A cooperative communication method and system of a vehicle-mounted satellite communication terminal

Abstract

The application is suitable for the field of satellite communication, and provides a cooperative communication method and system of a vehicle-mounted satellite communication terminal, the method comprising: collecting spatial motion vectors, radio frequency channel nonlinear characteristics and service flow priority characteristics of each vehicle terminal in a cluster in real time; establishing a global unified time-frequency phase reference benchmark; dynamically calculating complex weighting vectors of signals transmitted by each node according to relative positions of satellites, and constructing an enhanced coherent synthesis beam in a space domain; performing space-time-frequency multi-dimensional mapping coding on service data flows, and performing distributed parallel transmission through the enhanced coherent synthesis beam; using a motion trend prediction technology to pre-compensate phase drift and channel blockage at a future time, and maintaining the persistence of a cooperative link; constructing a virtual antenna array through multi-vehicle cooperation, breaking through the limitation of a single-vehicle physical aperture, and effectively overcoming the signal blockage and fading problem in a complex environment by using a physical layer synchronization and feedforward compensation technology.

Description

Technical Field

[0001] This invention belongs to the field of satellite communication, and in particular relates to a collaborative communication method and system for a vehicle-mounted satellite communication terminal. Background Technology

[0002] With the development of broadband satellite communication technology, vehicle-mounted satellite terminals have become a key means of ensuring communication in remote areas, highways, and emergency scenarios. Conventional technologies typically use an electronically scanned array antenna mounted on a single vehicle to track satellites through a closed-loop algorithm. In multi-vehicle platooning scenarios, existing collaborative methods mostly remain at the application layer of load balancing or task distribution based on simple geofencing.

[0003] However, due to the limited aperture of a single vehicle's antenna, sufficient link budget gain cannot be obtained in areas with severe channel fading. Furthermore, existing cooperative technologies lack in-depth utilization of the physical layer characteristics of the wireless channel, failing to overcome the nonlinear Doppler frequency shift and millisecond-level phase perturbations caused by high-speed movement. This results in the inability of multi-vehicle cooperation to achieve coherent signal synthesis in the spatial domain, instead causing severe mutual interference. Therefore, how to achieve cross-node physical layer cooperation and channel feature reconstruction in dynamically changing cluster topologies is a current technical challenge for improving the robustness of vehicular satellite communication. Summary of the Invention

[0004] The purpose of this invention is to provide a collaborative communication method and system for vehicle-mounted satellite communication terminals, aiming to solve the problems mentioned in the background art.

[0005] This invention is implemented as follows: On one hand, a cooperative communication method for a vehicle-mounted satellite communication terminal, the method comprising: Real-time acquisition of spatial motion vectors, radio frequency channel nonlinear characteristics, and service flow priority characteristics of each vehicle terminal within the cluster; Based on the sensing data, the phase offset and Doppler frequency shift deviation between each node are calculated to establish a globally unified time-frequency phase reference benchmark. Based on the relative positions of the satellites, the complex weighting vector of the transmitted signals of each node is dynamically calculated, and an enhanced coherent synthetic beam is constructed in the airspace. The business data stream is encoded using a space-time-frequency multidimensional mapping method and then transmitted in a distributed parallel manner through the enhanced coherent synthesized beam. By utilizing motion trend prediction technology, phase drift and channel blockage at future moments are pre-compensated to maintain the continuity of the cooperative link.

[0006] As a further aspect of the present invention, the real-time acquisition of spatial motion vectors, radio frequency channel nonlinear characteristics, and service flow priority characteristics of each vehicle terminal within the cluster specifically includes: The centimeter-level three-dimensional coordinates and high-precision attitude angles of each vehicle terminal are obtained through the global navigation satellite system and inertial measurement unit; Real-time monitoring of the signal quality of the radio frequency front-end of each vehicle terminal, and extraction of channel indicators including received signal strength, signal-to-noise ratio and phase noise; Utilize deep learning models to analyze business flow characteristics and identify the data throughput requirements and latency sensitivity levels of each application; Based on pre-set high-precision map data, analyze the distribution of environmental electromagnetic interference and terrain occlusion vectors on the current driving path of each vehicle; The remaining computing resources and storage space status of each node are periodically interacted to construct a cluster capability map.

[0007] As a further aspect of the present invention, the calculation of phase offset and Doppler frequency shift deviation between nodes based on sensing data to establish a globally unified time-frequency phase reference specifically includes: The system clock alignment within the cluster is achieved by distributing second pulse signals through the workshop communication link; Send interactive pilot sequences to determine the initial phase difference between the local oscillator of each node and the central reference node; The Kalman filter algorithm is used to extract and separate the nonlinear Doppler frequency shift generated by motion in real time. Calculate the spatial path loss between the phase centers of each node antenna and calibrate the amplitude-frequency characteristics difference of the RF channel; Establish a closed-loop feedback loop to send the phase residual error compensation value to each slave node in real time.

