CN108958018A - A kind of satellite timing method and device, computer readable storage medium - Google Patents
A kind of satellite timing method and device, computer readable storage medium Download PDFInfo
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- CN108958018A CN108958018A CN201810168521.6A CN201810168521A CN108958018A CN 108958018 A CN108958018 A CN 108958018A CN 201810168521 A CN201810168521 A CN 201810168521A CN 108958018 A CN108958018 A CN 108958018A
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
- G04R20/04—Tuning or receiving; Circuits therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
This application discloses a kind of satellite timing methods and device, computer readable storage medium, the described method includes: obtaining two or more moonscope information, each error term for influencing pseudo range observed quantity is calculated using the moonscope information of acquisition, and utilizes pseudo range observed quantity and preset receiver coordinate calculating satellite to the geometric distance of receiver；Utilize the geometric distance combined calculation receiver clock-offsets and ionospheric error coefficient of the observational equation and calculated each error term, satellite to receiver that pre-establish；Receiver local clock is adjusted according to calculated receiver clock-offsets.The application carries out combined calculation to receiver clock-offsets and ionospheric error coefficient by pre-establishing observational equation, improves the precision of receiver clock-offsets, and then improve the precision of PPS, significantly reduces influence of the ionospheric error to receiver time service precision.
Description
Technical field
It is the present invention relates to technical field of satellite navigation, in particular to a kind of satellite timing method and device, computer-readable
Storage medium.
Background technique
With the fast development of modern science and technology information technology, military affairs, space flight, deep space exploration, communication, traffic, electric power, gold
Melt, all trades and professions such as national defence, it is higher and higher to the required precision of time and frequency, split-second precision benchmark have become communication,
One of the basic guarantee platform in the fields such as electric power, radio and television, safety monitoring, Industry Control.Using Global Navigation Satellite System
(Global Navigation Satellite System, GNSS) satellite time transfer is high-precision in remote at present, a wide range of
Time synchronization most effective way.
Usual satellite time transfer device is configured using single system single-frequency, is such as carried out using the L1 frequency point (1575.42MHZ) of GPS
The time service precision of time service, this satellite time transfer device is not high, is not able to satisfy requirement of the 5G communication to time service precision, main cause
It is that ionosphere delay time error by Crow cloth has a rest (Klobuchar) model to calculate, is deposited between the model value and true value in ionosphere
In certain error, leading to the calculating of receiver clock-offsets, there are errors, so cause pulse per second (PPS) (Pulse Per Second,
PPS precision) is not high.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of satellite timing method and device, computer-readable deposit
Storage media is able to ascend the precision of receiver clock-offsets.
In order to reach the object of the invention, the technical solution of the embodiment of the present invention is achieved in that
The embodiment of the invention provides a kind of satellite timing methods, comprising:
Two or more moonscope information is obtained, calculating using the moonscope information of acquisition, which influences pseudorange, sees
Each error term of measurement, and utilize pseudo range observed quantity and preset receiver coordinate calculating satellite to the geometric distance of receiver；
Combined using the geometric distance of the observational equation and calculated each error term, satellite to receiver that pre-establish
Calculate receiver clock-offsets and ionospheric error coefficient；
Receiver local clock is adjusted according to calculated receiver clock-offsets.
Further, before the method further include: establish the observational equation；The observational equation includes:
Wherein, variable z=P- ρ+cdts- T, P are pseudo range observed quantity, and unit is rice；ρ is geometry of the satellite to receiver
Distance；C is the light velocity；dtsFor satellite clock correction, T is tropospheric delay；
Variable Δ t=cdtr, dtrFor receiver clock-offsets；
Variable IklobucharTo be had a rest the calculated ionospheric delay model value of model according to Crow cloth, variable k is that ionosphere is missed
Poor coefficient.
Further, the observational equation and calculated each error term, satellite to receiver that the utilization pre-establishes
Geometric distance combined calculation receiver clock-offsets and ionospheric error coefficient before, the method also includes:
Using carrier phase observed quantity smoothing pseudo range observed quantity, to reduce the observation noise in pseudo range observed quantity.
Further, the method for the combined calculation receiver clock-offsets and ionospheric error coefficient be least square method or
Kalman filtering method.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage
Have one or more program, one or more of programs can be executed by one or more processor, with realize such as with
The step of upper described in any item satellite timing methods.
The embodiment of the invention also provides a kind of satellite time transfer device, including the first computing module, the second computing module and
Time service module, in which:
First computing module utilizes the moonscope of acquisition for obtaining two or more moonscope information
Information calculates each error term for influencing pseudo range observed quantity, and calculates satellite using pseudo range observed quantity and preset receiver coordinate and arrive
The geometric distance of receiver exports the geometric distance of calculated each error term, satellite to receiver to the second computing module；
Second computing module, for using the observational equation that pre-establishes and calculated each error term, satellite to connecing
The geometric distance combined calculation receiver clock-offsets and ionospheric error coefficient of receipts machine export calculated receiver clock-offsets to awarding
When module；
Time service module, for being adjusted according to calculated receiver clock-offsets to receiver local clock.
