CN116318247B - Time and frequency correction method under high-dynamic anti-interference frequency hopping networking - Google Patents
Time and frequency correction method under high-dynamic anti-interference frequency hopping networking Download PDFInfo
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Abstract
The invention discloses a time and frequency correction method under a high-dynamic anti-interference frequency hopping networking, which comprises the following steps: s1, searching and receiving signals transmitted by a main node by using a wide beam receiving mode and a narrow beam receiving mode sequentially by a non-network-connected slave node to obtain synchronous information, accurate position information and motion information of the main node; s2, the non-network-connected slave node performs the motion trail fitting of the master node according to the synchronization information, the accurate position and the motion information of the master node and the position information of the master node stored in the non-network-connected slave node; s3, completing the network access of the non-network access slave node through communication confirmation between the master node and the non-network access slave node; s4, the network is successfully accessed, the node which becomes the slave node in the network receives the frequency hopping signal sent by the master node, and the space domain anti-interference module and the frequency domain anti-interference module are utilized to enable communication to be more stable when the frequency hopping signal sent by the master node is received; the method realizes stable frequency hopping networking under the anti-interference condition under the dynamic condition of high-speed movement.
Description
Technical Field
The invention relates to the field of frequency hopping networking, in particular to a time and frequency correction method under high-dynamic anti-interference frequency hopping networking.
Background
Frequency hopping networking is a trend in future fight time communications. With the development of communication technology, many interference modes aiming at frequency hopping appear, and the reliability of frequency hopping networking is affected, so that an anti-interference strategy is needed to be added in the frequency hopping networking. The anti-interference policy is to suppress interference signals in the directions of incoming waves other than the current frequency and other than the communication object according to the frequency hopping pattern.
Under the conditions of long distance and high dynamic, the frequency can drift under the influence of Doppler, and the anti-interference strategy can be wrong under the influence of transmission delay, so that the real signal can not be identified, and the reliability of the frequency hopping networking is affected. Therefore, frequency and system synchronization time need to be corrected so that the interference rejection strategy can play its role.
Disclosure of Invention
The invention aims to provide a time and frequency correction method of frequency hopping networking, which realizes stable frequency hopping networking under the anti-interference condition under the dynamic condition of high-speed movement so as to complete network communication.
In order to achieve the above purpose, the invention discloses a time and frequency correction method under high dynamic anti-interference frequency hopping networking, which comprises the following steps:
S1, searching and receiving signals transmitted by a main node by using a wide beam receiving mode and a narrow beam receiving mode sequentially by a non-network-connected slave node to obtain synchronous information, accurate position information and motion information of the main node;
S2, the non-network-connected slave node performs the motion trail fitting of the master node according to the synchronization information, the accurate position and the motion information of the master node and the position information of the master node stored in the non-network-connected slave node;
S3, completing the network access of the non-network access slave node through communication confirmation between the master node and the non-network access slave node;
s4, the network is successfully accessed, and the node which becomes the slave node in the network receives the frequency hopping signal sent by the master node, and in the process, the space domain anti-interference module and the frequency domain anti-interference module which are contained in the slave node in the network are utilized, so that the communication is more stable when the frequency hopping signal sent by the master node is received.
Wherein, the step S1 further includes the following steps:
s11, receiving a narrow beam signal with short time slot length transmitted by a main node to an airspace covered by an antenna by using a wide beam receiving mode by an unaccessed slave node, and confirming the existence of the main node; the narrow beam signal with the short time slot length comprises rough position information of a main node and main node mark information;
S12, after receiving a narrow beam signal transmitted by a main node, a non-network-connected slave node searches the signal transmitted by the main node in the main node azimuth corresponding to the rough position information of the main node by using a narrow beam receiving mode until a signal carrying main node mark information is searched, and the narrow beam wave position of the non-network-connected slave node when the main node signal is searched is recorded;
s13, the non-network-connected slave node receives a narrow beam signal with long time slot length transmitted by the master node by using a narrow beam receiving mode at the wave position which is recorded in S12 and can be searched for the signal of the master node and the wave position nearby the wave position; the long slot length narrow beam signal contains synchronization information and accurate position information and motion information of the master node.
