Estimation device, estimation method, and program
By combining the correlated timing and phase difference methods, the Doppler frequency estimation method addresses the limitations of existing technologies, achieving a broader frequency range and improved accuracy.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-07-04
- Publication Date
- 2026-03-26
AI Technical Summary
Existing methods for estimating Doppler frequency lack the ability to expand the estimated frequency range while maintaining accuracy, as they are limited by the frequency resolution of the correlated timing difference method and the maximum estimated frequency range of the correlated phase difference method, leading to increased computational complexity and estimation errors due to noise.
A combination of the correlated timing difference and correlated phase difference methods is used to estimate Doppler frequency, where the results are averaged or selectively used based on their respective frequency ranges, and additional methods are employed to reduce the Doppler amount further.
This approach expands the maximum estimated frequency range and improves estimation accuracy by leveraging the strengths of both methods, reducing errors and computational complexity.
Smart Images
Figure JP2025024193_26032026_PF_FP_ABST
Abstract
Description
Estimation device, estimation method, and program
[0001] This disclosure relates to an estimation device, estimation method, and program.
[0002] Patent Document 1 discloses a radar device that detects a target by receiving the signal of a reflected wave reflected from the target using an antenna.
[0003] International Publication No. 2012 / 164898
[0004] However, no method for estimating Doppler frequency that can expand the estimated frequency range while improving accuracy has been disclosed. Therefore, the purpose of this disclosure is to provide an estimation device, etc., that appropriately uses the correlated timing difference method and the correlated phase difference method to estimate Doppler frequency.
[0005] The estimation device described herein performs Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and takes the average of the results of the Doppler estimation using the correlation timing difference method and the Doppler estimation using the correlation phase difference method as the result of the Doppler estimation.
[0006] An estimation device in another aspect of the present disclosure is an estimation device that performs correlation timing difference Doppler estimation and correlation phase difference Doppler estimation, and when the result of the correlation timing difference Doppler estimation is greater than the maximum estimated frequency of the correlation phase difference Doppler estimation, the result of the correlation timing difference Doppler estimation is taken as the Doppler estimation result, and when the result of the correlation timing difference Doppler estimation is less than the maximum estimated frequency of the correlation phase difference Doppler estimation, the result of the correlation phase difference Doppler estimation is taken as the Doppler estimation result.
[0007] An estimation device in another aspect of the present disclosure is an estimation device that performs correlation timing difference Doppler estimation and correlation phase difference Doppler estimation, and when the result of the correlation timing difference Doppler estimation is greater than the maximum estimated frequency of the correlation phase difference Doppler estimation, the result of the correlation timing difference Doppler estimation is taken as the Doppler estimation result, and when the result of the correlation timing difference Doppler estimation is less than the maximum estimated frequency of the correlation phase difference Doppler estimation, the average of the result of the correlation timing difference Doppler estimation and the result of the correlation phase difference Doppler estimation is taken as the Doppler estimation result.
[0008] Another aspect of the estimation device of this disclosure is an estimation device that performs Doppler estimation using a correlation timing difference method in multiple frequency bands, reduces the amount of Doppler to the estimation range of a correlation phase difference method, performs Doppler estimation using a correlation phase difference method in one frequency band, and further reduces the amount of Doppler for Doppler estimation.
[0009] The estimation method of this disclosure is an estimation method that performs Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and takes the average of the results of the Doppler estimation using the correlation timing difference method and the Doppler estimation using the correlation phase difference method as the result of the Doppler estimation.
[0010] Another aspect of the present disclosure is an estimation method which involves performing a correlation timing difference Doppler estimation and a correlation phase difference Doppler estimation, and when the result of the correlation timing difference Doppler estimation is greater than the maximum estimated frequency of the correlation phase difference Doppler estimation, the result of the correlation timing difference Doppler estimation is taken as the Doppler estimation result, and when the result of the correlation timing difference Doppler estimation is less than the maximum estimated frequency of the correlation phase difference Doppler estimation, the result of the correlation phase difference Doppler estimation is taken as the Doppler estimation result.
