CN115685205B - Low-delay target tracking method, device and system - Google Patents

Abstract

The invention provides a low-delay target tracking method, a low-delay target tracking device and a low-delay target tracking system, wherein the method comprises the following steps: periodically sending a linear frequency modulation signal to a mapping area within a first time length, and obtaining sensing data corresponding to the linear frequency modulation signal; modulating the perception data into communication data; within a second time period, sending the communication data to a ground terminal so that the ground terminal demodulates the communication data, acquiring an image of the mapping area within the first time period, and acquiring the latest position information of the target to be tracked; receiving uplink sensing data from the ground terminal to obtain the latest position information of the target to be tracked; and adjusting configuration information of the linear frequency modulation signals according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signals to the mapping area within the first time length and obtaining the sensing data corresponding to the linear frequency modulation signals. To achieve continuous target tracking with low latency.

Description

A low-latency target tracking method, device and system

technical field

The invention relates to the technical field of satellite communication, in particular to a low-latency target tracking method, device and system.

Background technique

In some applications, such as high-speed flying objects or unmanned aerial vehicles, the ground terminal needs to obtain the position information of the target continuously and with low latency. As a high-altitude platform, low-orbit satellites have more advantages in the perception of ground targets. Based on this, synthetic aperture radar imaging carried by low-orbit satellites is usually used to scan and image ground targets.

However, the low-orbit satellites send and receive communication signals and receive and receive sensing signals in close frequency bands, so the communication process and imaging sensing process of low-orbit satellites cannot be carried out at the same time. If the ground terminal wants to obtain sensing information, it usually requires at least two low-orbit satellites to work together. At least one of the two low-orbit satellites senses the ground target, and then transmits the sensing information to another low-orbit satellite. The low-orbit satellites process the sensing information and send it to the ground terminal. It can be seen that since the communication process and imaging perception process of low-orbit satellites cannot be carried out at the same time, there is a large delay in obtaining the perception information of the target by the ground terminal, and it is impossible to achieve low-latency target tracking.

Contents of the invention

The purpose of the present invention is to provide a low-latency target tracking method, device and system to solve the technical problems that ground terminals cannot track targets in real time with low delay.

According to an aspect of an embodiment of the present invention, a low-latency target tracking method is provided for low-orbit satellites, the method comprising:

During the first duration, periodically send a chirp signal to the surveying and mapping area, and obtain sensing data corresponding to the chirp signal, where the sensing data includes image data of the surveying and mapping area within the first duration;

modulating the sensing data into communication data;

In the second time period, sending the communication data to the ground terminal, so that the ground terminal demodulates the communication data, and obtains the surveying and mapping area within the first time period according to the demodulated communication data image, and obtain the latest position information of the target to be tracked according to the image;

receiving uplink sensing data from the ground terminal, and obtaining the latest position information of the target to be tracked from the uplink sensing data;

Adjusting the configuration information of the chirp signal according to the latest position information of the target to be tracked, and repeatedly performing the operations of periodically sending the chirp signal to the surveying area within the first time period and obtaining the sensing data corresponding to the chirp signal.

In some optional implementation manners, the periodic sending of the chirp signal to the surveying and mapping area includes:

Within the first duration, the chirp signal is sent to the surveying area according to the preset pulse repetition frequency PRF, and the configuration information of the chirp signal is based on the first position information of the target to be tracked in the surveying area get.

In some optional implementation manners, the modulation method for modulating the sensing data into communication data is any one of the following: orthogonal frequency division multiplexing (OFDM), code division multiple access modulation (CDMA), or multicarrier modulation.

In some optional implementation manners, the adjusting the configuration information of the chirp signal according to the latest position information of the target to be tracked includes:

obtaining a second chirp signal from the uplink sensing data;

Obtaining location information of the ground terminal within a second duration from the second chirp signal;

The configuration information of the chirp signal is adjusted according to the latest position information of the target to be tracked and the position information of the ground terminal.