When the period of searching the host signal in the host direction corresponding to the rough position information of the master node by using the narrow beam receiving mode by the non-network-connected slave node exceeds the period of transmitting the narrow beam signal with the short slot length to the airspace covered by the antenna by the two master nodes, the step returns to the step S11.
Wherein, the step S11 further includes the following steps:
S111, periodically transmitting a narrow beam signal with a short time slot length to a space domain covered by an antenna by a main node according to a specific wave position sequence; the specific wave bit sequence refers to: the sequence of the beams sent by the main node to the airspace covered by the antenna is random as much as possible, so that bundling is avoided;
And S112, continuously receiving signals to an airspace covered by the antenna by using a wide beam receiving mode by the non-network-connected slave node, and analyzing the received signals until the analyzed mark information and rough position information of the master node are obtained.
Wherein, the step S2 further includes the following steps:
s21, according to the stored master node synchronization information and the accurate position information, combining the self position information of the non-network-access slave node, and pushing the propagation delay between the non-network-access slave node and the master node;
s22, fitting the motion trail of the main node according to the stored position information, speed information and acceleration information of the main node and combining the transmission delay.
Wherein the propagation delay between the non-network-connected slave node and the master node is as follows
X m、Ym、Zm is the position of the main node in the X direction, the position in the Y direction and the position in the Z direction at the signal transmitting time, which are contained in the narrow beam signals with long time slot lengths and periodically transmitted by the main node, respectively; x z、Yz、Zz is the position of the non-network-connected slave node in X direction a position in the Y direction and a position in the Z direction; c is the speed of light.
The calculation formula of the main node motion trail fitting is as follows:
Fitting positions when the next time of the master node receives the information of the non-network-connected slave nodes;
VX m、VYm、VZm is the speed of the master node in the X direction, the speed of the master node in the Y direction, and the speed of the master node in the Z direction when transmitting the long slot length narrow beam signal, respectively; ax m、aym、azm is the acceleration of the main node in the X direction, the acceleration in the Y direction and the acceleration in the Z direction when the main node transmits the narrow beam signal with the long time slot length; t is the difference between the time when the next non-network-connected slave node receives the narrow beam signal with the long time slot length of the master node and the current time.
Wherein, the step S3 further includes the following steps:
s31, when the communication time slot of the non-network-connected slave node with the master node arrives, transmitting a narrow beam signal containing self-position information, speed information and acceleration information to the fitted master node position
S32, after receiving position information, speed information and acceleration information which are transmitted by the non-network-access slave node and contain the non-network-access slave node, the master node fits the track of the non-network-access slave node by adopting the same fitting method as that in S2, and obtains the fitting position of the non-network-access slave node at the next communication moment;
s33, at the next communication moment, the master node sends network access success information and latest position information, speed information and acceleration information of the master node to the fitted position of the non-network access slave node; and after the non-network-connected slave nodes receive the information, the non-network-connected slave nodes successfully access the network and become the slave nodes in the network.
If the slave node is not connected to the network, the master node position is fittedAfter the narrow beam signals containing the position information, the speed information and the acceleration information are sent twice, the network access success information fed back by the main node is still not received, and the step S1 is returned.