[0011] Another aspect of the estimation method of this disclosure is an estimation method which performs correlation timing difference Doppler estimation and correlation phase difference Doppler estimation, and when the result of the correlation timing difference Doppler estimation is greater than the maximum estimated frequency of the correlation phase difference Doppler estimation, the result of the correlation timing difference Doppler estimation is taken as the Doppler estimation result, and when the result of the correlation timing difference Doppler estimation is less than the maximum estimated frequency of the correlation phase difference Doppler estimation, the average of the result of the correlation timing difference Doppler estimation and the result of the correlation phase difference Doppler estimation is taken as the Doppler estimation result.
[0012] Another aspect of the estimation method of this disclosure is an estimation method that performs Doppler estimation using a correlation timing difference method in multiple frequency bands to reduce the amount of Doppler to within the estimation range of the correlation phase difference method, and then performs Doppler estimation using a correlation phase difference method in one frequency band to further reduce the amount of Doppler and perform Doppler estimation.
[0013] The program of this disclosure is a program that causes an information processing device to perform Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and to take the average of the results of the Doppler estimation using the correlation timing difference method and the Doppler estimation using the correlation phase difference method as the result of the Doppler estimation.
[0014] Another aspect of the estimation method of this disclosure is a program that causes an information processing device to perform a correlation timing difference Doppler estimation and a correlation phase difference Doppler estimation, and when the result of the correlation timing difference Doppler estimation is greater than the maximum estimated frequency of the correlation phase difference Doppler estimation, the result of the correlation timing difference Doppler estimation is taken as the Doppler estimation result, and when the result of the correlation timing difference Doppler estimation is less than the maximum estimated frequency of the correlation phase difference Doppler estimation, the result of the correlation phase difference Doppler estimation is taken as the Doppler estimation result.
[0015] This disclosure provides an estimation device, etc., that estimates the Doppler frequency using a correlation timing difference method and a correlation phase difference method appropriately.
[0016] This is a schematic diagram showing the circumstances under which the Doppler estimation device according to this disclosure is applied. This is a block diagram showing the configuration of the first Doppler estimation device according to this disclosure. This is a flowchart of the first Doppler estimation method according to this disclosure. This is a block diagram showing the configuration of the second Doppler estimation device according to this disclosure. This is a flowchart of the second Doppler estimation method according to this disclosure. This is a block diagram showing the configuration of the third Doppler estimation device according to this disclosure. This is a flowchart of the third Doppler estimation method according to this disclosure. This is a block diagram showing the configuration of the fourth Doppler estimation device according to this disclosure. This is a flowchart of the fourth Doppler estimation method according to this disclosure. This is a diagram showing related Doppler estimation. This is a block diagram showing the configuration of the information processing device according to this disclosure.
[0017] (Examples of application of Doppler estimation in this disclosure) Figure 1 is a schematic diagram showing a situation in which the Doppler estimation device according to this disclosure is applied. As shown in Figure 1, the Doppler estimation of this disclosure can be used for Doppler estimation in underwater acoustic communications. However, the Doppler estimation of this disclosure can also be applied to carrier frequency correction in terrestrial wireless communications and satellite communications. For example, the Doppler estimation of this disclosure can be used for resource exploration or seabed topography surveys. Underwater acoustic communications are generally used for transmitting data such as moving images measured by the underwater drone 6 to the support vessel 5, and for transmitting instruction commands from the support vessel 5 to the underwater drone 6.
[0018] When the underwater drone 6 and the support vessel 5 move, Doppler occurs, degrading communication characteristics. Alternatively, the movement speed and transmission distance are limited in relation to the communication feasibility and error rate characteristics. Therefore, in order to make the survey more efficient, the support vessel 5 is equipped with a first Doppler estimation device 200, which allows for a large communication speed and transmission distance, as well as good communication quality and a low error rate.