[0008] As a further aspect of the present invention, the complex weighting vector of the transmitted signals of each node is dynamically calculated based on the relative positions of the satellites, and the enhanced coherent synthesized beam is constructed in the spatial domain, specifically including: Based on the criterion of maximizing the output signal-to-noise ratio, the optimal complex weighting coefficient value of each node is calculated at a specified pointing angle; Based on the polarization characteristics of the satellite beam, the polarization direction of each node array element is adjusted synchronously to achieve spatial polarization matching; the radiation pattern of the virtual large aperture antenna array is generated in real time, and the weights are dynamically adjusted to generate nulls in the interference direction; Calculate the allocation weight of RF power for each node to prevent overheating of individual power amplifiers while ensuring coherent combining gain. Based on the addition or removal of collaborative nodes, the weight matrix is ​​recalculated in real time to achieve seamless beam reconfiguration.

[0009] As a further aspect of the present invention, the use of motion trend prediction technology to pre-compensate for phase drift and channel obstruction at future moments, thereby maintaining the continuity of the cooperative link, specifically includes: Based on the current acceleration and angular velocity vectors, the relative spatial displacement between each node within a preset time period is calculated. Calculate the phase shift caused by spatial displacement in advance and perform phase advance compensation on the transmitted signal; Predict the time when vehicles enter tunnels or obstructed areas, and initiate redundant backup logic for business data within the cluster in advance. Monitor satellite switching commands and trigger a pre-synchronization process at the physical link layer to reduce beam switching latency; The system evaluates the collaborative gain effect in real time and automatically triggers a degraded operation mode for the collaborative topology when the gain falls below a preset threshold.

[0010] As a further aspect of the present invention, another option is a cooperative communication system for a vehicle-mounted satellite communication terminal, the system comprising: The cluster heterogeneous sensing module is used to integrate navigation and positioning, channel quality and service priority information of each terminal in the cluster to build an electromagnetic and geometric situational view for satellite collaboration. The time-frequency phase synchronization module is used to eliminate carrier phase offset and nonlinear Doppler frequency shift between nodes of the cluster by using interactive pilots and synchronization pulses, and to establish the reference spatiotemporal axis for physical layer signal synthesis. The beam space reconstruction module is used to calculate and map the complex weighting values ​​of each node according to the situation view, and form an enhanced coherent beam with directional gain and interference null in the spatial domain through multi-vehicle array element collaboration. The collaborative coding transmission module is used to perform the mapping and redundant coding of service data streams on multi-dimensional physical resource blocks, and to achieve parallel transmission by driving multi-vehicle radio frequency front-ends with enhanced coherent beams; The link pre-compensation maintenance module is used to perform predictive compensation for phase jitter at future moments based on motion vector extrapolation, and to reconstruct the cooperative topology to maintain the continuity of the satellite link when an obstruction risk is detected.

[0011] As a further aspect of the present invention, the cluster heterogeneous sensing module specifically includes: Attitude positioning unit is used to accurately obtain the spatial position and pointing state of the antenna phase center; The channel feature extraction unit is used to analyze the fading characteristics and signal-to-noise ratio distribution of the radio frequency link; The business profiling unit is used to automatically allocate communication priorities based on the characteristics of the data flow. An environmental detection unit is used to combine sensing data to predict the intensity of physical interference along the path. The resource statistics unit is used to dynamically monitor the CPU power consumption and memory load of each vehicle terminal.

[0012] As a further aspect of the present invention, the time-frequency phase synchronization module specifically includes: The reference timing unit is used to provide highly stable time synchronization pulses for the cluster; The phase difference calculation unit is used to calculate the relative carrier phase difference between nodes through a closed-loop algorithm. Frequency shift compensation unit is used to eliminate motion Doppler bias caused by high-speed vehicle movement in real time; Amplitude-frequency calibration unit is used to equalize the frequency response differences between different hardware terminals; The residual error feedback unit is used to distribute high-frequency fine-tuning commands in real time to maintain phase lock.

[0013] As a further aspect of the present invention, the beam space reconstruction module specifically includes: The weighted algorithm engine unit is used to perform complex matrix operations to generate space beamforming weights; The polarization control unit is used to dynamically adjust the polarization state of the signals of each node to match the satellite channel; Zero-traps forming units are used to generate suppressed traps in non-target signal regions to reduce system interference. A power equalization unit is used to distribute transmit energy as needed among various physical terminals; Topology self-healing units are used to quickly reconstruct the remaining nodes in a synthesis scheme when individual nodes fail.

[0014] As a further aspect of the present invention, the link pre-maintenance module specifically includes: Motion extrapolation unit is used to predict the spatial geometric topological changes of the vehicle at future moments; The feedforward compensation unit is used to perform millisecond-level advance phase modulation of the radio frequency signal based on the predicted displacement; The signal obstruction avoidance unit is used to trigger a multi-path backup strategy to deal with impending signal obstruction. A fast switching unit is used to perform lossless cross-beam synchronization handshakes at the edge of satellite beams; The performance evaluation unit is used to monitor the gain metrics of collaborative communication in real time and trigger protective modes.