Wherein, the step S4 further includes the following steps:
s41, enabling an airspace anti-interference module of the slave node in the network, and according to the current relative position relation between the master node and the slave node, sending a time slot of a frequency hopping signal at the master node, and inhibiting signals except the incoming wave direction of the master node
S42, according to the frequency of the frequency hopping pattern sent by the master node, starting a frequency domain anti-interference module of the slave node in the network, and inhibiting other frequency signals except the allowable frequency of the frequency domain anti-interference module in the time slot of the frequency hopping signal sent by the master node; and the Doppler frequency offset and the Doppler frequency change rate caused by the relative motion of the master node and the slave node are eliminated;
s43, the network is successfully accessed, the node which becomes a slave node in the network receives the frequency hopping signal sent by the master node, the signal passing through the anti-interference module, the estimated Doppler frequency offset and the Doppler frequency change rate are sent to a subsequent module of the frequency hopping networking, and the phase discriminator module or the frequency discriminator module is utilized to carry out further frequency correction so as to remove the estimated error of the Doppler value and the frequency offset caused by crystal oscillator drift.
Compared with the prior art, the invention has the following beneficial effects:
1. In the initial network access stage of the non-network access slave node, the wide beam reception can be used for searching all airspace ranges covered by the antenna in a short time, so that the probability of receiving the short-time-slot narrow beam signals periodically transmitted by the master node is increased. Meanwhile, when the main node periodically transmits short time slot signals to the airspace covered by the antenna according to a specific sequence, the signals carrying the main node mark information can be transmitted farther and more likely to be received by potential non-network-access slave nodes by using narrow beams, the time of one airspace round robin can be reduced by using the short time slots and only carrying the main node mark information and rough position information, the network communication period is avoided to be overlong, the number of bits required by the rough position information is less, the rough position information can indicate the approximate main node position, and the searching range of the non-network-access nodes is reduced.
2. The non-network-connected slave node switches the wide beam to the narrow beam for searching after receiving the main node mark information, so that the time for searching the main node approximately incoming wave direction by only using the narrow beam can be reduced, the probability of receiving the main node incoming wave is improved, and the searching time of the non-network-connected slave node is further reduced by the rough position information provided by the main node.
3. Considering that the main node and the non-network-connected slave nodes have high dynamic performance, after the approximate incoming wave direction of the main node is recorded, the narrow wave beams are selected to alternately use adjacent wave bits to receive the synchronous information carried by the main node and the position information, the speed information and the acceleration information of the main node according to the dynamic program, so that preparation is made for subsequent accurate alignment.
4. According to the information carried by the received master node, the non-network-access slave node can complete synchronous time marking and correction by combining the self information, remove time errors caused by transmission delay and system sending and receiving delay, and simultaneously perform master node motion track fitting, so that the non-network-access slave node can select relatively accurate wave positions to point to the master node, and the success probability of network access is improved.
5. After the non-network-connected slave node successfully accesses the network, the anti-interference module is started to improve the communication quality, the signals except the incoming wave direction of the master node are restrained, interference is avoided, the influence of relative motion is considered, the frequency hopping pattern is combined, the correct frequency is added with the Doppler value and then passes through the anti-interference module, other frequencies are restrained, and the situation that the anti-interference module restrains the frequency hopping signals with frequency offset as interference signals is avoided.
Drawings
Fig. 1 is a flow chart of a time and frequency correction method under a high dynamic anti-interference frequency hopping network according to an embodiment of the present invention.
Detailed Description
The technical solution, constructional features, achieved objects and effects of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.
It should be noted that, the drawings are in very simplified form and all use non-precise proportions, which are only used for the purpose of conveniently and clearly assisting in describing the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any modification of structure, change of proportion or adjustment of size, without affecting the efficacy and achievement of the present invention, should still fall within the scope covered by the technical content disclosed by the present invention.