[0019] (Explanation of Related Doppler Estimation) Figure 10 is a diagram showing related Doppler estimation. With reference to Figure 10, the related Doppler estimation will be explained. As shown in Figure 10, the frame of the received signal has Unique Word 1 (UW1) and Unique Word 2 (UW2) before and after the data. The data may be called the payload part. Also, UW1 may be called the preamble part, and UW2 may be called the postamble part. The preamble part and the postamble part each have a signal of a known preamble sequence and a signal of a known postamble sequence in the receiving device.
[0020] The example shown in Figure 10 shows the case of only the direct wave. In this case, the Doppler shift can be estimated by the correlation timing difference method and the correlation phase difference method.
[0021] First, the correlation timing difference method will be explained. First, the correlation processing of UW1 is performed. Here, c １ is the correlation waveform, α is the Doppler compression rate, m is the time [sample], r ＲＦ is the received RF signal, s ｐ１ is the known (UW1) signal, s ｐ２ is the known (UW2) signal, N is the correlation length (number of UW1, 2 samples) [sample], f ｃ is the RF center frequency [Hz], T ｓａｍｐ is the sampling period [sec], m ｃｔ１ is the UW1 correlation peak time [sample], m ｃｔ２ is the UW2 correlation peak time [sample]. c １ Squaring c and taking the absolute value gives the correlation power.
[0022] Next, the UW1 correlation power peak time m ｃｔ１ is searched for.
[0023] Next, the correlation processing of UW2 is performed. c ２ is the correlation waveform. c ２ Squaring c and taking the absolute value gives the correlation power.
[0024] UW2 Correlation Power Peak Time m ｃｔ２ Explore.
[0025] The Doppler frequency is estimated from the timing difference. Here, α is the Doppler compression ratio, and m is time. ｃｔ１ is the UW1 correlation peak time [sample], and m ｃｔ２ This is the UW2 correlation peak time [sample], and N ｄａｔａ is the DATA length (number of DATA samples) [sample], N is the UW length (number of UW interval samples) [sample], and f ｓｙｍ is the symbol frequency, α ｅｓｔ is the estimated Doppler compression ratio, and Δfest1 is the frequency difference [Hz] of the estimated Doppler result.
[0026] Next, we will explain the correlation phase difference method. First, we perform correlation processing on UW1. c １ This is a correlation waveform. ２ The correlated power is obtained by squaring the given value and taking its absolute value.
[0027] Next, the UW1 correlated power peak time m ｃｔ１ Explore.
[0028] Next, we perform correlation processing on UW2. c ２ This is a correlation waveform. ２ The correlated power is obtained by squaring the given value and taking its absolute value.
[0029] Next, UW2 correlated power peak time m ｃｔ２ Explore.
[0030] Next, we calculate the correlation phase between UW1 and UW2.
[0031] Next, we estimate the Doppler frequencies of UW1 and UW2 from the phase difference. Here α ｅｓｔ２ This is the estimated result of the Doppler compression ratio, and Δf ｅｓｔ２This represents the frequency difference of the Doppler estimation results.
[0032] Here, the correlation timing difference method has limitations in frequency resolution due to the sampling frequency. Furthermore, when the Doppler difference between two known signal intervals is large, multi-frequency band correlation processing becomes necessary, increasing computational complexity and circuit size, and worsening estimation errors due to noise, etc.
[0033] On the other hand, the correlated phase difference method has a limited maximum estimated frequency range due to the time difference between the two known signal intervals, and estimation errors due to noise and other factors worsen.
[0034] Therefore, it is necessary to use the results of the correlated timing difference method and the correlated phase difference method in combination to expand the maximum estimated frequency range and improve the estimation error.