According to another aspect of the embodiments of the present invention, a low-latency target tracking method is provided, which is applied to a ground terminal, and the method includes:

Receive communication data within the second time period, the communication data is obtained by periodically sending chirp signals to the surveying and mapping area from the low-orbit satellite within the first time period, and modulating sensing data corresponding to the chirp signals;

demodulating the communication data to obtain image data of the surveying and mapping area within the first duration;

Obtain an image of the surveying and mapping area within the first duration according to the image data;

Obtaining the latest position information of the target to be tracked from the images within the first duration;

Obtaining uplink sensing data through modulation according to the latest position information of the target to be tracked;

sending the uplink sensing data to the low-orbit satellite, so that the low-orbit satellite adjusts the configuration information of the chirp signal according to the latest position information of the target to be tracked, and repeatedly executes the periodic orientation within the first duration An operation of sending a chirp signal in the surveying area, and obtaining sensing data corresponding to the chirp signal.

In some optional implementation manners, the uplink sensing data obtained through modulation according to the latest position information of the target to be tracked includes:

The latest position information of the target to be tracked is modulated by using a target modulation mode to obtain the uplink sensing data, and the target modulation mode refers to a modulation mode used to obtain the communication data.

In some optional implementation manners, the uplink sensing data obtained through modulation according to the latest position information of the target to be tracked further includes:

generating a second chirp signal, the frequency and pulse width of the second chirp signal are identical to the frequency and pulse width of the chirp signal sent by the low-orbit satellite;

Carrying the latest position information of the target to be tracked in the second chirp signal through phase-shift keying PSK modulation;

Inserting a reference signal with a predefined phase into the second chirp signal containing the latest position information of the target to be tracked to obtain the uplink sensing data.

In some optional implementation manners, the second chirp signal further includes: a verification result, where the verification result is a result obtained by decoding and verifying the communication data by the ground terminal.

According to another aspect of the embodiments of the present invention, a low-latency target tracking device is provided for low-orbit satellites, the device comprising:

The first transceiver module periodically sends a chirp signal to the surveying and mapping area within a first time period, and obtains sensing data corresponding to the chirp signal, where the sensing data includes an image of the surveying and mapping area within the first time period data; within the second time period, sending the communication data to the ground terminal, so that the ground terminal demodulates the communication data, and obtains the mapping area in the first time period according to the demodulated communication data the image in the image, and obtain the latest position information of the target to be tracked according to the image; receive the uplink sensing data from the ground terminal;

a first modulation module, configured to modulate the sensing data into communication data;

A first demodulation module, configured to obtain the latest position information of the target to be tracked from the uplink sensing data;

The first processing module is configured to adjust the configuration information of the chirp signal according to the latest position information of the target to be tracked, and repeatedly execute, within the first time period, periodically sending the chirp signal to the surveying and mapping area, and obtaining the chirp signal The operation of the corresponding sensory data.

According to another aspect of the embodiments of the present invention, a low-latency target tracking device is provided for a ground terminal, and the device includes:

The second transceiver module receives communication data within the second duration, and the communication data is obtained by periodically sending chirp signals to the surveying and mapping area by the low-orbit satellite within the first duration, and modulating the sensing data corresponding to the chirp signals. sending the uplink sensing data to the low-orbit satellite, so that the low-orbit satellite adjusts the configuration information of the chirp signal according to the latest position information of the target to be tracked, and repeats the execution within the first duration, periodically sending a chirp signal to the surveying and mapping area, and obtaining sensing data corresponding to the chirp signal;

The second demodulation module demodulates the communication data to obtain the image data of the surveying and mapping area within the first duration;

The second processing module is configured to obtain the image of the surveying and mapping area within the first time period according to the image data; obtain the latest position information of the target to be tracked from the image within the first time period;

The second modulation module modulates according to the latest position information of the target to be tracked to obtain uplink sensing data.