Further, the observational equation pre-established are as follows:
Wherein, variable z=P- ρ+cdts- T, P are pseudo range observed quantity, and unit is rice；ρ is geometry of the satellite to receiver
Distance；C is the light velocity；dtsFor satellite clock correction, T is tropospheric delay；
Variable Δ t=cdtr, dtrFor receiver clock-offsets；
Variable IklobucharTo be had a rest the calculated ionospheric delay model value of model according to Crow cloth, variable k is that ionosphere is missed
Poor coefficient.
Further, first computing module is also used to:
Using carrier phase observed quantity smoothing pseudo range observed quantity, to reduce the observation noise in pseudo range observed quantity.
Further, the combined calculation receiver clock-offsets of second computing module and the method for ionospheric error coefficient are
Least square method or Kalman filtering method.
Technical solution of the present invention has the following beneficial effects:
Satellite timing method and device provided by the invention, computer readable storage medium, by pre-establishing observation side
Journey carries out combined calculation to receiver clock-offsets and ionospheric error coefficient, improves the precision of receiver clock-offsets, and then improve
The precision of PPS significantly reduces influence of the ionospheric error to receiver time service precision.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow diagram of satellite timing method of the embodiment of the present invention；
Fig. 2 is the pseudo-range measurements based on GPS L1 frequency point, is estimated using observational equation of the present invention and Kalman filtering
The coefficient k value schematic diagram that meter method real-time estimation obtains；
Fig. 3 is the pseudo-range measurements based on GPS L1 frequency point, is estimated using observational equation of the present invention and Kalman filtering
The single-frequency time service precision schematic diagram that meter method real-time estimation obtains；
Fig. 4 is a kind of structural schematic diagram of satellite time transfer device of the embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention
Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature can mutual any combination.
Referring to Fig.1, the embodiment of the invention provides a kind of satellite timing method, include the following steps:
Step 101: obtaining two or more moonscope information, calculate shadow using the moonscope information of acquisition
Each error term of pseudo range observed quantity is rung, and calculates satellite to the several of receiver using pseudo range observed quantity and preset receiver coordinate
What distance；
Further, before step 101, the method also includes: establish observational equation, the observational equation it is unknown
Amount includes receiver clock-offsets and ionospheric error coefficient.
Specifically, firstly, establishing GNSS pseudorange and carrier phase, to observe non-difference function model as follows:
P=ρ+c (dtr-dts)+T+I+ν (1)；
L=ρ+c (dtr-dts)+T-I+λN+ε (2)；
In formula, P and L respectively indicate pseudorange and carrier phase observed quantity, and unit is rice；ρ indicates satellite to the several of receiver
What distance；C is the light velocity；dtrAnd dtsRespectively indicate receiver clock-offsets and satellite clock correction；T and I respectively indicate tropospheric delay and electricity
Absciss layer delay；The wavelength of λ expression carrier wave；N indicates the integer ambiguity in carrier phase observation；V and ε indicates pseudorange and carrier wave phase
Position observation noise.
In formula (1), ionospheric delay model value I is calculated by Crow cloth (Klobuchar) model of having a restklobuchar,
Set ionospheric delay model value IklobucharWith ionosphere delay true value IrealRelationship be Ireal=kIklobuchar, variable k
For ionospheric error coefficient, then formula (1) is rewritten are as follows:
P=ρ+c (dtr-dts)+T+k·Iklobuchar+v (3)
It can further obtain:
P-ρ+c·dts- T=cdtr+k·Iklobuchar (4)
It might as well enable
Z=P- ρ+cdts-T (5)
Δ t=cdtr (6)
Then by formula (4), this is written as:
Formula (7) is the observational equation established.
Further, each error term for influencing pseudo range observed quantity include satellite clock correction, it is ionospheric delay model value, right
Tropospheric delay etc..
Specifically, in above-mentioned formula, pseudorange P is receiver measured value, and ρ can position according to receiver and satellite pseudorange
It is calculated；Satellite clock correction dtsIt is obtained from ephemeris；Tropospheric delay T is calculated by Hopfield (Hopfield) model
It arrives, ionospheric delay model value IklobucharIt is calculated by Crow cloth model of having a rest.
Further, the step 101 further include:
Using carrier phase observed quantity smoothing pseudo range observed quantity, to reduce the pseudorange observation noise in pseudo range observed quantity.
It should be noted that under normal conditions, measurement measurement of the noise ε than pseudo range observed quantity P of carrier phase observed quantity L
Noise v is much smaller, using carrier phase smoothing pseudo-range algorithm, to reduce pseudorange noise, to promote time service precision.