It is noted that in the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The time and frequency correction method under the high-dynamic anti-interference frequency hopping networking can realize stable frequency hopping networking under the anti-interference condition of high-speed motion so as to complete network communication, and as shown in figure 1, the method is adopted to carry out networking operation for each non-networking slave node, and comprises the following steps:
s1, searching and receiving a signal transmitted by a main node by a non-network-access slave node to obtain accurate information of the main node, wherein the method specifically comprises the following steps of;
S11, receiving signals to a space domain covered by an antenna by using a wide beam receiving mode by using a non-network-connected slave node, and confirming the existence of a master node;
S111, periodically transmitting a narrow beam signal with a short time slot length to an airspace covered by an antenna by a main node according to a specific wave bit sequence, wherein the narrow beam signal with the short time slot length transmitted by the main node carries the mark information and rough position information (MAC m,Llow,Blow,Hlow) of the main node; the rough position information is (L low,Blow,Hlow), wherein each item sequentially represents the approximate position of the main node in the length, width and height directions by taking an antenna as a reference, and the signal only carries rough position information, so that the precision and the bit number of the actual position can be greatly compressed, and the transmission data quantity is reduced; the mark information of the master node is the MAC address (media access control address) MAC m of the node; the specific wave bit sequence refers to: the invention makes the sequence of the beam sent by the main node to the airspace covered by the antenna as random as possible, avoids bundling, makes the non-network-connected slave node easier to receive the signal transmitted by the main node, and does not consider the situation that a plurality of signals of the main node appear in the same range.
Wherein, the short time slot refers to an information sending or receiving time period with shorter duration, and the long time slot refers to an information sending or receiving time period with longer duration; narrow beam refers to a beam with small beam coverage and long coverage distance, and correspondingly, wide beam refers to a beam with large beam coverage and short coverage distance; the narrow beam signal has the characteristics of high gain and small coverage area, and can propagate farther.
S112, continuously receiving signals to an airspace covered by an antenna by using a wide beam receiving mode by using a non-network-connected slave node, analyzing the received signals, if the analyzed content is the mark information and the rough position information (MAC m,Llow,Blow,Hlow) of a master node, indicating that the master node exists in the airspace range of the non-network-connected slave node, entering the next step, and if the analyzed content is not the mark information and the rough position information (MAC m,Llow,Blow,Hlow) of the master node, continuously receiving until the analyzed content is received and analyzed to obtain the mark information and the rough position information (MAC m,Llow,Blow,Hlow) of the master node;
With the wide beam reception mode, a wider range of signals can be received, and the presence of the master node can be confirmed in a short time.
S12, after receiving a narrow beam signal transmitted by a main node, a non-network-connected slave node (namely after finishing S112), changing a wide beam receiving mode into a narrow beam receiving mode, searching the signal transmitted by the main node in a main node azimuth corresponding to rough position information (L low,Blow,Hlow) of the main node according to a specific wave position sequence until searching a signal carrying main node mark information MAC m, recording the narrow beam wave position of the non-network-connected slave node when the main node signal is searched for, and entering the next step;
if the time of searching the host signal at the host azimuth corresponding to the rough position information (L low,Blow,Hlow) of the master node by using the narrow beam receiving mode according to the specific wave bit sequence by the slave node which is not connected with the network is overtime, returning to the step S11; the timeout is defined as: because the master node periodically transmits the narrow beam signals with short time slot length to the airspace covered by the antenna according to the specific wave position sequence, if the S12 process experiences the period of transmitting the narrow beam signals with short time slot length by two master nodes, the time-out is performed.
S13, considering dynamic characteristics among nodes, the non-network-connected slave node uses a narrow beam receiving mode to receive a narrow beam signal with long time slot length transmitted by the master node at the wave position which is recorded in S12 and can be searched for the master node signal and the wave position nearby the wave position, wherein the narrow beam signal with long time slot length comprises synchronous information and accurate position and motion information of the master node;
The main node transmits a narrow beam signal with a short time slot length to an airspace covered by the antenna according to a specific wave position sequence in addition to a periodic airspace covered by the antenna, and also transmits a narrow beam signal with a long time slot length to the airspace covered by the antenna according to the specific wave position sequence in a periodic manner; the narrow beam signal with long time slot length transmitted by the main node carries main node synchronization information, high-precision position information, speed information and acceleration information of the main node; when a non-network-connected slave node receives a narrow beam signal with long time slot length transmitted by a master node, master node synchronization information, high-precision position, speed information and acceleration information carried in the signal are recorded and stored for later use in fitting a motion trail of the master node.