According to another aspect of the embodiments of the present invention, a communication system is provided, including at least one low-orbit satellite and at least one ground terminal, and each low-orbit satellite in the at least one low-orbit satellite is used to implement claim 1- The method of any one of claims 4; the at least one ground terminal is configured to perform the method of claims 5-8.

According to another aspect of the embodiments of the present invention, there is provided a computer storage medium, wherein at least one executable instruction is stored in the storage medium, and when the executable instruction is executed, the computing device executes any one of claims 1-8. A low-latency target tracking method described above.

According to the solutions provided by the above-mentioned embodiments of the present invention, a low-latency target tracking method is provided for low-orbit satellites. The method includes: periodically sending a chirp signal to the surveying and mapping area within the first time period, and obtaining the obtained Sensing data corresponding to the chirp signal, the sensing data including the image data of the surveying and mapping area within the first duration; modulating the sensing data into communication data; and converting the communication data into the second duration sending to the ground terminal, so that the ground terminal demodulates the communication data, obtains an image of the surveying and mapping area within the first duration according to the demodulated communication data, and obtains a target to be tracked according to the image receiving the uplink sensing data from the ground terminal, and obtaining the latest position information of the target to be tracked from the uplink sensing data; adjusting the chirp signal according to the latest position information of the target to be tracked Configuring information, and repeatedly performing the operations of periodically sending a chirp signal to the surveying and mapping area within the first duration, and obtaining sensing data corresponding to the chirp signal.

Because the frequency band used by low-orbit satellite communication is close to the frequency band used by synthetic aperture radar imaging perception, for example, both can use Ka-band with phased antennas to receive and transmit signals, so the same beam can be low-orbit satellite communication signals The transmitting and receiving beams of the imaging perception can also be the transmitting and receiving beams of imaging perception. Based on this, the integration of communication and perception of low-orbit satellites can be realized. Through the solution provided by the embodiment of the present invention, it is possible to track the target in real time and adjust it in real time according to the latest position of the target or the ground terminal. It should be noted that the time lengths of the first duration and the second duration are very short. For Human perception is negligible, so it can be considered as low-latency real-time target tracking.

Description of drawings

FIG. 1A shows a flow chart of a low-latency target tracking method provided by an embodiment of the present invention;

FIG. 1B shows a flow chart of a specific low-latency target tracking method provided by an embodiment of the present invention;

Fig. 2 shows a schematic diagram of signals sent and received by one of the low-orbit satellites in a perception communication period provided by an embodiment of the present invention;

Fig. 3 shows a flowchart of a modulation method for modulating sensing data into communication data provided by an embodiment of the present invention;

FIG. 4 shows a flow chart of a low-latency target tracking method applied to a ground terminal provided by an embodiment of the present invention;

Fig. 5 shows a flow chart of one of the ground terminals demodulating communication data and then processing and modulating provided by the embodiment of the present invention;

Fig. 6 shows a schematic diagram of signals sent and received by one of the low-orbit satellites in a perception communication period provided by an embodiment of the present invention;

Fig. 7 shows a flowchart of one of the ground terminals demodulating communication data and then processing and modulating provided by the embodiment of the present invention;

Fig. 8 shows a schematic diagram of one kind of uplink sensing data provided by an embodiment of the present invention;

FIG. 9 shows a schematic diagram of one ground terminal imaging provided by an embodiment of the present invention;

FIG. 10 shows a schematic structural diagram of a low-latency target tracking device provided by an embodiment of the present invention;

Fig. 11 shows a schematic structural diagram of a low-latency target tracking device for a ground terminal provided by an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

FIG. 1A shows a flowchart of a low-latency target tracking method provided by an embodiment of the present invention. As shown in Figure 1A, the method includes the following steps:

Step 11, within a first duration, periodically send a chirp signal to the surveying and mapping area, and obtain sensing data corresponding to the chirp signal, where the sensing data includes image data of the surveying and mapping area within the first duration;

Step 12, modulating the sensing data into communication data;

