104 results about "Satellite motion" patented technology

The invention provides a channel modeling method and device suitable for satellite-ground communication, and the method comprises the steps: generating a satellite motion track, and setting ground environment parameters and simulation parameters; converting the satellite motion trail from a global coordinate system to a local coordinate system; acquiring a satellite position from the converted satellite motion trail, and performing ray tracing calculation based on plane wave hypothesis to obtain all effective ray paths between the satellite position and the position of a ground receiver; for each effective ray path, calculating large-scale fading caused by a meteorological environment and small-scale fading caused by ground end multipath propagation and multi-end movement; and a channel model is generated by combining large-scale fading and small-scale fading. According to the method, large-scale fading caused by the meteorological environment is modeled, the influence of meteorological attenuation on the multipath receiving power is considered, small-scale fading caused by multipath propagation and multi-end movement at the ground end is modeled, and the modeling accuracy is improved.

The invention discloses a multi-satellite service converged communication management control optimization method, which belongs to the technical field of satellite communication networks, and comprises the following steps: acquiring a service priority index and satellite ephemeris data, calculating the relative position between a satellite and a terminal at a future moment, and generating a satellite motion trail prediction result and an interference risk prediction result; and obtaining a load state of the satellite, dynamically calculating a resource allocation weight matrix to switch a satellite link in combination with a service priority index, a satellite motion track prediction result and an interference risk prediction result, and generating a resource allocation instruction and a switching command. According to the method, the resource allocation weight matrix is dynamically calculated by adopting the fusion service priority index, the satellite motion and interference prediction and the satellite load state, and link switching and resource allocation are performed according to the resource allocation weight matrix, so that prospective optimization management and intelligent control of multi-satellite communication resources can be realized, and the continuity and reliability of service fusion communication are improved.

The invention discloses a satellite group collaborative prediction method based on Lie group differential manifold and covariant optimization, and mainly solves the problems of inaccurate disturbance modeling, poor physical interpretation and large prediction error in the prior art. According to the scheme, the method comprises the following steps: mapping the position and attitude of a satellite to an SE (3) manifold, and describing the movement speed of the satellite by using Lie algebra; establishing a multi-level Lie algebra disturbance decomposition mechanism including absolute perturbation, relative coupling and observation noise; constructing a Riemannian loss function by using the orbit state after Lie group manifold embedding and the orbit state deviation obtained by disturbance decomposition; defining an orbital state updating rule by using a covariant derivative of the function, and iteratively solving the orbital state updating rule on the SE (3) manifold to output an orbital state prediction result of the satellite; for an abnormal state of inter-satellite link interruption, a differential geometric connection form is defined, and virtual relative position observation of an integral generation orbit state is carried out. According to the method, the physical interpretability and long-term prediction stability of orbit prediction can be improved, prediction errors are reduced, and the method can be used for low orbit communication constellation deployment of frequency band inter-satellite links.

A GNSS receiver, a method of estimating position, and an associated computer program are provided. An example method includes calculating a first (full) position solution based on pseudorange measurements made at a first time. One or more position updates are then calculated based on the first position solution, using delta carrier range measurements which compare first carrier range measurements, made at the first time, with second carrier range measurements, made at a second time. When calculating the one or more position updates, the delta carrier range measurements may be corrected to compensate for satellite motion between the first time and the second time. Corrections may also be made to compensate for changes in ionospheric delay.

The invention provides a low-orbit satellite ground terminal air interface performance test method and device, and the method comprises the steps: calculating satellite position data observed by a to-be-tested ground terminal at different moments according to a preset ground terminal position and low-orbit communication satellite ephemeris data, and generating a visible satellite motion track of the ground terminal position; selecting a preset number of track points on the visible satellite motion track as test points, and importing satellite position data of the test points into a test system; when the measurement antenna moves to the first test point, satellite position data corresponding to the first test point is transmitted back to the ground terminal to be tested; the to-be-tested ground terminal generates wave beams according to the received satellite position data, connection is established, and the test system completes air interface wireless performance measurement of the first test point; all the test points are traversed through the processing process, air interface wireless performance measurement of the ground terminal to be tested is completed, and air interface wireless performance measurement results corresponding to all the test points are obtained.

