include one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memories 304 store computer programs, including program instructions. The processors 301 execute the program instructions stored in the memories 304. Specifically, the processors 301 are configured to invoke the program instructions to perform the functions of each module / unit in the above-described device embodiments, for example... Figure 10 The functions of the parameter acquisition module 21, the first calculation module 22, the second calculation module 23, the third calculation module 24, and the joint tracking module 25 are shown.

[0181] It should be understood that, in the embodiments of this application, the processor 301 may be a central processing unit (CPU), but it may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0182] Input device 302 may include a touchpad, a fingerprint sensor (for collecting the user's fingerprint information and fingerprint orientation information), a microphone, etc., and output device 303 may include a display (LCD, etc.), a speaker, etc.

[0183] The memory 304 may include read-only memory and random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include non-volatile random access memory. For example, the memory 304 may also store preset constants such as a first error threshold and a second error threshold.

[0184] In specific implementations, the processor 301, input device 302, and output device 303 described in the embodiments of this application can execute the implementation method described in the loop parameter adaptive measurement and control signal tracking method provided in the embodiments of this application, or they can execute the implementation method of the electronic device described in the embodiments of this application, which will not be repeated here.

[0185] In another embodiment of this application, a computer-readable storage medium is provided. This computer-readable storage medium stores a computer program, which includes program instructions. When executed by a processor, the program instructions implement all or part of the processes in the methods described above. Alternatively, the computer program can instruct related hardware to implement these processes. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0186] The computer-readable storage medium can be an internal storage unit of the electronic device in any of the foregoing embodiments, such as a hard disk or memory of the electronic device. The computer-readable storage medium can also be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., provided on the electronic device. Furthermore, the computer-readable storage medium can include both internal and external storage units of the electronic device. The computer-readable storage medium is used to store computer programs and other programs and data required by the electronic device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0187] Those skilled in the art will recognize that the modules / units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0188] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the electronic devices and units described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0189] In the several embodiments provided in this application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules / units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules, units, or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces or modules / units, or it may be an electrical, mechanical, or other form of connection.

[0190] The modules / units described as separate components may or may not be physically separate. Similarly, the components shown as modules / units may or may not be physical modules / units; they may be located in one place or distributed across multiple network modules / units. Some or all of the modules / units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0191] Furthermore, the functional modules / units in the various embodiments of this application can be integrated into one processing module / unit, or each module / unit can exist physically separately, or two or more modules / units can be integrated into one module / unit. The integrated modules / units described above can be implemented in hardware or in the form of software functional modules / units.

[0192] The above are merely specific embodiments of this application, but the scope of protection 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 scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for tracking measurement and control signals with adaptive loop parameters, characterized in that, The method includes: Obtain the tracking status parameters of the carrier loop, code loop, and bit loop within the current tracking period; The bandwidth adjustment direction and bandwidth adjustment rate of the carrier ring are determined based on the tracking state parameters of the carrier ring and the tracking state parameters of the bit ring. The carrier loop bandwidth for the next tracking cycle is determined based on the bandwidth adjustment direction and the bandwidth adjustment rate. The code ring bandwidth for the next tracking period is determined based on the tracking state parameters of the code ring, and the bit ring bandwidth for the next tracking period is determined based on the tracking state parameters of the bit ring. The carrier loop bandwidth is used as the carrier loop control parameter for the next tracking period, the code loop bandwidth is used as the code loop control parameter for the next tracking period, and the bit loop bandwidth is used as the bit loop control parameter for the next tracking period, so as to realize the joint tracking of the input measurement and control signal by the carrier loop, the code loop and the bit loop; The tracking status parameters of the carrier loop include the carrier frequency estimate, integration clearing result, and frequency error identification result; the tracking status parameters of the bit loop include the bit synchronization error. The determination of the bandwidth adjustment direction of the carrier ring based on the tracking state parameters of the carrier ring and the tracking state parameters of the bit ring includes: Obtain historical carrier frequency estimates, which include carrier frequency estimates from multiple tracking periods prior to the current tracking period; The carrier frequency error estimate is determined based on the carrier frequency estimate of the current tracking period and the historical carrier frequency estimate. The thermal noise frequency error estimate is determined based on the integrated clearing result; The direction of bandwidth adjustment of the carrier loop is determined based on the estimated carrier frequency error, the estimated thermal noise frequency error, and the bit synchronization error. Determining the bandwidth adjustment rate of the carrier ring based on the tracking state parameters of the carrier ring and the tracking state parameters of the bit ring includes: The first membership range corresponding to the frequency error identification result is determined based on a preset first membership function; The second membership range of the bit synchronization error is determined based on a preset second membership function; Based on the first membership range and the second membership range, the fuzzy logic output result is obtained by using fuzzy reasoning method; The bandwidth adjustment rate of the carrier ring is determined based on the output of the fuzzy logic.

2. The loop parameter adaptive measurement and control signal tracking method as described in claim 1, characterized in that, The step of determining the bandwidth adjustment direction of the carrier loop based on the estimated carrier frequency error, the estimated thermal noise frequency error, and the bit synchronization error includes: If the estimated carrier frequency error is less than or equal to the estimated thermal noise frequency error, the estimated thermal noise frequency error is less than or equal to a preset first error threshold, and the bit synchronization error is less than or equal to a preset second error threshold, then the bandwidth adjustment direction of the carrier ring is determined to be a reduction in bandwidth. If the estimated carrier frequency error is greater than the estimated thermal noise frequency error, or the estimated thermal noise frequency error is greater than a preset first error threshold, or the bit synchronization error is greater than a preset second error threshold, then the bandwidth adjustment direction of the carrier ring is determined to be increasing bandwidth.