[0015] This invention provides a collaborative communication method and system for a vehicle-mounted satellite communication terminal. By constructing a virtual antenna array through multi-vehicle collaboration, it overcomes the physical aperture limitations of a single vehicle. Utilizing physical layer synchronization and feedforward compensation technologies, it effectively overcomes the challenges of signal obstruction and fading in complex environments, significantly enhances the gain and robustness of trunked communication, and ensures a continuous and reliable connection of the satellite link. Attached Figure Description

[0016] Figure 1 This is the main flowchart of a collaborative communication method for a vehicle-mounted satellite communication terminal.

[0017] Figure 2This is a flowchart illustrating the real-time acquisition of spatial motion vectors, radio frequency channel nonlinear characteristics, and service flow priority characteristics of each vehicle terminal within a cluster in a collaborative communication method for vehicle-mounted satellite communication terminals.

[0018] Figure 3 This is a flowchart illustrating a collaborative communication method for a vehicle-mounted satellite communication terminal, which establishes a globally unified time-frequency phase reference benchmark by calculating the phase offset and Doppler frequency shift deviation between nodes based on sensing data.

[0019] Figure 4 This is a flowchart illustrating how a collaborative communication method for a vehicle-mounted satellite communication terminal dynamically calculates the complex weighted vectors of the transmitted signals from each node based on the relative positions of the satellites to construct an enhanced coherent synthetic beam in the spatial domain.

[0020] Figure 5 This is a flowchart illustrating a collaborative communication method for a vehicle-mounted satellite communication terminal that utilizes motion trend prediction technology to pre-compensate for phase drift and channel obstruction at future moments to maintain the continuity of the collaborative link.

[0021] Figure 6 This is a main structure diagram of a collaborative communication system for a vehicle-mounted satellite communication terminal.

[0022] Figure 7 This is a structural block diagram of a cluster heterogeneous sensing module in a collaborative communication system of a vehicle-mounted satellite communication terminal.

[0023] Figure 8 This is a structural block diagram of a time-frequency phase synchronization module in a collaborative communication system of a vehicle-mounted satellite communication terminal.

[0024] Figure 9 This is a structural block diagram of a beam space reconfiguration module in a collaborative communication system of a vehicle-mounted satellite communication terminal.

[0025] Figure 10 This is a structural block diagram of a link pre-maintenance module in a collaborative communication system of a vehicle-mounted satellite communication terminal. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0027] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0028] The present invention provides a collaborative communication method and system for a vehicle-mounted satellite communication terminal, which solves the technical problems in the background art.

[0029] like Figure 1 The diagram shown is a main flowchart of a cooperative communication method for a vehicle-mounted satellite communication terminal according to an embodiment of the present invention. The cooperative communication method for the vehicle-mounted satellite communication terminal includes: Step S100: Real-time acquisition of spatial motion vectors, radio frequency channel nonlinear characteristics, and service flow priority characteristics of each vehicle terminal within the cluster; Step S200: Calculate the phase offset and Doppler frequency shift deviation between each node based on the sensing data, and establish a globally unified time-frequency phase reference benchmark; Step S300: Based on the relative positions of the satellites, dynamically calculate the complex weighting vector of the transmitted signals of each node, and construct an enhanced coherent synthetic beam in the airspace; Step S400: Perform space-time-frequency multidimensional mapping encoding on the service data stream, and perform distributed parallel transmission through the enhanced coherent synthesized beam; Step S500: Utilize motion trend prediction technology to pre-compensate for phase drift and channel blockage at future moments, maintaining the continuity of the cooperative link; In this embodiment, when the convoy enters an area with weak satellite signal coverage, each vehicle terminal first performs real-time acquisition of the spatial motion vectors, radio frequency channel nonlinear characteristics, and service flow priority characteristics of each vehicle terminal within the cluster. Subsequently, it proceeds to calculate the phase offset and Doppler frequency shift deviation between nodes based on the acquired sensing data, and establishes a globally unified time-frequency phase reference benchmark accordingly, ensuring high consistency of all participating vehicles at the physical layer signal scale. Next, it dynamically calculates the complex weighted vector of the transmitted signals of each node based on the relative positions of the satellites, and then constructs an enhanced coherent synthetic beam in the spatial domain, enabling the energy convergence of dispersed low-power signals in space. Based on this, by performing spatiotemporal multidimensional mapping encoding on the service data stream to be transmitted, and driving the aforementioned enhanced beam for distributed parallel transmission, the link capacity is significantly improved. Finally, by utilizing motion trend prediction technology to predict and compensate for potential phase drift and channel obstruction in the future, the continuity and stability of the satellite communication link can be maintained even when the vehicle experiences severe jolts or momentary obstruction, thus overcoming the technical bottleneck of insufficient gain of individual vehicle terminals in harsh environments.