The invention relates to the technical field of satellite communication, in particular to a dynamic beam adjustment system for medium and low orbit satellite communication. Comprising a beam demand sensing unit; the dynamic beam calculation unit counteracts the influence of a complex environment on beam coverage through a multi-factor cooperative compensation mechanism; the beam execution adjustment unit is used for realizing beam accurate pointing and interference suppression through an adaptive phase optimization algorithm; and a satellite-ground cooperation unit. Through a multi-factor cooperative compensation mechanism, a beam theory pointing angle is calculated based on a spherical geometrical relationship, compensation amounts are determined by combining satellite motion, user movement and atmospheric refraction, and a communication scene is determined according to a satellite elevation angle, a user terminal motion speed and a communication link signal-to-noise ratio. The weight of each compensation amount is dynamically adjusted and synthesized into the total compensation amount, and finally the actual beam pointing angle is obtained, so that the coupling influence of multiple factors on beam coverage in a complex environment is effectively counteracted, and the beam pointing precision is improved.

The invention relates to an uplink and downlink time-frequency offset joint estimation compensation method, which comprises the following steps of: receiving ephemeris broadcasted by a satellite, and acquiring self position information; extrapolating the satellite position and speed at the downlink signal receiving moment according to the ephemeris, and calculating downlink frequency offset caused by satellite motion by combining the own position information; estimating downlink residual frequency offset and downlink sampling offset brought by the crystal oscillator according to the reference signal; calculating a frequency offset compensation value for the downlink signal according to the downlink frequency offset brought by the satellite motion and the downlink residual frequency offset brought by the crystal oscillator; and adjusting a received time domain signal by using the frequency offset compensation value of the downlink signal, and adjusting a received frequency domain signal by using the downlink sampling offset. According to the invention, the pre-compensation precision of the uplink frequency offset can be improved, and the estimation compensation of the downlink frequency offset and the sampling offset can be realized with lower complexity.

A time offset measurement method suitable for Non-Terrestrial Network includes: listening to the first downlink signal and the second downlink signal through the user device to obtain the first reception time and the second reception time; using the known interval time as the unit time length to calculate multiple satellite distance difference values corresponding to multiple unit time lengths through a satellite distance function, obtaining multiple satellite movement time variations through dividing multiple satellite distance difference values by the electromagnetic wave propagation speed, generating a satellite movement function based on each sampling time and each of the satellite movement time variations corresponding to each sampling time; setting the reception time difference to calculate the corresponding sampling time through the satellite movement function as the downlink signal reception time; and obtaining the current distance between the user device and the satellite at the second reception time according to the ephemeris data.

The invention provides a communication method and a communication device for a wireless access network and a core network, and the method comprises the steps that terminal equipment can determine a first reference point list, the first reference point list comprises a plurality of points where beams are projected to the ground, and a second beam is determined based on the first reference point list and the motion direction of a first satellite. When the access beam is selected, the movement direction of the first satellite is considered, so that the problem of beam switching in the access process caused by satellite movement can be avoided, a broadcast beam with the largest beam coverage range in the movement direction is selected based on the reference points in the first reference point list, and smooth access is ensured.

The invention relates to an active service migration method and system for a space-based computing power network. The active service migration method applied to a first satellite comprises the following steps: actively generating a corresponding service migration task; selecting a target selectable satellite from all computing power satellites capable of performing data processing in the acquired space-based computing power network based on a satellite motion rule, a target service area and a target service resource demand; selecting a second satellite from the target selectable satellites according to a satellite selection condition; and sending a service migration request corresponding to the service migration task to a second satellite, and sending the target service request and a latest calculation result obtained by the first satellite in response to the target service request to the second satellite, so that the second satellite continues to execute the target service request. According to the invention, active service migration of satellites can be realized, dependence on ground control is avoided, and when subsequent service satellites are determined, search space is reduced by considering a satellite motion rule, and search overhead is reduced.

The invention discloses a GNSS occultation open-loop forecasting method based on a cubic spline interpolation algorithm, and relates to the field of occultation open-loop forecasting. The method comprises the following steps: judging whether a current navigational star is atmospheric occultation or not through an occultation event forecasting algorithm; acquiring position and speed information of atmospheric occultation and a low earth orbit; carrying out occultation forecast calculation on atmospheric occultation by adopting an atmospheric model to obtain model Doppler caused by satellite motion and model pseudo-range caused by neutral atmosphere; the method comprises the following steps: caching n-second model Doppler, model pseudo-range and open-loop forecast time of occultation in a 1HZ task, and obtaining interpolation parameters of the model Doppler and the model pseudo-range by using cubic spline interpolation; through the interpolation parameters, carrying out interpolation to obtain a 100HZ model Doppler and a 100HZ model pseudo-range; through the model pseudo-range, signal emission time is obtained through calculation; through signal emission time of a 100HZ task period, a signal emission time deviation value is obtained through calculation and converted into a hardware adjustment count, and the hardware adjustment count is transmitted into FGPA adjustment so as to carry out open-loop tracking of atmospheric occultation.