Specifically, the information included in the long-slot-length narrow beam signal periodically transmitted by the master node is (Tm,Xm,Ym,Zm,VXm,VYm,VZm,axm,aym,axm),, where the time of the master node, the position of the current moment of the master node in the X direction, the position of the current moment of the master node in the Y direction, the position of the current moment of the master node in the Z direction, the speed of the current moment of the master node in the X direction, the speed of the current moment of the master node in the Y direction, the speed of the current moment of the master node in the Z direction, the acceleration of the current moment of the master node in the X direction, the acceleration of the current moment of the master node in the Y direction, and the acceleration of the current moment of the master node in the Z direction are sequentially expressed.
In the process S13, if the non-network-connected slave node does not receive the narrow beam signal with long time slot length, which is transmitted by the master node and contains the master node synchronization information, the high-precision position, the speed information and the acceleration information, within a limited time, the process returns to the step S11, and continues to use the wide beam receiving mode to continuously receive the signal to the airspace covered by the antenna; the limiting time is two periods of periodically transmitting narrow beam signals with long time slot length to an airspace covered by the antenna by the main node according to a specific wave position sequence.
S2, fitting a motion track of the master node according to the synchronization information, the accurate position and the motion information of the master node and the position information of the master node, which are stored by the non-network-connected slave node, and specifically comprises the following steps:
S21, according to the stored master node synchronization information and the high-precision position, combining the self-position information of the non-network-connected slave node, the non-network-connected slave node calculates the propagation delay between the self-network-connected slave node and the master node, so that the time synchronization of the non-network-connected slave node and the master node is completed, and a time reference is provided for subsequent frequency hopping;
The self position information of the non-network-access slave node is (T z,Xz,Yz,Zz), and the time of the non-network-access slave node, the position of the non-network-access slave node in the X direction, the position of the non-network-access slave node in the Y direction and the position of the non-network-access slave node in the Z direction are sequentially shown; calculating transmission delay delta T between the non-network-connected slave node and the master node according to the self-position information of the non-network-connected slave node and the position information of the master node;
Wherein, C is the speed of light.
And updating the time T z of the non-network-access slave node according to the calculated transmission delay delta T. Synchronizing it with the time of the master node; specifically, the updated time T z＝Tm + Δt of the non-network-connected slave node.
S22, fitting a motion trail of the main node according to the stored position information, speed information and acceleration information of the main node and combining the transmission delay delta T;
the master node periodically receives all signals transmitted by the non-network-connected slave nodes, and if the next time the master node receives the signals is T z +t, the non-network-connected slave nodes can communicate the master node position at the moment through the stored master node information Is fit to (a);
S3, completing the network access of the non-network access slave node through communication confirmation between the master node and the non-network access slave node;
the communication between the master node and the non-network-connected slave node is as follows: and the non-network-access slave nodes periodically send signals to the master node, and after receiving the signals of the non-network-access slave nodes, the master node feeds back the signals to the non-network-access slave nodes in the same periodicity until the non-network-access slave nodes are successful.
S31, when the communication time slot of the non-network-connected slave node with the master node arrives, transmitting a narrow beam signal containing self-position information, speed information and acceleration information to the fitted master node position
The position information, the speed information and the acceleration information of the non-network-access slave node are (Xz,Yz,Zz,VXz,VYz,VZz,axz,ayz,azz),, wherein the position of the non-network-access slave node in the X direction, the position of the non-network-access slave node in the Y direction, the position of the non-network-access slave node in the Z direction, the speed of the non-network-access slave node in the X direction, the speed of the non-network-access slave node in the Y direction, the speed of the non-network-access slave node in the Z direction, the acceleration of the non-network-access slave node in the X direction, the acceleration of the non-network-access slave node in the Y direction and the acceleration of the non-network-access slave node in the Z direction are sequentially included.