[0030] like Figure 2 As shown, in a preferred embodiment of the present invention, the real-time acquisition of spatial motion vectors, radio frequency channel nonlinear characteristics, and service flow priority characteristics of each vehicle terminal within the cluster specifically includes: Step S101: Obtain centimeter-level three-dimensional coordinates and high-precision attitude angles of each vehicle terminal through the Global Navigation Satellite System and Inertial Measurement Unit; Step S102: Monitor the signal quality of the radio frequency front-end of each vehicle terminal in real time and extract channel indicators including received signal strength, signal-to-noise ratio and phase noise; Step S103: Analyze business flow characteristics using deep learning models to identify the data throughput requirements and latency sensitivity levels of each application; Step S104: Based on the preset high-precision map data, analyze the distribution of environmental electromagnetic interference and terrain occlusion vectors on the current driving path of each vehicle; Step S105: Periodically interact with each node to check the remaining computing resources and storage space status, and construct a cluster capability map; In this embodiment, the integrated global navigation satellite system receiver and six-axis inertial measurement unit within each vehicle terminal collaborate with microsecond-level precision to acquire centimeter-level three-dimensional coordinates and high-precision three-dimensional attitude angles of each vehicle terminal relative to a reference coordinate system. Simultaneously, the signal quality of each vehicle terminal's radio frequency front-end is monitored in real time, extracting key channel indicators including received signal strength, signal-to-noise ratio, and carrier phase noise. To optimize resource allocation, the built-in analysis engine utilizes deep learning models to deeply analyze the characteristics of the currently transmitted service flow, thereby identifying the data throughput requirements and latency sensitivity levels of each application. Furthermore, based on pre-set high-precision map data, the distribution of environmental electromagnetic interference along each vehicle's current driving path is analyzed, and the terrain's obstruction vector for satellite beams is calculated. By periodically interacting with the remaining computing resources and storage space status of each node, a dynamic cluster capability map is constructed, providing a complete decision data foundation for subsequent physical layer coherent synthesis.

[0031] like Figure 3 As shown, in a preferred embodiment of the present invention, the calculation of phase offset and Doppler frequency shift deviation between nodes based on sensing data to establish a globally unified time-frequency phase reference specifically includes: Step S201: Distribute second pulse signals through the workshop communication link to achieve microsecond-level system clock alignment within the cluster; Step S202: Send the interactive pilot sequence and determine the initial phase difference between the local oscillator of each node and the central reference node; Step S203: Use the Kalman filter algorithm to extract and separate the nonlinear Doppler frequency shift generated by motion in real time; Step S204: Calculate the spatial path loss between the phase centers of each node antenna and calibrate the amplitude-frequency characteristic differences of the RF channel; Step S205: Establish a closed-loop feedback loop and send the phase residual error compensation value to each slave node in real time; In this embodiment, high-precision second-pulse signals are distributed via a dedicated narrowband wireless link to achieve microsecond-level system clock alignment among members within the cluster. Subsequently, each terminal measures the initial carrier phase difference between its local oscillator and the central reference node by sending interactive pilot sequences. To address interference caused by the vehicle's high-speed dynamic displacement, a Kalman filter algorithm is used to extract and separate the nonlinear Doppler frequency shift generated by the motion in real time, ensuring the purity of the frequency components. Simultaneously, the spatial path propagation loss between the phase centers of each node's antennas is calculated to calibrate the amplitude-frequency characteristic deviations between RF channels caused by hardware differences. Finally, a closed-loop feedback loop is established, and the calculated phase residual error compensation value is sent to each subordinate node in real time, enabling each physical terminal to maintain carrier-level coherence during dynamic driving, laying the physical foundation for accurate spatial beamforming.

[0032] like Figure 4 As shown, in a preferred embodiment of the present invention, the complex weighting vector of the transmitted signals of each node is dynamically calculated based on the relative positions of the satellites, and the enhanced coherent synthetic beam is constructed in the spatial domain, specifically including: Step S301: Based on the criterion of maximizing the output signal-to-noise ratio, calculate the optimal complex weighting coefficient value of each node at the specified pointing angle; Step S302: Based on the polarization characteristics of the satellite beam, synchronously adjust the polarization direction of each node array element to achieve spatial polarization matching; Step S303: Generate the radiation pattern of the virtual large-aperture antenna array in real time and dynamically adjust the weights to generate nulls in the interference direction; Step S304: Calculate the allocation weight of RF power for each node to prevent overheating of individual power amplifiers while ensuring coherent combining gain. Step S305: Based on the addition or removal of cooperative nodes, recalculate the weight matrix in real time to achieve seamless beam reconfiguration; It should be understood that, based on the criterion of maximizing the output signal-to-noise ratio, the optimal complex weighting coefficient value at a specified pointing angle is solved for each active node in the cluster. To cope with signal fading, the polarization direction of each node's array element is synchronously adjusted according to the satellite beam's polarization characteristics, thereby achieving spatial polarization matching and reducing polarization loss. During signal radiation, a virtual large-aperture antenna array radiation pattern is generated in real time, and the weighting values ​​are dynamically adjusted to generate deep nulls in known interference directions to suppress ground electromagnetic interference. Simultaneously, the energy management module accurately calculates the allocation weight of each node's RF power, ensuring coherent combining gain while preventing overheating distortion of individual terminal power amplifiers. If a change in formation configuration is detected, the weighting matrix is ​​recalculated in real time within milliseconds based on the joining or leaving status of cooperating nodes to achieve seamless beam reconfiguration, ensuring a smooth transition in communication quality.