The invention provides an indoor GPS positioning method and system. The method comprises the following steps: determining a difference value of propagation distances of two adjacent time points based on a GPS receiving end; calculating a satellite motion direction vector based on the satellite height and the trajectory vectors of the two adjacent time points of the satellite; calculating an indoor vector based on the difference value of the propagation distances of the two adjacent time points, the satellite motion direction vector and the difference value of the direct distances between the GPS receiving end and the satellite at the two adjacent time points, wherein the indoor vector corresponds to a propagation vector from the repeater to the GPS receiving end; and positioning the position of the GPS receiving end based on the propagation vector. According to the scheme, modeling is carried out on calculation of the indoor vector in advance, estimation of the indoor vector is completed through the difference value of two adjacent measurements in time, and the indoor vector can be determined and indoor positioning can be completed on the premise that the position of the repeater is not determined in advance.

The invention provides a large-scale low-orbit constellation topology construction method and system based on the reliable reachable distance of an optical transceiver and a storage medium, and the method comprises the steps: 1, building an inter-satellite laser link probability evaluation model based on the capturing probability of an aiming-capturing-tracking system and the motion characteristics of satellites; 2, on the basis of the inter-satellite laser link probability evaluation model, constructing a giant satellite network topology evaluation model with inter-satellite link time average stability, satellite hop count and communication time delay as core optimization targets, and outputting a globally optimized laser link connection scheme; and 3, for a laser link connection scheme, proposing a giant constellation network topology design algorithm based on a capture probability, and constructing a constellation topology by adopting a minimum unit of a space symmetric constellation. The method has the beneficial effects that the constellation topology is constructed by adopting the minimum unit of the space symmetric constellation, so that the topological structure is stabilized, the channel gain is improved, the end-to-end delay is shortened, and the average hop count and the variance of the network are reduced.

The invention provides a GNSS simulator mathematical simulation system. The GNSS simulator mathematical simulation system comprises a constellation satellite orbit and clock parameter simulation subsystem, a navigation message generation subsystem, a user track simulation subsystem, an integrity simulation subsystem, a space environment effect simulation subsystem and a simulation data generation subsystem which carry out data interaction. The constellation satellite orbit and clock parameter simulation subsystem is composed of a space-time system model, an auxiliary database, satellite theoretical orbit data and satellite clock theoretical parameters. Wherein a time system model and a coordinate system model are built in the space-time system model, and astronomical constants and environmental parameter values in constellation satellite orbit and clock parameter simulation are built in the auxiliary database; a gravitational acceleration is calculated according to input initial time, initial position speed, integral time and model selection control parameter data of theoretical orbit data of satellites, and then numerical integral operation is performed on the gravitational acceleration by using a satellite shot motion equation to obtain a constellation satellite motion orbit.

The invention discloses a low-orbit satellite Internet of Things terminal baseband communication system, and relates to the technical field of Internet of Things communication. The system comprises a data frame construction unit, a channel regulation and control unit, a bandwidth tracking unit and a decoding correction unit, wherein the data frame construction unit generates an initial frame according to an Internet of Things protocol and dynamically adjusts a frame structure in combination with channel characteristic parameters to complete data packing; and the channel regulation and control unit judges a coding modulation mode according to real-time channel quality and satellite motion parameters, processes a transmitting link, dynamically adjusts the transmitting power of the high-frequency analog signal based on path loss estimation, and finally transmits the high-frequency analog signal through an antenna. At a receiving end, a bandwidth tracking unit adaptively adjusts the loop bandwidth according to the switching characteristic parameter, and dynamically filters the received signal; and the decoding correction unit performs adaptive early stop correction of iterative decoding according to the decoding convergence rate, and finally completes data analysis.