Step 13: Send the communication data to the ground terminal within the second time period, so that the ground terminal demodulates the communication data, and obtains the location of the surveying and mapping area in the first time according to the demodulated communication data. images within the duration, and obtain the latest location information of the target to be tracked according to the images;

Step 14, receiving uplink sensing data from the ground terminal, and obtaining the latest position information of the target to be tracked from the uplink sensing data;

Step 15, adjust the configuration information of the chirp signal according to the latest position information of the target to be tracked, and repeatedly execute within the first time period, periodically send the chirp signal to the surveying and mapping area, and obtain the sensing data corresponding to the chirp signal operation.

Figure 1B shows a flow chart of a specific low-latency target tracking method provided by an embodiment of the present invention. In this embodiment, a low-orbit satellite uses a transmitting and receiving beam to periodically and alternately send perception frames and communication frames to achieve low-latency tracking. Extended target tracking. Wherein, the sensing frame includes periodically sending chirp signals to the surveying and mapping area, and receiving echo signals within the sending interval, and further, modulating the echo signals to obtain communication data. The communication frame includes a downlink frame and an uplink frame, and the low-orbit satellite sends modulated communication data in the downlink frame. The ground terminal demodulates the communication data, obtains the image data of the surveying and mapping area, and further obtains the latest position information of the target to be tracked, and sends the modulated uplink sensing data in the uplink frame. The low-orbit satellite receives the uplink sensing data sent by the ground terminal in the uplink frame, processes it, adjusts the configuration information of the chirp signal, and completes a sensing communication process, and then performs the above operations in a loop to achieve continuous tracking of low-latency targets.

In some implementations of the present invention, FIG. 2 shows a schematic diagram of signals sent and received by one of the low-orbit satellites provided in the embodiment of the present invention during a sensing communication cycle. As shown in FIG. 2 , the low-orbit satellites alternately send sensing frames and The communication frame includes at least one downlink frame and at least one uplink frame in each communication frame, and a guard interval is included between the downlink frame and the uplink frame. A downlink frame or an uplink frame includes at least one OFDM part, and the modulated signal includes a cyclic prefix (CP) part and an OFDM symbol part (OFDM).

In some embodiments of the present invention, the periodic sending of chirp signals to the surveying and mapping area includes:

Within the first duration, the chirp signal is sent to the surveying area according to the preset pulse repetition frequency PRF, and the configuration information of the chirp signal is based on the first position information of the target to be tracked in the surveying area get.

In this embodiment, the configuration information of the chirp signal is obtained according to the first position information of the target to be tracked in the surveying and mapping area, and the first position information is obtained according to a previous communication sensing cycle.

In some implementations of the present invention, Fig. 3 shows a flow chart of a modulation method for modulating sensing data into communication data provided by an embodiment of the present invention. As shown in Fig. 3 , the integrated sensor controller is used to control the The time slot in which the satellite downlinks the chirp signal and the downlink frame. In addition, the low-orbit satellite demodulates and quantizes the radar echo signal and re-adjusts it to multiple OFDM symbols in the downlink frame, and completes the modulation of communication data according to the flow shown in Figure 3 .

In some embodiments of the present invention, the modulation method for modulating the sensing data into communication data is any one of the following: OFDM, code division multiple access modulation (CDMA), or multi-carrier modulation.

In this embodiment, FIG. 3 shows one of the optional modulation modes of the present invention. Of course, the present invention is not limited to this modulation mode, and other modulation modes may also be used.

In some embodiments of the present invention, the adjusting the configuration information of the chirp signal according to the latest position information of the target to be tracked includes:

obtaining a second chirp signal from the uplink sensing data;

Obtaining location information of the ground terminal within a second duration from the second chirp signal;

The configuration information of the chirp signal is adjusted according to the latest position information of the target to be tracked and the position information of the ground terminal.