[0033] like Figure 5 As shown, in a preferred embodiment of the present invention, the use of motion trend prediction technology to pre-compensate for phase drift and channel obstruction at future times, and to maintain the continuity of the cooperative link, specifically includes: Step S501: Based on the current acceleration and angular velocity vectors, calculate the relative spatial displacement between nodes within a preset time period in the future; Step S502: Calculate the phase offset caused by spatial displacement in advance and perform phase advance compensation on the transmitted signal; Step S503: Predict the time when the vehicle enters the tunnel or obstructed area, and start the redundant backup logic of the business data in the cluster in advance. Step S504: Monitor satellite handover commands and trigger a pre-synchronization process at the physical link layer to reduce beam switching latency; Step S505: Evaluate the collaborative gain effect in real time, and automatically trigger the degraded operation mode of the collaborative topology when the gain is lower than the preset threshold; In this embodiment, the motion prediction engine calculates the relative spatial displacement trend between nodes within the next 50 to 100 milliseconds based on the current acceleration and angular velocity vectors. Based on this, it calculates the phase offset caused by the spatial displacement in advance and performs phase advance compensation on the upcoming radio frequency signal to counteract the phase jitter caused by motion. When it predicts that a vehicle is about to enter a tunnel or a tall building's obstruction area, it initiates redundant backup logic for service data between nodes within the cluster in advance to ensure uninterrupted critical information. For satellite handover scenarios, it monitors satellite handover commands and triggers a pre-synchronization process at the physical link layer to reduce handshake latency caused by beam switching. Finally, it evaluates the actual effect of the cooperative gain in real time. Once it detects that the gain is lower than a preset safety threshold, it automatically triggers a degraded operation mode for the cooperative topology, switching to robust single-link transmission to ensure the system's survivability in extreme environments.

[0034] like Figure 6 As shown, in another preferred embodiment of the present invention, a cooperative communication system for a vehicle-mounted satellite communication terminal is provided, the system comprising: Cluster heterogeneous sensing module 100 is used to integrate navigation and positioning, channel quality and service priority information of each terminal in the cluster to build an electromagnetic and geometric situational view for satellite collaboration. The time-frequency phase synchronization module 200 is used to eliminate carrier phase offset and nonlinear Doppler frequency shift between nodes of the cluster by using interactive pilots and synchronization pulses, and to establish the reference spatiotemporal axis for physical layer signal synthesis. The beam space reconstruction module 300 is used to calculate and map the complex weighting values ​​of each node according to the situation view, and form an enhanced coherent beam with directional gain and interference null in the spatial domain through multi-vehicle array element collaboration. The Cooperative Coding Transmission Module 400 is used to perform mapping and redundant coding of service data streams on multi-dimensional physical resource blocks, and to achieve parallel transmission by driving multi-vehicle radio frequency front-ends with enhanced coherent beams. The Link Pre-compensation Maintenance Module 500 is used to perform predictive compensation for phase jitter at future times based on motion vector extrapolation, and to reconstruct the cooperative topology to maintain the continuity of the satellite link when an obstruction risk is detected.

[0035] In this embodiment, the cluster heterogeneous sensing module 100 integrates navigation data, channel indicators, and service information to output an electromagnetic and geometric situational awareness view for satellite collaboration. The time-frequency phase synchronization module 200 integrates a high-precision clock source and a digital phase-locked loop circuit. Through pilot interaction and pulse synchronization, it eliminates carrier phase drift between nodes and establishes a unified spatiotemporal coordinate system required for coherent signal synthesis. The beam space reconstruction module 300, relying on a high-performance digital signal processing chip, calculates and maps complex weighted parameters based on the aforementioned situational awareness view, driving multiple vehicle array elements to form a coherent beam with high directional gain. The cooperative coding and transmission module 400 integrates a high-speed baseband processor to complete the mapping and error correction coding of service data on multi-dimensional physical resource blocks, driving the RF front-end to achieve parallel transmission. The link pre-compensation and maintenance module 500, as the core of control feedback, uses predictive algorithms to perform millisecond-level active compensation for link disturbances caused by motion, ensuring the physical continuity of the satellite link under complex operating conditions.

[0036] like Figure 7 As shown, in another preferred embodiment of the present invention, the cluster heterogeneous sensing module 100 specifically includes: Attitude positioning unit 101 is used to accurately obtain the spatial position and pointing state of the antenna phase center; The channel feature extraction unit 102 is used to analyze the fading characteristics and signal-to-noise ratio distribution of the radio frequency link; The business profiling unit 103 is used to automatically allocate communication priorities based on the characteristics of the data flow. Environmental detection unit 104 is used to predict the intensity of physical interference on the path by combining sensing data; Resource statistics unit 105 is used to dynamically monitor the CPU power consumption and memory load of each vehicle terminal.