Step 102: utilizing the geometry of the observational equation and calculated each error term, satellite to receiver that pre-establish
Joint calculates receiver clock-offsets and ionospheric error coefficient；
Further, variable z is calculated using the pseudo range observed quantity P of the multiple satellites observed, according to formula (7), used
Least square method or Kalman filtering method obtain quantity of state Δ t and k.
Further, if there is the pseudo range observed quantity P of multiple satellite systems, then the similar public of multiple satellite systems is constructed
Observational equation shown in formula (7), multisystem combined filtering estimated state amount Δ t and k.
Step 103: receiver local clock being adjusted according to calculated receiver clock-offsets.
It should be noted that the satellite time transfer device based on GNSS system, can trace into visible star, each star is obtained
It goes through, pseudorange, carrier wave and Doppler, receiver clock-offsets can be obtained using satellite ephemeris and observed quantity and clock floats.
After receiver clock-offsets and clock drift are calculated, it is known that accurate GNSS corresponding to receiver sampling instant
Time, and then calculate the clock pulses number of the whole moment second needs of GNSS, when counter counts count to the umber of pulse, hardware meeting
A pulse signal is provided, i.e. PPS realizes the high-precision time service of GNSS.Thus the key of high-precision time service is to obtain high-precision
Receiver clock-offsets and clock drift.
Under normal conditions, the clock drift value of receiver can be calculated by information such as the Doppler of each satellite and satellite velocities
It obtains, and precision is higher, error is usually less than 0.1m/s, influences to be less than 0.5ns to the precision of PPS.The meter of receiver clock-offsets
Calculation has double frequency and single frequency mode, and double frequency mode precision is higher, and single frequency mode precision is slightly lower.Single-frequency time service based on GNSS, essence
Degree is affected by ionosphere delay error, and common Klobuchar model value can only compensate ionosphere delay error
50% or so, cause Ionosphere Residual Error larger, causes the error of receiver clock-offsets larger, time service precision is not high.
The present invention utilizes the pseudo-range measurements of the multi-satellite observed, by establishing observational equation combined calculation ionosphere
Error coefficient and receiver clock-offsets can effectively solve the problem that ionospheric delay model value IklobucharInaccurate problem, estimates
Receiver clock-offsets precision is higher, gives receiver clock-offsets to time service module, can export high-precision PPS.
Attached drawing 2 is the pseudo-range measurements based on GPS L1 frequency point, utilizes formula (7) observational equation and Kalman filtering
Estimation method, the coefficient k value that real-time estimation obtains, the precision of single-frequency time service are as shown in Fig. 3.The PPS and accurate clock mould
The PPS of block is compared, and the error peak-to-peak value of time service is 16.6 nanoseconds (ns), mean square deviation 2.6ns.
The embodiment of the invention also provides a kind of computer readable storage mediums, which is characterized in that described computer-readable
Storage medium is stored with one or more program, and one or more of programs can be held by one or more processor
Row, the step of to realize satellite timing method as described in any of the above item.
As shown in figure 4, the embodiment of the invention also provides a kind of satellite time transfer device, including the first computing module 401,
Two computing modules 402 and time service module 403, in which:
First computing module 401 is seen for obtaining two or more moonscope information using the satellite of acquisition
Measurement information calculates each error term for influencing pseudo range observed quantity, and calculates satellite using pseudo range observed quantity and preset receiver coordinate
To the geometric distance of receiver, the geometric distance of calculated each error term, satellite to receiver is exported to second and calculates mould
Block 402；
Second computing module 402, for being arrived using the observational equation and calculated each error term, satellite that pre-establish
The geometric distance combined calculation receiver clock-offsets and ionospheric error coefficient of receiver, by calculated receiver clock-offsets export to
Time service module 403；
Time service module 403, for being adjusted according to calculated receiver clock-offsets to receiver local clock.
Further, the observational equation pre-established are as follows:
Wherein, variable z=P- ρ+cdts- T, P are pseudo range observed quantity, and unit is rice；ρ is geometry of the satellite to receiver
Distance；C is the light velocity；dtsFor satellite clock correction, T is tropospheric delay；
Variable Δ t=cdtr, dtrFor receiver clock-offsets；
Variable IklobucharTo be had a rest the calculated ionospheric delay model value of model according to Crow cloth, variable k is that ionosphere is missed
Poor coefficient.
Further, each error term for influencing pseudo range observed quantity include satellite clock correction, it is ionospheric delay model value, right
Tropospheric delay etc..
Specifically, in above-mentioned formula, pseudorange P is receiver measured value, and ρ can position according to receiver and satellite pseudorange
It is calculated；Satellite clock correction dtsIt is obtained from ephemeris；Tropospheric delay T is calculated by Hopfield (Hopfield) model
It arrives, ionospheric delay model value IklobucharIt is calculated by Crow cloth model of having a rest.