In this embodiment, in addition to adjusting the configuration information according to the latest location information of the target to be tracked, the configuration information of the chirp signal can also be adjusted according to the location information of the ground terminal.

Fig. 4 shows a flow chart of a low-latency target tracking method applied to a ground terminal provided by an embodiment of the present invention. As shown in Fig. 4, the method includes the following steps:

Step 41: Receive communication data within a second time period, the communication data is obtained by the low-orbit satellite periodically sending a chirp signal to the surveying and mapping area within the first time period, and modulating the sensing data corresponding to the chirp signal;

Step 42, demodulating the communication data to obtain image data of the surveying and mapping area within the first duration;

Step 43, obtaining an image of the surveying and mapping area within the first duration according to the image data;

Step 44, obtaining the latest position information of the target to be tracked from the images within the first duration;

Step 45, obtaining uplink sensing data through modulation according to the latest position information of the target to be tracked;

Step 46, sending the uplink sensing data to the low-orbit satellite, so that the low-orbit satellite adjusts the configuration information of the chirp signal according to the latest position information of the target to be tracked, and repeats the execution within the first duration , periodically sending a chirp signal to the surveying area, and an operation of obtaining sensing data corresponding to the chirp signal.

In some embodiments of the present invention, after receiving the communication data, the ground terminal demodulates the communication data to obtain the radar image. Fig. 5 shows a flow chart of one of the ground terminals demodulating the communication data and then processing and modulating it provided by the embodiment of the present invention. As shown in Fig. 5, the ground terminal first demodulates the communication data through OFDM to obtain an echo signal, and further , the ground terminal inputs the echo signal to the radar imaging algorithm (such as RD or CS algorithm) to obtain the radar imaging image. Further, the ground terminal inputs the image to the image processing module, and the image processing module extracts target information according to a predetermined method, such as extracting a moving target vehicle. Further, the ground terminal generates position information of the target to be tracked according to the extracted pixel position in the radar image where the target is located. Further, the ground terminal performs steps such as modulation, IFFT, and adding CP on the generated position information, and finally sends it in the uplink frame of the communication frame.

In some embodiments of the present invention, the uplink sensing data obtained through modulation according to the latest position information of the target to be tracked includes:

The latest position information of the target to be tracked is modulated by using a target modulation mode to obtain the uplink sensing data, and the target modulation mode refers to a modulation mode used to obtain the communication data.

In this embodiment, there are many modulation methods for obtaining uplink sensing data. Figure 5 shows one of the optional modulation methods of the present invention. Of course, the present invention is not limited to this modulation method, and other modulation methods can also be used mode, but it needs to be consistent with the modulation mode of low-orbit satellites.

In some embodiments of the present invention, the uplink sensing data obtained through modulation according to the latest position information of the target to be tracked further includes:

generating a second chirp signal, the frequency and pulse width of the second chirp signal are identical to the frequency and pulse width of the chirp signal sent by the low-orbit satellite;

Carrying the latest position information of the target to be tracked in the second chirp signal through phase-shift keying PSK modulation;

Inserting a reference signal with a predefined phase into the second chirp signal containing the latest position information of the target to be tracked to obtain the uplink sensing data.

In this embodiment, in addition to modulating the latest position information of the target to be tracked to obtain uplink sensing data, the ground terminal may also use a chirp signal for modulation. Figure 6 shows a schematic diagram of signals sent and received by one of the low-orbit satellites in a perception communication period provided by the embodiment of the present invention. As shown in Figure 6, the ground terminal periodically sends chirp signals in the uplink frame, so that the The satellite obtains the current position information of the ground terminal.

In this embodiment, FIG. 7 shows a flow chart of one of the ground terminals demodulating the communication data and then processing and modulating it provided by the embodiment of the present invention. As shown in FIG. 7, the ground terminal first demodulates the communication data to obtain the echo Signal, further, the ground terminal inputs the echo signal to the radar imaging algorithm (such as RD or CS algorithm) to obtain the radar imaging image. Further, the ground terminal inputs the image to the image processing module, and the image processing module extracts target information according to a predetermined method, such as extracting a moving target vehicle. Further, the ground terminal generates position information of the target to be tracked according to the extracted pixel position in the radar image where the target is located. Further, the ground terminal modulates the second chirp signal through PSK.