[0037] In this embodiment, the attitude positioning unit 101, through its built-in multi-band global navigation satellite system receiver and high-sensitivity microelectromechanical system inertial measurement unit, achieves centimeter-level positioning of the phase center of each vehicle terminal antenna in three-dimensional space, and outputs attitude parameters such as pitch, roll, and heading in real time, providing an initial geometric vector for the physical pointing of the beam. The channel feature extraction unit 102 uses the high-speed analog-to-digital converter of the RF front-end to perform a full-spectrum scan of the downlink satellite link, and analyzes the dispersion of the pilot signal constellation diagram to resolve the Rayleigh fading model or Rice fading model of the current RF link. At the service processing level, the service profiling unit 103 monitors the traffic characteristics of the vehicle backbone network through deep packet inspection technology, identifies key signaling with extremely high real-time requirements, such as remote safe takeover commands, and reserves dedicated cooperative physical resource blocks for them. To prevent link interruption, the environmental detection unit 104 compares the real-time video stream captured by the vehicle perception sensors with the high-precision map built into the vehicle system, and uses a ray tracing algorithm to predict the dynamic shadow occlusion value of trees or buildings ahead on the high-frequency satellite beam along the driving path. Finally, the resource statistics unit 105 polls the power consumption status and computing cache balance of each terminal processor in real time through the operating system kernel interface to ensure that the system only deploys complex coherent synthesis algorithms on nodes with sufficient computing power.

[0038] like Figure 8 As shown, in another preferred embodiment of the present invention, the time-frequency phase synchronization module 200 specifically includes: The reference timing unit 201 is used to provide highly stable time synchronization pulses for the cluster; Phase difference calculation unit 202 is used to calculate the relative carrier phase difference between nodes through algorithm closed loop; Frequency shift compensation unit 203 is used to eliminate motion Doppler bias caused by high-speed vehicle movement in real time; Amplitude-frequency calibration unit 204 is used to equalize the frequency response differences between different hardware terminals; The residual error feedback unit 205 is used to distribute high-frequency fine-tuning commands in real time to maintain phase lock.

[0039] In this embodiment, the reference timing unit 201 uses a pulse generation circuit controlled by a highly stable crystal oscillator to distribute system clock stamps with nanosecond-level resolution to the entire cluster, establishing the origin of the time axis for distributed signal processing. Based on this reference, the phase difference calculation unit 202 calculates the correlation between the local oscillator signals of different terminals by exchanging preset orthogonal pilot sequences among cluster members, thereby accurately quantifying the original phase deviation caused by hardware trace delays or temperature drift. For high-speed dynamic displacement of vehicles, the frequency shift compensation unit 203 tracks the frequency jitter of the satellite downlink carrier in real time and uses a digitally controlled oscillator to perform real-time reverse offsetting of the generated nonlinear Doppler frequency shift, ensuring the purity of the baseband signal in the frequency domain. To eliminate the inconsistency in the hardware performance of multiple vehicle terminals, the amplitude-frequency calibration unit 204 calls a hardware characteristic compensation table pre-stored in memory to dynamically equalize the gain flatness of the RF link, suppressing the decrease in coherent synthesis efficiency caused by amplitude distortion. Finally, the residual error feedback unit 205 establishes a high-bandwidth closed-loop correction channel to feed back the tiny phase fluctuations generated by the algorithm iteration to the modulation front end in real time, ensuring that the cluster maintains subwavelength-level phase locking accuracy under complex motion conditions.

[0040] like Figure 9 As shown, in another preferred embodiment of the present invention, the beam space reconstruction module 300 specifically includes: The weighted algorithm engine unit 301 is used to perform complex matrix operations to generate spatial beamforming weights; The polarization control unit 302 is used to dynamically adjust the polarization state of the signals of each node to match the satellite channel; The zero-traps forming unit 303 is used to generate suppressed traps in non-target signal regions to reduce system interference. The power equalization unit 304 is used to distribute the transmission energy as needed among the physical terminals; The topology self-healing unit 305 is used to quickly reconstruct the synthesis scheme of the remaining nodes when individual nodes fail.

[0041] In this embodiment, the weighted algorithm engine unit 301, relying on the parallel computing resources of the on-chip system, uses tensor operation logic to solve for the optimal weights of the minimum mean square error criterion for a specific satellite direction in real time, transforming complex matrix operations into amplitude and phase control commands for each antenna element. The polarization control unit 302 adjusts the excitation phase of the antenna polarization bridge at the nanosecond level to achieve dynamic tracking and matching of the circular polarization characteristics of the satellite signal, effectively solving the polarization mismatch loss generated during vehicle turning. At the airspace defense level, the null formation unit 303 introduces orthogonal projection of the interference subspace into the beamforming vector, automatically generating depth-limited radiated power dips in the direction of interference sources from non-target satellites, ensuring the anti-interference robustness of the cooperative link. To ensure hardware security, the power equalization unit 304 monitors the heat dissipation status of the power amplifiers of each node in the cluster in real time, and asymmetrically allocates the transmit energy weights according to the heat dissipation capacity of each vehicle terminal, optimizing the system's heat distribution without sacrificing the total beam gain. If the sensing module reports that a node is offline due to a physical fault, the topology self-healing unit 305 will immediately start the preset degradation and reconstruction logic, smoothly update the weighted vector of the remaining nodes without interrupting the current communication, and maintain the pointing stability of the virtual large aperture beam.