[0035] (Description of the First Doppler Estimation Method of this Disclosure) Figure 2 is a block diagram showing the configuration of the first Doppler estimation device according to this disclosure. Figure 3 is a flowchart of the first Doppler estimation method according to this disclosure. The first Doppler estimation method of this disclosure will be explained with reference to Figures 2 and 3.
[0036] As shown in Figure 2, the first Doppler estimation device 200 includes frame-synchronized Doppler estimation 201, Doppler estimation 202, averaging 203, and Doppler correction 204.
[0037] Frame synchronization / Doppler estimation 201 is a correlation timing difference method Doppler estimation α ｅｓｔ１ Therefore, Doppler estimation 202 is the correlation phase difference Doppler estimation α ｅｓｔ２ That is the case.
[0038] The averaged 203 is calculated using the following formula for Doppler estimation α ｅｓｔ To obtain.
[0039] The Doppler correction 204 corrects the signal using an averaged Doppler estimation. With the above configuration, an estimation device can be provided that estimates the Doppler frequency by appropriately using the correlated timing difference method and the correlated phase difference method. Furthermore, by estimating Doppler using different methods, the deterioration of estimation errors due to noise, etc., is improved.
[0040] The first Doppler estimation method is described below. As shown in Figure 3, first, Doppler estimation is performed using the correlation timing difference method and the correlation phase difference method (step S301). Next, the average is taken as the result of the Doppler estimation (step S302). The average of the Doppler estimation results of the correlation timing difference method and the Doppler estimation results of the correlation phase difference method is taken as the result of the Doppler estimation. After the Doppler estimation result is obtained, the process is terminated. With the above configuration, an estimation method can be provided that appropriately uses the correlation timing difference method and the correlation phase difference method to estimate the Doppler frequency.
[0041] (Explanation of the second Doppler estimation method of this disclosure) Figure 4 is a block diagram showing the configuration of the second Doppler estimation device according to this disclosure. Figure 5 is a flowchart of the second Doppler estimation method according to this disclosure. The second Doppler estimation method of this disclosure will be explained with reference to Figures 4 and 5.
[0042] As shown in Figure 4, the second Doppler estimation device 400 includes a frame-synchronized Doppler estimation 201, a Doppler estimation 202, a usage selection 401, and a Doppler correction 402.
[0043] Frame synchronization / Doppler estimation 201 is a correlation timing difference method Doppler estimation α ｅｓｔ１ Therefore, Doppler estimation 202 is the correlation phase difference Doppler estimation α ｅｓｔ２ That is the case.
[0044] The selection method 401 selects between the correlation timing difference method for multiple frequency bands and the correlation phase difference method for one frequency band based on the results of the correlation timing difference method for multiple frequency bands. Specifically, when the result of the Doppler estimation of the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation of the correlation phase method, the selection method 401 selects the correlation timing difference method result α ｅｓｔ１ Doppler estimation result α ｅｓｔ This is the case. Furthermore, the selection 401 is determined when the result of the correlation timing difference method Doppler estimation is not greater than the maximum estimated frequency of the correlation phase difference method Doppler estimation α. ｅｓｔ２ Doppler estimation α ｅｓｔ Let's assume that.
[0045] The Doppler correction 402 corrects the signal using the selected Doppler estimation. With the above configuration, an estimation device can be provided that estimates the Doppler frequency by appropriately using the correlated timing difference method and the correlated phase difference method. In particular, the correlated timing difference method can widen the maximum estimated frequency range while the correlated phase difference method can improve the estimation accuracy.
[0046] A second Doppler estimation method will be explained. As shown in Figure 5, first, Doppler estimation is performed using the correlation timing difference method and the correlation phase difference method (step S501). Next, it is determined whether or not the result is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method (step S502). It is determined whether or not the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method.