为待跟踪目标的位置信息的二进制信息，则经过例如PSK调制后的复数信号为

。进一步假设一个未经调制的线性调频信号为

，则地面终端调制线性调频信号可以表示为：

，其中

为距离向时间，rect为矩形脉冲信号，K为线性调频因子。为了获得信道响应，可以在调制信号流内插入拥有预定义相位的参考信号，也就是调制信号流为

。The ground terminal first generates a second chirp signal with the same frequency and pulse width as the chirp signal sent by the low-orbit satellite. Since synthetic aperture radar imaging relies on the amplitude of the chirp signal for processing, the modulation method needs to ensure that the amplitude is consistent. That is, the phase of the chirp signal is used to carry the scanning parameters. suppose

is the binary information of the position information of the target to be tracked, then the complex signal modulated by, for example, PSK is

. Assume further that an unmodulated chirp signal is

, then the chirp signal modulated by the ground terminal can be expressed as:

,in

is the distance to time, rect is the rectangular pulse signal, and K is the linear frequency modulation factor. In order to obtain the channel response, a reference signal with a predefined phase can be inserted into the modulated signal stream, that is, the modulated signal stream is

.

Fig. 8 shows a schematic diagram of one kind of uplink sensing data provided by an embodiment of the present invention. As shown in Fig. 8, it is a modulated second chirp signal, namely uplink sensing data, and then the uplink sensing data is sent to the lower Orbit satellite. The low-orbit satellite receives the uplink sensing data for demodulation to obtain the second chirp signal, and the low-orbit satellite inputs the second chirp signal into the synthetic aperture radar imaging algorithm to obtain the position of the ground terminal in the imaging. At this time, since the chirp signal sent by the ground terminal is equivalent to the only strong reflection point in the surveying area, the imaging result will only have one pixel with a large amplitude in an image, which corresponds to the position information of the ground terminal , FIG. 9 shows a schematic diagram of one ground terminal imaging provided by an embodiment of the present invention. At the same time, the low-orbit satellite can also obtain the latest position information of the target to be tracked and the position information of the ground terminal, and adjust the configuration information of the chirp signal in the next communication perception cycle according to these information, so as to realize the continuous tracking of the target to be tracked .

In some embodiments of the present invention, the second chirp signal further includes: a check result, where the check result is a result obtained by decoding and checking the communication data by the ground terminal.

，其中

为下行帧接收的校验结果。In this embodiment, in the downlink frame, the low-orbit satellite sends an echo signal through the downlink frame, and the signal is channel coded, and a cyclic redundancy check (Cyclic Redundancy Check) is also applied to the code. Therefore, the ground terminal can perform channel decoding on the received downlink frame and verify the correctness of the data packet. When a verification error occurs, the ground terminal should be able to feed back the receiving result. Therefore, the verification result is also included in the second chirp signal. Therefore, the signal flow for modulating the Chirp signal is

,in

It is the verification result of downlink frame reception.

FIG. 10 shows a schematic structural diagram of a low-latency target tracking device 100 provided by an embodiment of the present invention. As shown in FIG. 10 , the device includes:

The first transceiver module 101 periodically sends a chirp signal to the surveying and mapping area within a first time period, and obtains sensing data corresponding to the chirp signal, and the sensing data includes the surveying and mapping area within the first time span image data; within a second duration, sending the communication data to a ground terminal, so that the ground terminal demodulates the communication data, and obtains the surveying and mapping area in the first images within the duration, and obtain the latest position information of the target to be tracked according to the images; receive uplink sensing data from the ground terminal;

A first modulation module 102, configured to modulate the sensing data into communication data;

The first demodulation module 103 is configured to obtain the latest position information of the target to be tracked from the uplink sensing data;

The first processing module 104 is configured to adjust the configuration information of the chirp signal according to the latest position information of the target to be tracked, and repeatedly perform sending the chirp signal to the surveying and mapping area periodically within the first duration, and obtain the chirp signal The operation of the sensory data corresponding to the signal.