The invention belongs to the technical field of spaceborne distributed radars, and discloses a network optimization method for spaceborne distributed radar multi-node synchronous link construction. The method comprises the steps of establishing a distributed multi-satellite system, performing phase synchronization and improving network stability. Aiming at the problems that the number of distributed radar nodes is large and phase synchronization is needed in cooperative work, in the prior art, on one hand, the more complex the network structure is, the longer the link is, the more synchronization error accumulation is; and on the other hand, when the satellite moves, the positions of the nodes can be changed, or when a certain node is unstable, the whole network can be paralyzed. Compared with the prior art, by dynamically evaluating the signal-to-noise ratio and the mutual shielding condition of multiple satellites, the system can adapt to environmental changes, the connection between radar points is optimized, the radar network is more effectively constructed, and the performance of the network is improved.

The invention relates to a mechanical arm system planning control method, in particular to a mechanical arm system planning control method for simulating satellite rolling motion. The invention aims to solve the problems that the motion state of a failure satellite is difficult to accurately simulate and the simulatable motion range is small in the prior art. The method comprises the following steps: setting pose parameters of a mass center coordinate system of a failed satellite relative to a capture surface coordinate system of the failed satellite; the inertia of the main inertia axis of the failure satellite and the initial angular velocity of the relative centroid coordinate system are set; 3, obtaining a pose matrix of the motion of the failed satellite according to the angular velocity integration of the failed satellite relative to the centroid coordinate system; 4, an expected pose matrix of the mechanical arm is obtained through calculation; and step 5, generating a driving torque required by an expected joint angle qd of the servo mechanical arm by a mechanical arm joint controller, driving the mechanical arm to move, and realizing simulation of tumbling motion of the failed satellite. The invention belongs to the technical field of spaceflight ground simulation experiments.

A method for planning a drift-and-survey mission for a geostationary orbit space target monitoring and imaging satellite is disclosed. The initial time and corresponding initial position of the observation satellite's roving mission are determined based on requirements, as well as the approach observation time and corresponding approach observation position. At the first maneuver time, the observation satellite moves to the first maneuver position, and a first velocity increment is applied to the initial velocity vector at this point, causing the observation satellite to maneuver tangentially along the orbit to obtain the velocity vector after the first maneuver. At the second maneuver time, the observation satellite moves to the second maneuver position, and a second velocity increment is applied to the initial velocity vector at this point, causing the observation satellite to maneuver tangentially along the orbit to obtain the velocity vector after the second maneuver. At the approach observation time, the observation satellite is at the approach observation position and observes the target satellite under front lighting conditions using the observation vector. This invention can improve roving efficiency and flexibility, realize drift-and-survey observation of targets on different surfaces, save propellant, and improve satellite performance.

The application discloses a kind of distributed multi-curved surface array full airspace beam continuous control methods, comprising: setting satellite TT&C relay trigger event, trigger according to including satellite and TT&C station uplink and downlink state monitoring, orbit control instruction and pre-configured trigger instruction of switching condition;With satellite TT&C relay as the control core of random access node, utilize curved surface array tracking receiver state parameters and the partial satellite orbit information cached, based on TT&C relay trigger event, adaptively trigger curved surface array inter-beam switching process, ensure the continuous tracking of curved surface array to satellite.The present application can realize low-latency and low TT&C resource overhead distributed multi-curved surface array full airspace beam continuous control, support the low-latency TT&C relay demand of satellite in future large-scale constellation, realize on-demand switching without pre-planning, real-time capacity optimization, improve the adaptability to station network resources and the dynamic change of satellite motion state.

The application discloses a kind of laser warning device passive sensing space non-cooperative target state calculation methods, first establish the relative motion state model of our satellite and enemy satellite and laser warning device observation model, then obtain observation angle information, according to the initial relative state quantity and initial relative state quantity error estimation value of our spacecraft and enemy satellite according to observation angle information, according to the relative state information between our satellite and enemy satellite is obtained according to the relative motion state model of our satellite and enemy satellite, laser warning device observation model and initial relative state estimation value and its error estimation value, again the relative state information between our satellite and enemy satellite is filtered and estimated, finally the estimation value of target satellite motion information is obtained, the position and velocity information of enemy satellite can be high-precision estimation.

The invention provides a key bearer link determination method and device, equipment and a storage medium, and relates to the technical field of satellite communication, and the method comprises the steps: constructing a network topology of a satellite Internet at a current moment; for each node pair, based on nodes and edges in the network topology, determining a first non-coincident average path length when a source node and a destination node in the node pair are accessed to a satellite moving in the same direction at the current moment, and a second non-coincident average path length when the source node and the destination node are accessed to a satellite moving in the opposite direction at the current moment; determining a path length difference value based on the first non-coincident average path length and the second non-coincident average path length; based on the path length difference value corresponding to each node pair, a target key bearing link in the satellite internet is determined, and the target key bearing link is a satellite-ground link which is most influenced by the satellite motion direction. According to the invention, the accuracy of the determined key bearer link can be improved.