S32, after receiving position information, speed information and acceleration information which are transmitted by the non-network-access slave node and contain the non-network-access slave node, the master node fits the track of the non-network-access slave node by adopting the same method in S2 to obtain the fitting position of the non-network-access slave node at the next communication moment
After receiving the signal transmitted by the non-network-connected slave node, the master node periodically transmits a feedback signal to the non-network-connected slave node which receives the transmitted signal, wherein the next communication time is the time when the master node transmits the signal to the non-network-connected slave node next time; the feedback signal contains network access success information and accurate position information of the master node itself.
S33, at the next communication time, the master node sends the fitted position of the slave node which is not connected with the networkThe processing unit sends feedback signals, namely network access success information and latest position information, speed information and acceleration information (SYN,Xm,Ym,Zm,VXm,VYm,VZm,axm,aym,azm), of the master node, wherein SYN is network access success information of the slave node which is not network access; and after receiving (SYN,Xm,Ym,Zm,VXm,VYm,VZm,axm,aym,azm) information, the non-network-access slave node successfully accesses the network and becomes an in-network slave node.
It should be noted that if the slave node is not networked, the master node position is fitted to the slave nodeAfter the narrow beam feedback signals containing the position information, the speed information and the acceleration information are sent twice, the network access success information fed back by the main node is still not received, the step S1 is returned, and the wide beam receiving mode is reused to continuously receive signals to the airspace covered by the antenna.
S4, the network is successfully accessed, and the node which becomes the slave node in the network receives the frequency hopping signal sent by the master node, and in the process, the space domain anti-interference module and the frequency domain anti-interference module which are contained in the slave node in the network are utilized, so that the communication is more stable when the frequency hopping signal sent by the master node is received.
After the network access is successful, the slave node in the network can timely acquire the position update information of the master node, the sending time of the frequency hopping signal and the frequency hopping pattern, and according to the information, the node which becomes the slave node in the network is successful and enters the frequency hopping preparation state, and the airspace anti-interference module and the frequency domain anti-interference module of the slave node in the network are started. The method specifically comprises the following steps:
s41, enabling an airspace anti-interference module of the slave node in the network, and according to the current relative position relation between the master node and the slave node, sending a time slot of a frequency hopping signal at the master node, and inhibiting signals except the incoming wave direction of the master node, so that the signals sent by the master node are better received.
S42, according to the frequency of the frequency hopping pattern sent by the master node, starting a frequency domain anti-interference module of the slave node in the network, and inhibiting other frequency signals except the allowable frequency of the frequency domain anti-interference module in the time slot of the frequency hopping signal sent by the master node, so that the frequency hopping communication signal sent by the master node is better received;
Because the master node and the slave node have relative motion, doppler frequency offset and Doppler frequency change rate caused by the relative motion of the master node and the slave node need to be eliminated, the abnormal work of the anti-interference function of the frequency domain is avoided, the interference frequency cannot be restrained, and the frequency of a correct communication signal is restrained.
Specifically, according to the speed of the master node and the slave node, the frequency offset of the communication frequency hopping signal is estimated by combining the frequency hopping pattern, namely, the Doppler value f doppler and the Doppler change rate f' doppler of the communication frequency hopping signal:
Assuming that the frequency hopping pattern is (f 1,f2,f3,……fn), the absolute value ABSf doppler of the corresponding doppler frequency is:
F is f 1,f2,f3,……fn in turn, so that the absolute value of the Doppler frequency of each frequency point is calculated.
Based on the absolute value ABSf doppler of the Doppler frequency obtained by calculation, further determining a Doppler value f doppler according to whether the motion tracks of the master node and the slave node are close to each other or far away from each other: if the distance between the master node and the slave node is more and more close, f doppler＝ABSfdoppler is adopted; if the distance between the master node and the slave node is longer, f doppler＝-ABSfdoppler is adopted.