[0042] like Figure 10 As shown, in another preferred embodiment of the present invention, the link pre-maintenance module 500 specifically includes: The motion extrapolation unit 501 is used to predict the spatial geometric topological changes of the vehicle at future moments. The feedforward compensation unit 502 is used to perform millisecond-level advance phase modulation of the radio frequency signal based on the predicted displacement. The signal obstruction avoidance unit 503 is used to trigger a multi-path backup strategy to deal with the impending signal obstruction. The fast switching unit 504 is used to perform lossless cross-beam synchronization handshake at the edge of the satellite beam; The performance evaluation unit 505 is used to monitor the gain indicators of collaborative communication in real time and trigger the protective mode.

[0043] In this embodiment, the motion extrapolation unit 501 performs second-order differential processing on the data stream from the six-axis inertial sensor based on the Kalman filter model to calculate the vehicle's refined spatial trajectory offset within the next tens of milliseconds. Based on this predicted value, the feedforward compensation unit 502 performs phase compensation adjustment before the signal enters the RF link, achieving active offsetting of motion Doppler and phase noise. When the occlusion avoidance unit 503, combined with visual information from multi-vehicle collaborative perception, identifies a potential occlusion risk (such as adjacent long trucks running parallel), it triggers the spatial diversity protection protocol within the cluster, performing redundant cloning of critical service flows among vehicles with a wide field of view. When a vehicle crosses the edge of the satellite service beam, the fast switching unit 504 initiates a pre-synchronization handshake mechanism, using the frequency parameters of adjacent transponders to perform silent network access, significantly reducing the latency of link-layer reconnection. Finally, the performance evaluation unit 505, as a closed-loop quality monitoring node, continuously compares the signal-to-noise ratio gain index between the collaborative working mode and the stand-alone working mode. Once the evaluation results show that the collaborative overhead in the current environment exceeds the preset technical return threshold, the system issues a protection command to make the system fall back to the basic communication mode.

[0044] In order for the above methods and systems to operate smoothly, the system may include more or fewer components than those described above, or combine certain components, or different components, in addition to the various modules mentioned above. For example, it may include input / output devices, network access devices, buses, processors, and memory.

[0045] The processor can be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (OPGs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. This processor is the control center of the system, connecting various parts via various interfaces and lines.

[0046] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

[0048] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cooperative communication method for a vehicle-mounted satellite communication terminal, characterized in that, The method includes: Real-time acquisition of spatial motion vectors, radio frequency channel nonlinear characteristics, and service flow priority characteristics of each vehicle terminal within the cluster; Based on the sensing data, the phase offset and Doppler frequency shift deviation between each node are calculated to establish a globally unified time-frequency phase reference benchmark. Based on the relative positions of the satellites, the complex weighting vector of the transmitted signals of each node is dynamically calculated, and an enhanced coherent synthetic beam is constructed in the airspace. The business data stream is encoded using a space-time-frequency multidimensional mapping method and then transmitted in a distributed parallel manner through the enhanced coherent synthesized beam. By utilizing motion trend prediction technology, phase drift and channel blockage at future moments are pre-compensated to maintain the continuity of the cooperative link.

2. The cooperative communication method for a vehicle-mounted satellite communication terminal according to claim 1, characterized in that, The real-time acquisition of spatial motion vectors, radio frequency channel nonlinear characteristics, and service flow priority characteristics of each vehicle terminal within the cluster specifically includes: The centimeter-level three-dimensional coordinates and high-precision attitude angles of each vehicle terminal are obtained through the global navigation satellite system and inertial measurement unit; Real-time monitoring of the signal quality of the radio frequency front-end of each vehicle terminal, and extraction of channel indicators including received signal strength, signal-to-noise ratio and phase noise; Utilize deep learning models to analyze business flow characteristics and identify the data throughput requirements and latency sensitivity levels of each application; Based on pre-set high-precision map data, analyze the distribution of environmental electromagnetic interference and terrain occlusion vectors on the current driving path of each vehicle; The remaining computing resources and storage space status of each node are periodically interacted to construct a cluster capability map.

3. The cooperative communication method for a vehicle-mounted satellite communication terminal according to claim 1, characterized in that, The process of calculating the phase offset and Doppler frequency shift deviation between nodes based on sensing data and establishing a globally unified time-frequency phase reference specifically includes: The system clock alignment within the cluster is achieved by distributing second pulse signals through the workshop communication link; Send interactive pilot sequences to determine the initial phase difference between the local oscillator of each node and the central reference node; The Kalman filter algorithm is used to extract and separate the nonlinear Doppler frequency shift generated by motion in real time. Calculate the spatial path loss between the phase centers of each node antenna and calibrate the amplitude-frequency characteristics difference of the RF channel; Establish a closed-loop feedback loop to send the phase residual error compensation value to each slave node in real time.