[0047] If the Doppler frequency is greater than the maximum estimated frequency of the correlation phase difference method (if the answer is YES in step S502), the result of the Doppler estimation using the correlation timing difference method is taken as the Doppler estimation result (step S503). If the Doppler frequency is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method (if the answer is NO in step S502), the result of the Doppler estimation using the correlation phase difference method is taken as the Doppler estimation result (step S504). The post-processing after obtaining the Doppler estimation result is terminated. With the above configuration, an estimation method can be provided that appropriately uses the correlation timing difference method and the correlation phase difference method to estimate the Doppler frequency.
[0048] (Explanation of the Third Doppler Estimation Method of this Disclosure) Figure 6 is a block diagram showing the configuration of the third Doppler estimation device according to this disclosure. Figure 7 is a flowchart of the third Doppler estimation method according to this disclosure. The third Doppler estimation method of this disclosure will be explained with reference to Figures 6 and 7.
[0049] As shown in Figure 6, the third Doppler estimation device 600 includes a frame synchronization / Doppler estimation 201, a Doppler estimation 202, an averaging / utilization selection 601, and a Doppler correction 602.
[0050] Frame synchronization / Doppler estimation 201 is a correlation timing difference method Doppler estimation α ｅｓｔ１Therefore, Doppler estimation 202 is the correlation phase difference Doppler estimation α ｅｓｔ２ That is the case.
[0051] The averaging and selection 501 selects whether to use the correlation timing difference method for multiple frequency bands or the correlation phase difference method for one frequency band, based on the results of the correlation timing difference method for multiple frequency bands. The averaging and selection 601, when the result of the Doppler estimation of the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation of the correlation phase difference method, selects the result of the Doppler estimation of the correlation timing difference method α ｅｓｔ１ The result of Doppler estimation is α ｅｓｔ Furthermore, when the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method α ｅｓｔ１ and the result of the Doppler estimation using the correlation phase difference method α ｅｓｔ２ The average of the results of Doppler estimation is α ｅｓｔ Let's assume that.
[0052] The Doppler correction 602 corrects the signal using the averaged and selected Doppler estimate. With the above configuration, an estimation device can be provided that estimates the Doppler frequency by appropriately using the correlated timing difference method and the correlated phase difference method. In particular, the maximum estimated frequency can be broadened with the correlated timing difference method while the estimation accuracy can be improved with the correlated phase difference method and the correlated timing difference method.
[0053] A third Doppler estimation method will now be explained. As shown in Figure 7, first, Doppler estimation is performed using the correlation timing difference method and the correlation phase difference method (step S701). Next, it is determined whether or not the result is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method (step S702). It is then determined whether or not the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method.
[0054] If the Doppler frequency is greater than the maximum estimated frequency of the correlation phase difference method (if the answer is YES in step S702), the result of the Doppler estimation using the correlation timing difference method is taken as the Doppler estimation result (step S703). If the Doppler frequency is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method (if the answer is NO in step S702), the result of the Doppler estimation using the correlation phase difference method and the result of the Doppler estimation using the correlation phase difference method are taken as the Doppler estimation result (step S704). The post-processing after obtaining the Doppler estimation result is terminated. With the above configuration, an estimation method can be provided that appropriately uses the correlation timing difference method and the correlation phase difference method to estimate the Doppler frequency.
[0055] (Explanation of the fourth Doppler estimation method of this disclosure) Figure 8 is a block diagram showing the configuration of the fourth Doppler estimation device according to this disclosure. Figure 9 is a flowchart of the fourth Doppler estimation method according to this disclosure. The fourth Doppler estimation method of this disclosure will be explained with reference to Figures 8 and 9.
[0056] As shown in Figure 8, the fourth Doppler estimation device 800 includes a Doppler estimation 201 and a Doppler estimation 202, and burst-in-Doppler correction 801 and burst-in-Doppler correction 802.