The embodiment of the present invention relates to the field of communications, and discloses a signal tracking method, device, receiver and storage medium to solve the problem of inaccurate signal tracking in a weak signal state. The method is applied to a GNSS signal receiver, which includes multiple tracking channels, each of which is used to receive GNSS signals from multiple satellites. The method includes: each tracking channel performs carrier stripping and pseudo code despreading on the GNSS signal according to a preset carrier frequency and pseudo code phase, and obtains parallel correlation results in the signal domain; maps the parallel correlation results in the signal domain of each tracking channel to the space domain, and accumulates the results of mapping all tracking channels to the space domain to obtain parallel correlation results in the space domain; obtains navigation results according to the parallel correlation results in the space domain; and generates feedback control signals for each tracking channel according to the navigation results and the satellite motion state obtained by pre-acquired ephemeris solution.

The invention discloses a same-frequency multi-target signal detection method for Doppler-code phase two-dimensional joint search, and relates to the field of spaceflight measurement and control. Through Doppler frequency shift generated by satellite motion and code phase deviation caused by signal propagation time delay difference, two-dimensional joint correlation calculation and incoherent accumulation are carried out at a receiving end to generate a global energy matrix, an adaptive threshold is calculated, strong signal side lobe interference is suppressed by defining a protection area, the weak signal detection probability is increased to 90% or above, and the detection accuracy is improved. Tracking channels are distributed according to an energy descending order, and the purpose of simultaneously and efficiently detecting multiple targets is achieved. The method is particularly suitable for same-frequency multi-target signal detection based on Doppler-code phase two-dimensional joint search in a low-orbit satellite constellation or a dense satellite network, and solves the problems of low spectrum utilization rate, complex pseudo code management and the like of the traditional frequency division / code division technology.

The invention discloses a visual multi-satellite orbit relative relation control method and device, equipment and a medium. The method comprises the steps that target satellite parameters are set; configuring configuration parameters by the prefabricated configuration library; acquiring approaching satellite parameters according to the target satellite parameters and the configuration parameters; and drawing and displaying relative movement track information of the two satellites in real time according to the parameters of the two satellites. According to the method, four types of eleven standardized orbit configuration libraries are constructed, a complex relative motion mathematical model is modularized, a user does not need to manually derive an orbit equation, a preset configuration parameter library can be directly called, and dynamic parameter adjustment functions (such as a semi-major axis, eccentricity, simulation time and the like) are combined; satellite motion forms meeting different task requirements (such as reconnaissance, accompanying flight and orbit avoidance) are rapidly generated, the efficiency is improved, and the efficient multi-form orbit control capability is achieved.

The invention relates to a multi-satellite stacking system. The multi-satellite stacking system comprises a rocket adapter and a plurality of satellites which are sequentially stacked on the rocket adapter and locked by a release device. The release device comprises a locking part and an ejection part, the locking part comprises a first locking piece and a second locking piece which are movably connected, the first locking piece and the second locking piece are tensioned by a releaser, the first locking piece is hinged to the rocket adapter, the top end of the second locking piece presses the end face of the topmost satellite, and after the releaser releases, the second locking piece moves towards the topmost satellite through a first elastic piece to be unlocked; the ejection part is movably connected with the rocket adapter and pre-presses the first locking piece through the second elastic piece, and after the second locking piece is unlocked, the ejection part ejects the first locking piece through the second elastic piece. The multi-satellite stacking system disclosed by the invention has very high engineering implementation value, the unlocking and ejection processes of the release device are precisely connected, the release clamping stagnation of the multi-layer satellites is avoided, the safety of satellite release is improved, and the multi-satellite stacking system has the advantages of high compression rigidity, light weight, high bearing capacity, reliable separation and the like.