FIG. 11 shows a schematic structural diagram of a low-latency target tracking device 110 for a ground terminal provided by an embodiment of the present invention. As shown in FIG. 11 , the device includes:

The second transceiver module 111 receives communication data within the second duration, and the communication data is that the low-orbit satellite periodically sends a chirp signal to the surveying and mapping area within the first duration, and modulates sensing data corresponding to the chirp signal Obtained; sending the uplink sensing data to the low-orbit satellite, so that the low-orbit satellite adjusts the configuration information of the chirp signal according to the latest position information of the target to be tracked, and repeatedly executes within the first duration , periodically sending a chirp signal to the surveying and mapping area, and obtaining the sensing data corresponding to the chirp signal;

The second demodulation module 112, demodulates the communication data, and obtains the image data of the surveying and mapping area within the first duration;

The second processing module 113 is configured to obtain the image of the surveying and mapping area within the first time period according to the image data; obtain the latest position information of the target to be tracked from the image within the first time period;

The second modulation module 114 modulates according to the latest position information of the target to be tracked to obtain uplink sensing data.

It should be noted that this embodiment is a device embodiment corresponding to the above method embodiment, and all the implementation modes in the above method embodiment are applicable to this device embodiment, and can also achieve the same technical effect.

An embodiment of the present invention provides a communication system, including at least one low-orbit satellite and at least one ground terminal, and each low-orbit satellite in the at least one low-orbit satellite is used to perform the low delay in any of the above method embodiments A target tracking method: the at least one ground terminal is configured to execute the low-latency target tracking method in any of the above method embodiments.

An embodiment of the present invention provides a computer storage medium, wherein at least one executable instruction is stored in the storage medium, and when the executable instruction is run, the computing device executes the low-latency target tracking method in any of the above method embodiments.

The above description is a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1. A low-latency target tracking method for use with low-earth orbit satellites, the method comprising:

periodically sending a chirp signal to a mapping area within a first time length, and obtaining perception data corresponding to the chirp signal, wherein the perception data comprises image data of the mapping area within the first time length;

modulating the perception data into communication data;

within a second time period, sending the communication data to a ground terminal so that the ground terminal demodulates the communication data, obtaining an image of the mapping area within the first time period according to the demodulated communication data, and obtaining the latest position information of the target to be tracked according to the image;

receiving uplink sensing data from the ground terminal, and obtaining the latest position information of the target to be tracked from the uplink sensing data;

adjusting configuration information of a linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to a mapping area within a first time length and obtaining sensing data corresponding to the linear frequency modulation signal;

the adjusting the configuration information of the chirp signal according to the latest position information of the target to be tracked comprises: obtaining a second linear frequency modulation signal from the uplink sensing data; obtaining position information of the ground terminal within a second time length from the second linear frequency modulation signal; and adjusting the configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked and the position information of the ground terminal.

2. The low-latency target tracking method according to claim 1, wherein the periodically sending chirp signals to a mapping region comprises:

and in a first time period, sending the linear frequency modulation signal to the mapping area according to a preset Pulse Repetition Frequency (PRF), wherein the configuration information of the linear frequency modulation signal is obtained according to first position information of the target to be tracked in the mapping area.

3. The low-latency target tracking method according to claim 1, wherein the modulation mode for modulating the sensing data into the communication data is any one of the following: orthogonal frequency division multiplexing OFDM, code division multiple access modulation CDMA or multi-carrier modulation.