[0057] Doppler estimation 201 is a correlation timing difference Doppler estimation α ｅｓｔ１ This involves rough estimation using a correlation timing difference method across multiple frequency bands. The Doppler amount is reduced to within the estimation range of the correlation phase difference method. In other words, the Doppler frequency is reduced using the correlation timing difference method to a single frequency band or other Doppler frequency that can be estimated using the correlation phase difference method.
[0058] The Doppler correction 801 within the burst is performed using the Doppler estimation 201.
[0059] Doppler estimation 202 is a correlation phase difference Doppler estimation α ｅｓｔ２ The Doppler estimation 202 is performed using a single-frequency-band correlation phase difference method with the Doppler-corrected result from the burst-in-Doppler correction 801. In this way, the amount of Doppler can be further reduced during Doppler estimation.
[0060] The burst Doppler correction 802 is performed using the Doppler estimation 202. With the above configuration, an estimation device can be provided that estimates the Doppler frequency by appropriately using the correlated timing difference method and the correlated phase difference method. Furthermore, the estimation accuracy can be improved while widening the maximum estimated frequency.
[0061] A fourth Doppler estimation method is described. As shown in Figure 9, first, Doppler estimation and correction are performed using the correlation timing difference method across multiple frequency bands (step S901). This reduces the amount of Doppler. Furthermore, Doppler estimation and correction are performed using the correlation phase difference method across one frequency band (step S902). This further reduces the amount of Doppler.
[0062] The above configuration provides an estimation method for estimating the Doppler frequency by appropriately using the correlated timing difference method and the correlated phase difference method.
[0063] (Precautions for Doppler processing using correlation timing difference method and correlation phase difference method) The following are precautions for Doppler processing using correlation timing difference method and correlation phase difference method. First, in the correlation processing of UW1, if the correlation peak time deviates from the initial Doppler estimation, the correlation peak time in the time direction should also be considered from the initial estimation m ｃｔ１ Search again within a range of approximately ±[symbol] from the starting point.
[0064] Furthermore, in the correlation processing of UW2, Doppler initial estimation or c ２ Correlation peak time m ｃｔ１ UW2 correlation processing is performed around the UW2 reception time, which is within a time range that takes into account the assumed Doppler stretching and compression, centered on the ideal time.
[0065] Also, the UW2 correlation peak time m ｃｔ２ In the step of searching for a correlation, if the correlation power is below a set threshold, it may be necessary to perform processing such as not applying Doppler correction.
[0066] The above estimation device may be composed of an information processing device. As shown in Figure 11, the information processing device 1100 includes a processor 1101 that executes and processes a program and a memory 1102 that stores the program. The information processing device 1100 may consist of one device or multiple devices. The information processing device 1100 may also be a cloud server that processes some or all of its functions in a distributed manner.
[0067] Some or all of the processing in the first Doppler estimation device 200, the second Doppler estimation device 400, the third Doppler estimation device 600, the fourth Doppler estimation device 800, or the information processing device 1100 described above can be implemented as a computer program. Such a program can be stored and supplied to a computer using various types of non-temporary computer-readable media. Non-temporary computer-readable media include various types of tangible recording media. Examples of non-temporary computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memory (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). Programs may also be supplied to a computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can supply programs to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.
[0068] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure can be made as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.
[0069] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments, rather than being associated with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps described in any of the drawings may be changed as appropriate.