The present invention proposes a GNSS simulator mathematical simulation system, which includes a constellation satellite orbit and clock parameter simulation subsystem, a navigation message generation subsystem, a user trajectory simulation subsystem, an integrity simulation subsystem, a space environment effect simulation subsystem and a simulation data generation subsystem for data interaction; the constellation satellite orbit and clock parameter simulation subsystem is composed of a space-time system model, an auxiliary database, satellite theoretical orbit data, and satellite clock theoretical parameters; the space-time system model has a built-in time system model and a coordinate system model, and the auxiliary database has built-in astronomical constants and environmental parameter values in the constellation satellite orbit and clock parameter simulation; the satellite theoretical orbit data calculates gravitational acceleration based on the input initial time, initial position velocity, integration time, and model selection control parameter data, and then uses the satellite motion equation to perform numerical integration operations on it to obtain the constellation satellite motion orbit.

The invention relates to a multi-radar synchronous satellite orbit determination resource scheduling method based on reinforcement learning, and the method comprises the following steps: (10) radar perception situation acquisition: a radar acquires a networking radar state and a satellite motion orbit based on historical information, and completes the parameter collection; (20) measuring and calculating a satellite observation geometric positioning precision factor by networking radars: detecting satellites in sequence based on different radar combinations, and calculating geometric positioning precision factors under different strategies; (30) resource scheduling scheme characterization and problem modeling: modeling a time sequence optimization problem based on detection capability constraints of multiple radars, and realizing high-precision target orbit determination; and (40) generating a multi-radar synchronous satellite orbit determination resource scheduling scheme: solving the time sequence optimization problem to obtain the multi-radar synchronous satellite orbit determination resource scheduling scheme, and issuing the scheme. According to the method, rapid solving can be realized, the GDOP maximum value of all targets in the whole scene is reduced, and the orbit determination precision is further improved.

A low-orbit remote sensing satellite three-axis rapid maneuvering attitude trajectory planning and tracking method relates to the technical field of aerospace, in particular to the technical field of low-orbit remote sensing satellite three-axis rapid maneuvering attitude trajectory planning and tracking, which effectively solves the balance problem of maneuverability and stability in the process of attitude transformation and improves the superiority of anti-interference capability. The method comprises the following steps: establishing a satellite kinematics model and a satellite dynamics model; calculating the quaternion of the desired coordinate system relative to the satellite initial coordinate system at the maneuvering starting moment; completing attitude trajectory planning through an improved tracking differentiator; calculating the total control rate; obtaining the real control rate through an actuator; calculating the quaternion of the satellite body coordinate system relative to the inertial coordinate system and the angular velocity of the satellite body coordinate system relative to the inertial coordinate system; obtaining the real body quaternion and the real body angular velocity through a measuring mechanism; and cyclically planning the trajectory and tracking.

This invention discloses a reinforcement learning-based method for optimizing the performance of FAS-assisted satellite-to-ground communication. In air-to-ground communication, when the direct path is blocked by obstacles, the signal is transmitted through a mixture of reflection from moving scatterers and the direct path. This invention describes the communication environment between the mobile transmitter and the ground user through geometric stochastic modeling, establishes a dynamic optimization framework based on FAS, couples satellite motion characteristics with adjustable FAS parameters to construct a three-dimensional channel model, designs an improved Memetic PPO reinforcement learning algorithm to dynamically optimize the FAS configuration set at the ground user in the discrete action space through a local search mechanism, and jointly optimizes channel capacity and modeling accuracy to generate the optimal strategy. This method reveals the nonlinear relationship between satellite motion and channel characteristics, significantly improves communication performance in complex obstruction environments, provides a new method for dynamic channel optimization of satellites, and has significant application value.

The application discloses a satellite-ground communication time offset and Doppler frequency offset pre-compensation device, which has high estimation accuracy and can complete wide-range time offset and frequency offset estimation and pre-compensation without acquiring satellite ephemeris information of a terminal. The application is realized by the following technical scheme: a DoA estimation unit estimates the arrival angle DoA of a satellite signal by using an array signal processing algorithm; the estimation unit estimates the arrival angle DoA of a satellite signal; the acquired satellite azimuth angle and elevation angle information is divided into two paths, one path is sent to a distance calculation unit, a time offset calculation unit and a time offset pre-compensation unit, the propagation time delay between the satellite and the terminal is calculated and time offset pre-compensation is performed; the other path is output to a velocity vector calculation unit, a Doppler frequency offset calculation unit, a Doppler ambiguity resolution unit and a frequency offset pre-compensation unit, the Doppler frequency offset caused by satellite movement is calculated and frequency offset pre-compensation is performed, the residual time offset and frequency offset are estimated, and the residual time offset and frequency offset are accurately adjusted.