4. A low-delay target tracking method is applied to a ground terminal, and comprises the following steps:

receiving communication data within a second time period, wherein the communication data are obtained by periodically sending a linear frequency modulation signal to a mapping area by a low-orbit satellite within the first time period and modulating sensing data corresponding to the linear frequency modulation signal;

demodulating the communication data to obtain image data of the mapping area within the first time length;

obtaining an image of the mapping region over the first time duration from the image data;

obtaining the latest position information of the target to be tracked from the image in the first time period;

modulating according to the latest position information of the target to be tracked to obtain uplink perception data, wherein the method comprises the following steps: generating a second chirp having a frequency and pulse width that is the same as the frequency and pulse width of chirps transmitted by the low earth orbit satellite; carrying the latest position information of the target to be tracked in the second linear frequency modulation signal in a phase shift keying PSK modulation mode; inserting a reference signal with a predefined phase into a second linear frequency modulation signal containing the latest position information of the target to be tracked to obtain the uplink sensing data;

and sending the uplink sensing data to the low-orbit satellite so that the low-orbit satellite adjusts the configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to a mapping area within a first time length and obtaining the sensing data corresponding to the linear frequency modulation signal.

5. The low-latency target tracking method according to claim 4, wherein the modulating according to the latest position information of the target to be tracked to obtain uplink sensing data comprises:

and modulating the latest position information of the target to be tracked by using a target modulation mode to obtain the uplink perception data, wherein the target modulation mode is a modulation mode for modulating the communication data.

6. The low-latency target tracking method according to claim 4, wherein the second chirp signal further comprises: and a verification result, wherein the verification result is obtained by decoding and verifying the communication data by the ground terminal.

7. A low-latency target tracking apparatus, for use with low-earth orbit satellites, the apparatus comprising:

the device comprises a first transceiver module, a second transceiver module and a third transceiver module, wherein the first transceiver module periodically transmits a chirp signal to a mapping area within a first time length and obtains sensing data corresponding to the chirp signal, and the sensing data comprises image data of the mapping area within the first time length; within a second time period, sending communication data to a ground terminal so that the ground terminal demodulates the communication data, obtaining an image of the mapping area within the first time period according to the demodulated communication data, and obtaining the latest position information of the target to be tracked according to the image; receiving uplink sensing data from the ground terminal;

the first modulation module is used for modulating the perception data into communication data;

the first demodulation module is used for acquiring the latest position information of the target to be tracked from the uplink perception data;

and the first processing module is used for adjusting the configuration information of the linear frequency modulation signal according to the latest position information of the target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to the mapping area within a first time length and obtaining the perception data corresponding to the linear frequency modulation signal.

8. A low-latency target tracking apparatus, for use in a ground terminal, the apparatus comprising:

the second transceiver module receives communication data in a second time period, wherein the communication data is obtained by periodically sending a linear frequency modulation signal to a surveying and mapping area by a low-earth-orbit satellite in the first time period and modulating perception data corresponding to the linear frequency modulation signal; sending uplink sensing data to the low-orbit satellite so that the low-orbit satellite adjusts configuration information of a linear frequency modulation signal according to the latest position information of a target to be tracked, and repeatedly executing the operation of periodically sending the linear frequency modulation signal to a surveying and mapping area within a first time length and obtaining sensing data corresponding to the linear frequency modulation signal;

the second demodulation module is used for demodulating the communication data to obtain image data of the mapping area within the first time length;

a second processing module for obtaining an image of the mapping region over the first time duration from the image data; obtaining the latest position information of the target to be tracked from the image in the first time period;

and the second modulation module is used for modulating according to the latest position information of the target to be tracked to obtain uplink perception data.

9. A communication system comprising at least one low earth orbit satellite and at least one ground terminal, each of the at least one low earth orbit satellite being configured to perform the method of any of claims 1-3; the at least one ground terminal is configured to perform the method of any of claims 4-6.

10. A computer storage medium having stored therein at least one executable instruction that when executed causes a computing device to perform the low latency target tracking method of any one of claims 1-6.

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