For any frequency point, the doppler change rate f' doppler is: the change speed between the current Doppler value f P doppler of the frequency point and the Doppler value f E doppler of the frequency point obtained by the last calculation, namely f' doppler＝(fP doppler-fE doppler)/t, wherein t is the time difference between the current Doppler value calculation time and the Doppler value calculation time of the frequency point.
The Doppler value f doppler and the Doppler change rate f' doppler of the communication frequency hopping signals obtained through calculation are sent to a frequency domain anti-interference module of the slave node in the network, and the frequency domain anti-interference module is prevented from restraining the frequency hopping signals with frequency offset as interference signals;
S43, the network access is successful, the node which becomes the slave node in the network receives the frequency hopping signal sent by the master node, the signal passing through the anti-interference module and the estimated Doppler shift value (Doppler value f doppler and Doppler change rate f' doppler) are sent to the subsequent module of the frequency hopping networking, the phase discriminator module or the frequency discriminator module is utilized to carry out further frequency correction, the estimated error of the Doppler value and the frequency offset caused by crystal oscillator drift are removed, and finally the network access slave node and the master node are enabled to stably communicate.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (7)
1. The time and frequency correction method under the high-dynamic anti-interference frequency hopping networking is characterized by comprising the following steps of:
S1, searching and receiving signals transmitted by a main node by using a wide beam receiving mode and a narrow beam receiving mode sequentially by a non-network-connected slave node to obtain synchronous information, accurate position information and motion information of the main node;
S2, the non-network-connected slave node performs the motion trail fitting of the master node according to the synchronization information, the accurate position and the motion information of the master node and the position information of the master node stored in the non-network-connected slave node;
S3, completing the network access of the non-network access slave node through communication confirmation between the master node and the non-network access slave node;
S4, the network is successfully accessed, and the node which becomes the slave node in the network receives the frequency hopping signal sent by the master node, and in the process, the space domain anti-interference module and the frequency domain anti-interference module which are contained in the slave node in the network are utilized, so that the communication is more stable when the frequency hopping signal sent by the master node is received;
wherein, the step S1 further includes the following steps:
s11, receiving a narrow beam signal with short time slot length transmitted by a main node to an airspace covered by an antenna by using a wide beam receiving mode by an unaccessed slave node, and confirming the existence of the main node; the narrow beam signal with the short time slot length comprises rough position information of a main node and main node mark information;
S12, after receiving a narrow beam signal transmitted by a main node, a non-network-connected slave node searches the signal transmitted by the main node in the main node azimuth corresponding to the rough position information of the main node by using a narrow beam receiving mode until a signal carrying main node mark information is searched, and the narrow beam wave position of the non-network-connected slave node when the main node signal is searched is recorded;
s13, the non-network-connected slave node receives a narrow beam signal with long time slot length transmitted by the master node by using a narrow beam receiving mode at the wave position which is recorded in S12 and can be searched for the signal of the master node and the wave position nearby the wave position; the narrow beam signal with the long time slot length comprises synchronous information, accurate position information and motion information of a main node;
wherein, the step S3 further includes the following steps:
s31, when the communication time slot of the non-network-connected slave node with the master node arrives, transmitting a narrow beam signal containing self-position information, speed information and acceleration information to the fitted master node position
S32, after receiving position information, speed information and acceleration information which are transmitted by the non-network-access slave node and contain the non-network-access slave node, the master node fits the track of the non-network-access slave node by adopting the same fitting method as that in S2, and obtains the fitting position of the non-network-access slave node at the next communication moment;
s33, at the next communication moment, the master node sends network access success information and latest position information, speed information and acceleration information of the master node to the fitted position of the non-network access slave node; after receiving the information, the non-network-access slave node successfully accesses the network and becomes an in-network slave node;
wherein, the step S4 further includes the following steps:
s41, enabling an airspace anti-interference module of the slave node in the network, and according to the current relative position relation between the master node and the slave node, sending a time slot of a frequency hopping signal at the master node, and inhibiting signals except the incoming wave direction of the master node
S42, according to the frequency of the frequency hopping pattern sent by the master node, starting a frequency domain anti-interference module of the slave node in the network, and inhibiting other frequency signals except the allowable frequency of the frequency domain anti-interference module in the time slot of the frequency hopping signal sent by the master node; and the Doppler frequency offset and the Doppler frequency change rate caused by the relative motion of the master node and the slave node are eliminated;
S43, the network is successfully accessed, the node which becomes the slave node in the network receives the frequency hopping signal sent by the master node, the signal passing through the anti-interference module, the estimated Doppler frequency offset and the Doppler frequency change rate are sent to a subsequent module of the frequency hopping networking, and the phase discriminator module or the frequency discriminator module is utilized to carry out further frequency correction so as to remove the estimated error of the Doppler value and the frequency offset caused by crystal oscillator drift.