3. The loop parameter adaptive measurement and control signal tracking method as described in claim 1, characterized in that, Determining the bandwidth adjustment rate of the carrier ring based on the fuzzy logic output includes: The bandwidth adjustment rate of the carrier loop is calculated using the following formula: ； in, Indicates the bandwidth adjustment rate. This represents the output result of fuzzy logic. Represents the natural constant.

4. The loop parameter adaptive measurement and control signal tracking method as described in claim 3, characterized in that, The bandwidth adjustment direction includes decreasing bandwidth and increasing bandwidth; The step of determining the carrier ring bandwidth for the next tracking period based on the bandwidth adjustment direction and the bandwidth adjustment rate includes: Obtain the carrier ring bandwidth for the current tracking period; If the bandwidth adjustment direction is to increase bandwidth, the bandwidth adjustment factor is calculated using the following formula: ； If the bandwidth adjustment direction is to reduce bandwidth, the bandwidth adjustment factor is calculated using the following formula: ； in, ； in, Indicates the bandwidth adjustment factor. Indicates the points clearing cycle. Let Variance be the carrier frequency error variance, and let represent the estimated carrier frequency error value. This represents the estimated carrier frequency. This represents the estimated carrier frequency value in the nth tracking period prior to the current tracking period. Indicates the average carrier frequency. This represents the difference between the estimated carrier frequency and the mean carrier frequency. This represents the N tracking periods preceding the current tracking period. Describes the minimum value function; Based on the bandwidth adjustment factor and the carrier ring bandwidth of the current tracking period, the carrier ring bandwidth of the next tracking period is determined; wherein the carrier ring bandwidth of the next tracking period is positively correlated with the bandwidth adjustment factor.

5. The loop parameter adaptive measurement and control signal tracking method as described in claim 4, characterized in that, The step of determining the carrier ring bandwidth for the next tracking period based on the bandwidth adjustment factor and the carrier ring bandwidth of the current tracking period includes: If the bandwidth adjustment factor is less than a preset first threshold, the preset minimum carrier ring bandwidth is determined as the carrier ring bandwidth of the next tracking period; If the bandwidth adjustment factor is greater than the preset second threshold, the preset maximum carrier ring bandwidth is determined as the carrier ring bandwidth of the next tracking period; If the bandwidth adjustment factor is between the first threshold and the second threshold, the bandwidth adjustment factor is multiplied by the carrier ring bandwidth of the current tracking period to obtain the carrier ring bandwidth of the next tracking period.

6. A loop parameter adaptive measurement and control signal tracking device, characterized in that, include: The parameter acquisition module is used to acquire the tracking status parameters of the carrier ring, code ring, and bit ring respectively within the current tracking period; The first calculation module is used to determine the bandwidth adjustment direction of the carrier ring and the bandwidth adjustment rate of the carrier ring based on the tracking state parameters of the carrier ring and the tracking state parameters of the bit ring. The second calculation module is used to determine the carrier ring bandwidth of the next tracking period based on the bandwidth adjustment direction and the bandwidth adjustment rate; The third calculation module is used to determine the code ring bandwidth of the next tracking period based on the tracking state parameters of the code ring, and to determine the bit ring bandwidth of the next tracking period based on the tracking state parameters of the bit ring. The joint tracking module is used to use the carrier loop bandwidth as the carrier loop control parameter for the next tracking period, the code loop bandwidth as the code loop control parameter for the next tracking period, and the bit loop bandwidth as the bit loop control parameter for the next tracking period, so as to realize the joint tracking of the input measurement and control signal by the carrier loop, the code loop, and the bit loop. The tracking status parameters of the carrier loop include the carrier frequency estimate, integration clearing result, and frequency error discrimination result; the tracking status parameters of the bit loop include the bit synchronization error; the first calculation module is specifically used for: Obtain historical carrier frequency estimates, which include carrier frequency estimates from multiple tracking periods prior to the current tracking period; The carrier frequency error estimate is determined based on the carrier frequency estimate of the current tracking period and the historical carrier frequency estimate. The thermal noise frequency error estimate is determined based on the integrated clearing result; The direction of bandwidth adjustment of the carrier loop is determined based on the estimated carrier frequency error, the estimated thermal noise frequency error, and the bit synchronization error. The first membership range corresponding to the frequency error identification result is determined based on the preset first membership function; The second membership range of the bit synchronization error is determined based on the preset second membership function; Based on the first and second membership ranges, and using fuzzy reasoning methods, the fuzzy logic output results are obtained; The bandwidth adjustment rate of the carrier loop is determined based on the fuzzy logic output.

7. The loop parameter adaptive measurement and control signal tracking device as described in claim 6, characterized in that, The first calculation module is also specifically used for: If the estimated carrier frequency error is less than or equal to the estimated thermal noise frequency error, the estimated thermal noise frequency error is less than or equal to a preset first error threshold, and the bit synchronization error is less than or equal to a preset second error threshold, then the bandwidth adjustment direction of the carrier ring is determined to be a reduction in bandwidth. If the estimated carrier frequency error is greater than the estimated thermal noise frequency error, or the estimated thermal noise frequency error is greater than a preset first error threshold, or the bit synchronization error is greater than a preset second error threshold, then the bandwidth adjustment direction of the carrier ring is determined to be increasing bandwidth.

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