4. The cooperative communication method of the vehicle-mounted satellite communication terminal according to claim 1, characterized in that, The process of dynamically calculating the complex weighted vector of the transmitted signals from each node based on the relative positions of the satellites, and constructing an enhanced coherent synthetic beam in the spatial domain, specifically includes: Based on the criterion of maximizing the output signal-to-noise ratio, the optimal complex weighting coefficient value of each node is calculated at a specified pointing angle; Based on the polarization characteristics of the satellite beam, the polarization direction of each node array element is adjusted synchronously to achieve spatial polarization matching; the radiation pattern of the virtual large aperture antenna array is generated in real time, and the weights are dynamically adjusted to generate nulls in the interference direction; Calculate the allocation weight of RF power for each node to prevent overheating of individual power amplifiers while ensuring coherent combining gain. Based on the addition or removal of collaborative nodes, the weight matrix is ​​recalculated in real time to achieve seamless beam reconfiguration.

5. The cooperative communication method for a vehicle-mounted satellite communication terminal according to claim 1, characterized in that, The method of using motion trend prediction technology to pre-compensate for phase drift and channel obstruction at future moments and maintain the continuity of the cooperative link specifically includes: Based on the current acceleration and angular velocity vectors, the relative spatial displacement between each node within a preset time period is calculated. Calculate the phase shift caused by spatial displacement in advance and perform phase advance compensation on the transmitted signal; Predict the time when vehicles enter tunnels or obstructed areas, and initiate redundant backup logic for business data within the cluster in advance. Monitor satellite switching commands and trigger a pre-synchronization process at the physical link layer to reduce beam switching latency; The system evaluates the collaborative gain effect in real time and automatically triggers a degraded operation mode for the collaborative topology when the gain falls below a preset threshold.

6. A cooperative communication system for a vehicle-mounted satellite communication terminal, characterized in that, The system employs the cooperative communication method of the vehicle-mounted satellite communication terminal as described in any one of claims 1-5, wherein the system comprises: The cluster heterogeneous sensing module is used to integrate navigation and positioning, channel quality and service priority information of each terminal in the cluster to build an electromagnetic and geometric situational view for satellite collaboration. The time-frequency phase synchronization module is used to eliminate carrier phase offset and nonlinear Doppler frequency shift between nodes of the cluster by using interactive pilots and synchronization pulses, and to establish the reference spatiotemporal axis for physical layer signal synthesis. The beam space reconstruction module is used to calculate and map the complex weighting values ​​of each node according to the situation view, and form an enhanced coherent beam with directional gain and interference null in the spatial domain through multi-vehicle array element collaboration. The collaborative coding transmission module is used to perform the mapping and redundant coding of service data streams on multi-dimensional physical resource blocks, and to achieve parallel transmission by driving multi-vehicle radio frequency front-ends with enhanced coherent beams; The link pre-compensation maintenance module is used to perform predictive compensation for phase jitter at future moments based on motion vector extrapolation, and to reconstruct the cooperative topology to maintain the continuity of the satellite link when an obstruction risk is detected.

7. The cooperative communication system of the vehicle-mounted satellite communication terminal according to claim 6, characterized in that, The cluster heterogeneous sensing module specifically includes: Attitude positioning unit is used to accurately obtain the spatial position and pointing state of the antenna phase center; The channel feature extraction unit is used to analyze the fading characteristics and signal-to-noise ratio distribution of the radio frequency link; The business profiling unit is used to automatically allocate communication priorities based on the characteristics of the data flow. An environmental detection unit is used to combine sensing data to predict the intensity of physical interference along the path. The resource statistics unit is used to dynamically monitor the CPU power consumption and memory load of each vehicle terminal.

8. The cooperative communication system of the vehicle-mounted satellite communication terminal according to claim 6, characterized in that, The time-frequency phase synchronization module specifically includes: The reference timing unit is used to provide highly stable time synchronization pulses for the cluster; The phase difference calculation unit is used to calculate the relative carrier phase difference between nodes through a closed-loop algorithm. Frequency shift compensation unit is used to eliminate motion Doppler bias caused by high-speed vehicle movement in real time; Amplitude-frequency calibration unit is used to equalize the frequency response differences between different hardware terminals; The residual error feedback unit is used to distribute high-frequency fine-tuning commands in real time to maintain phase lock.

9. The cooperative communication system of the vehicle-mounted satellite communication terminal according to claim 6, characterized in that, The beam space reconstruction module specifically includes: The weighted algorithm engine unit is used to perform complex matrix operations to generate space beamforming weights; The polarization control unit is used to dynamically adjust the polarization state of the signals of each node to match the satellite channel; Zero-traps forming units are used to generate suppressed traps in non-target signal regions to reduce system interference. A power equalization unit is used to distribute transmit energy as needed among various physical terminals; Topology self-healing units are used to quickly reconstruct the remaining nodes in a synthesis scheme when individual nodes fail.

10. The cooperative communication system of the vehicle-mounted satellite communication terminal according to claim 6, characterized in that, The link pre-maintenance module specifically includes: Motion extrapolation unit is used to predict the spatial geometric topological changes of the vehicle at future moments; The feedforward compensation unit is used to perform millisecond-level advance phase modulation of the radio frequency signal based on the predicted displacement; The signal obstruction avoidance unit is used to trigger a multi-path backup strategy to deal with impending signal obstruction. A fast switching unit is used to perform lossless cross-beam synchronization handshakes at the edge of satellite beams; The performance evaluation unit is used to monitor the gain metrics of collaborative communication in real time and trigger protective modes.

Images