[0070] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) An estimation device that performs Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and takes the average of the results of the Doppler estimation using the correlation timing difference method and the results of the Doppler estimation using the correlation phase difference method as the result of the Doppler estimation. (Note 2) An estimation device that performs Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and takes the result of the Doppler estimation using the correlation timing difference method as the result of the Doppler estimation when the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, and takes the result of the Doppler estimation using the correlation phase difference method as the result of the Doppler estimation when the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method. (Note 3) An estimation device that performs Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and when the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method is taken as the Doppler estimation result, and when the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the average of the result of the Doppler estimation using the correlation timing difference method and the result of the Doppler estimation using the correlation phase difference method is taken as the Doppler estimation result. (Note 4) An estimation device that performs Doppler estimation using the correlation timing difference method in multiple frequency bands, reduces the amount of Doppler to the estimation range of the correlation phase difference method, performs Doppler estimation using the correlation phase difference method in one frequency band, and further reduces the amount of Doppler for Doppler estimation. (Note 5) An estimation device according to any one of Notes 1 to 4, wherein a support vessel for an underwater drone uses the estimation device. (Note 6) The estimation device is the estimation device described in any one of Notes 1 to 4, used for Doppler estimation in underwater acoustic communications. (Note 7) The estimation device is the estimation device described in any one of Notes 1 to 4, used for carrier frequency correction in terrestrial wireless communications and satellite communications.(Note 8) An estimation method which involves performing Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and taking the average of the results of the Doppler estimation using the correlation timing difference method and the results of the Doppler estimation using the correlation phase difference method as the result of the Doppler estimation. (Note 9) An estimation method which involves performing Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and when the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method is taken as the result of the Doppler estimation, and when the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation phase difference method is taken as the result of the Doppler estimation. (Note 10) An estimation method comprising performing Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, wherein if the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method is taken as the Doppler estimation result, and if the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the average of the result of the Doppler estimation using the correlation timing difference method and the result of the Doppler estimation using the correlation phase difference method is taken as the Doppler estimation result. (Note 11) An estimation method comprising performing Doppler estimation using the correlation timing difference method in multiple frequency bands to reduce the amount of Doppler to within the estimation range of the correlation phase difference method, performing Doppler estimation using the correlation phase difference method in one frequency band to further reduce the amount of Doppler and perform Doppler estimation. (Note 12) A program that causes an information processing device to perform Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and to take the average of the results of the Doppler estimation using the correlation timing difference method and the Doppler estimation using the correlation phase difference method as the result of the Doppler estimation.(Note 13) A program that causes an information processing device to perform Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and if the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method is used as the result of the Doppler estimation, and if the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation phase difference method is used as the result of the Doppler estimation. (Note 14) A program that causes the information processing device to perform Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and if the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method is taken as the Doppler estimation result, and if the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the average of the result of the Doppler estimation using the correlation timing difference method and the result of the Doppler estimation using the correlation phase difference method is taken as the Doppler estimation result. (Note 15) A program that causes the information processing device to perform Doppler estimation using the correlation timing difference method in multiple frequency bands, reduce the amount of Doppler to within the estimation range of the correlation phase difference method, perform Doppler estimation using the correlation phase difference method in one frequency band, and perform Doppler estimation to further reduce the amount of Doppler.
[0071] Some or all of the elements (e.g., configurations and functions) described in Appendices 5 to 7 that are dependent on Appendices 1 to 4 {e.g., devices} may also be dependent on Appendices 8 to 11 {e.g., methods} and Appendices 12 to 15 {e.g., programs} in the same way as in Appendices 5 to 7. Some or all of the elements described in any appendice may be applied to various hardware, software, recording means, systems, and methods for recording software.
[0072] Some or all of the elements described in any appendix may apply to various hardware, software, recording means, systems, and methods for recording software.
[0073] This application claims priority based on Japanese Patent Application No. 2024-159906, filed on 17 September 2024, and incorporates all of its disclosures herein.
[0074] 5 Support vessel, 6 Underwater drone, 200 First Doppler estimation device, 201 Frame synchronization / Doppler estimation, 202 Doppler estimation, 203 Averaging, 204 Doppler correction, 400 Second Doppler estimation device, 401 Selection of use, 402 Doppler correction, 600 Third Doppler estimation device, 601 Averaging / Selection of use, 602 Doppler correction, 800 Fourth Doppler estimation device, 801 In-burst Doppler correction, 802 In-burst Doppler correction, 1100 Information processing device, 1101 Processor, 1102 Memory
Claims
1. An estimation device that performs Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and takes the average of the results of the Doppler estimation using the correlation timing difference method and the Doppler estimation using the correlation phase difference method as the result of the Doppler estimation.