2. The method for time and frequency correction under high dynamic anti-interference frequency hopping networking according to claim 1, wherein when the period of time for searching the host signal at the host azimuth corresponding to the rough location information of the master node by using the narrow beam receiving mode by the non-networked slave node exceeds the period of transmitting the narrow beam signal with short slot length to the airspace covered by the antenna by the two master nodes, the step returns to step S11.
3. The method for time and frequency correction under high dynamic anti-interference frequency hopping network as set forth in claim 1, wherein said step S11 further comprises the steps of:
s111, periodically transmitting a narrow beam signal with a short time slot length to a space domain covered by an antenna by a main node according to a specific wave position sequence; the specific wave bit sequence refers to: the sequence of the beams sent by the main node to the airspace covered by the antenna is random, so that bundling is avoided;
And S112, continuously receiving signals to an airspace covered by the antenna by using a wide beam receiving mode by the non-network-connected slave node, and analyzing the received signals until the analyzed mark information and rough position information of the master node are obtained.
4. The method for time and frequency correction under high dynamic anti-interference frequency hopping network as set forth in claim 3, wherein said step S2 further comprises the steps of:
s21, according to the stored master node synchronization information and the accurate position information, combining the self position information of the non-network-access slave node, and pushing the propagation delay between the non-network-access slave node and the master node;
S22, fitting the motion trail of the main node according to the stored position information, speed information and acceleration information of the main node and combining the propagation delay.
5. The method for time and frequency correction under high dynamic anti-interference frequency hopping network as set forth in claim 4, wherein propagation delay between said non-networked slave node and master node is
Wherein, X m、Ym、Zm is the position of the main node in the X direction, the position in the Y direction and the position in the Z direction at the signal transmitting time included in the long time slot length narrow beam signal periodically transmitted by the main node; x z、Yz、Zz is the position of the non-network-connected slave node in X direction a position in the Y direction and a position in the Z direction; c is the speed of light.
6. The method for time and frequency correction under high dynamic anti-interference frequency hopping networking according to claim 5, wherein the calculation formula of the main node motion trail fitting is as follows:
wherein, Fitting positions when the next time of the master node receives the information of the non-network-connected slave nodes; VX m、VYm、VZm is the speed of the master node in the X direction, the speed of the master node in the Y direction, and the speed of the master node in the Z direction when transmitting the long slot length narrow beam signal, respectively; ax m、aym、azm is the acceleration of the main node in the X direction, the acceleration in the Y direction and the acceleration in the Z direction when the main node transmits the narrow beam signal with the long time slot length; t is the difference between the time when the next non-network-connected slave node receives the narrow beam signal with the long time slot length of the master node and the current time.
7. The method for time and frequency correction under high dynamic interference-free frequency hopping network as set forth in claim 6, wherein if not networked, the slave node is fitted to the fitted master node positionAfter the narrow beam signals containing the position information, the speed information and the acceleration information are sent twice, the network access success information fed back by the main node is still not received, and the step S1 is returned.
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