2. An estimation device that performs Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and when the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method is taken as the Doppler estimation result, and when the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation phase difference method is taken as the Doppler estimation result.
3. An estimation device that performs Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and when the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method is taken as the Doppler estimation result, and when the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the average of the result of the Doppler estimation using the correlation timing difference method and the result of the Doppler estimation using the correlation phase difference method is taken as the Doppler estimation result.
4. An estimation device that performs Doppler estimation using the correlation timing difference method across multiple frequency bands, reduces the amount of Doppler to within the estimation range of the correlation phase difference method, and then performs Doppler estimation using the correlation phase difference method across a single frequency band, further reducing the amount of Doppler.
5. The estimation device according to any one of claims 1 to 4, wherein a support vessel for an underwater drone uses the estimation device.
6. The estimation device according to any one of claims 1 to 4, which is used for Doppler estimation in underwater acoustic communication.
7. The estimation device according to any one of claims 1 to 4, which is used for carrier frequency correction of terrestrial wireless communication and satellite communication.
8. An estimation method that performs Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and takes the average of the results of the Doppler estimation using the correlation timing difference method and the Doppler estimation using the correlation phase difference method as the result of the Doppler estimation.
9. An estimation method comprising performing Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, wherein if the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method is taken as the Doppler estimation result, and if the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation phase difference method is taken as the Doppler estimation result.
10. An estimation method comprising: performing Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method; if the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method is taken as the Doppler estimation result; and if the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the average of the result of the Doppler estimation using the correlation timing difference method and the result of the Doppler estimation using the correlation phase difference method is taken as the Doppler estimation result.
11. An estimation method that performs Doppler estimation using the correlation timing difference method across multiple frequency bands, reduces the amount of Doppler to within the estimation range of the correlation phase difference method, and then performs Doppler estimation using the correlation phase difference method across one frequency band to further reduce the amount of Doppler.
12. The estimation method according to any one of claims 8 to 11, wherein a support vessel for an underwater drone uses the estimation method.
13. The estimation method according to any one of claims 8 to 11, which is used for Doppler estimation in underwater acoustic communication.
14. The estimation method according to any one of claims 8 to 11, which is used for carrier frequency correction of terrestrial wireless communication and satellite communication.
15. A program that causes an information processing device to perform Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and to take the average of the results of the Doppler estimation using the correlation timing difference method and the Doppler estimation using the correlation phase difference method as the result of the Doppler estimation.
16. A program that causes an information processing device to perform Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and if the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, then the result of the Doppler estimation using the correlation timing difference method is used as the Doppler estimation result, and if the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, then the result of the Doppler estimation using the correlation phase difference method is used as the Doppler estimation result.
17. A program that causes an information processing device to perform Doppler estimation using the correlation timing difference method and Doppler estimation using the correlation phase difference method, and if the result of the Doppler estimation using the correlation timing difference method is greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the result of the Doppler estimation using the correlation timing difference method is taken as the Doppler estimation result, and if the result of the Doppler estimation using the correlation timing difference method is not greater than the maximum estimated frequency of the Doppler estimation using the correlation phase difference method, the average of the result of the Doppler estimation using the correlation timing difference method and the result of the Doppler estimation using the correlation phase difference method is taken as the Doppler estimation result.
18. A program that instructs an information processing device to perform Doppler estimation using the correlation timing difference method across multiple frequency bands, reduce the amount of Doppler to within the estimation range of the correlation phase difference method, and then perform Doppler estimation using the correlation phase difference method across one frequency band to further reduce the amount of Doppler.
19. The program according to any one of claims 15 to 18, wherein a support vessel for an underwater drone uses the information processing device.
20. The information processing device is a program according to any one of claims 15 to 18, used for Doppler estimation in underwater acoustic communication.
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