Further, first computing module 401 is also used to:
Using carrier phase observed quantity smoothing pseudo range observed quantity, to reduce the observation noise in pseudo range observed quantity.
It should be noted that under normal conditions, measurement measurement of the noise ε than pseudo range observed quantity P of carrier phase observed quantity L
Noise v is much smaller, using carrier phase smoothing pseudo-range algorithm, to reduce pseudorange noise, to promote time service precision.
Further, the side of the combined calculation receiver clock-offsets of second computing module 402 and ionospheric error coefficient
Method is least square method or Kalman filtering method.
Further, if there is the pseudo range observed quantity P of multiple satellite systems, then the class of multiple satellite systems is constructed in advance
Like the observational equation of formula (7), multisystem combined filtering estimated state amount Δ t and k.
Those of ordinary skill in the art will appreciate that all or part of the steps in the above method can be instructed by program
Related hardware is completed, and described program can store in computer readable storage medium, such as read-only memory, disk or CD
Deng.Optionally, one or more integrated circuits also can be used to realize, accordingly in all or part of the steps of above-described embodiment
Ground, each module/unit in above-described embodiment can take the form of hardware realization, can also use the shape of software function module
Formula is realized.The present invention is not limited to the combinations of the hardware and software of any particular form.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of satellite timing method characterized by comprising
Two or more moonscope information is obtained, calculating using the moonscope information of acquisition influences pseudo range observed quantity
Each error term, and using pseudo range observed quantity and preset receiver coordinate calculate satellite to receiver geometric distance；
Using pre-establish observational equation and calculated each error term, the geometric distance combined calculation of satellite to receiver
Receiver clock-offsets and ionospheric error coefficient；
Receiver local clock is adjusted according to calculated receiver clock-offsets.
2. satellite timing method according to claim 1, which is characterized in that before the method further include: described in foundation
Observational equation；The observational equation includes:
Wherein, variable z=P- ρ+cdts- T, P are pseudo range observed quantity, and unit is rice；ρ is geometric distance of the satellite to receiver；
C is the light velocity；dtsFor satellite clock correction, T is tropospheric delay；
Variable Δ t=cdtr, dtrFor receiver clock-offsets；
Variable IklobucharTo be had a rest the calculated ionospheric delay model value of model according to Crow cloth, variable k is ionospheric error system
Number.
3. satellite timing method according to claim 1, which is characterized in that the observational equation that the utilization pre-establishes with
And the geometric distance combined calculation receiver clock-offsets and ionospheric error coefficient of calculated each error term, satellite to receiver it
Before, the method also includes:
Using carrier phase observed quantity smoothing pseudo range observed quantity, to reduce the observation noise in pseudo range observed quantity.
4. satellite timing method according to claim 1, which is characterized in that the combined calculation receiver clock-offsets and ionization
The method of layer error coefficient is least square method or Kalman filtering method.
5. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage have one or
Multiple programs, one or more of programs can be executed by one or more processor, to realize such as Claims 1-4
Any one of described in satellite timing method the step of.
6. a kind of satellite time transfer device, which is characterized in that including the first computing module, the second computing module and time service module,
In:
First computing module utilizes the moonscope information of acquisition for obtaining two or more moonscope information
Each error term for influencing pseudo range observed quantity is calculated, and calculates satellite to reception using pseudo range observed quantity and preset receiver coordinate
The geometric distance of machine exports the geometric distance of calculated each error term, satellite to receiver to the second computing module；
Second computing module, for utilizing the observational equation and calculated each error term, satellite to receiver pre-established
Geometric distance combined calculation receiver clock-offsets and ionospheric error coefficient, calculated receiver clock-offsets are exported to time service mould
Block；
Time service module, for being adjusted according to calculated receiver clock-offsets to receiver local clock.
7. satellite time transfer device according to claim 6, which is characterized in that the observational equation pre-established are as follows:
Wherein, variable z=P- ρ+cdts- T, P are pseudo range observed quantity, and unit is rice；ρ is geometric distance of the satellite to receiver；
C is the light velocity；dtsFor satellite clock correction, T is tropospheric delay；
Variable Δ t=cdtr, dtrFor receiver clock-offsets；
Variable IklobucharTo be had a rest the calculated ionospheric delay model value of model according to Crow cloth, variable k is ionospheric error system
Number.
8. satellite time transfer device according to claim 6, which is characterized in that first computing module is also used to:
Using carrier phase observed quantity smoothing pseudo range observed quantity, to reduce the observation noise in pseudo range observed quantity.
9. satellite time transfer device according to claim 6, which is characterized in that the combined calculation of second computing module connects
Receipts machine clock deviation and the method for ionospheric error coefficient are least square method or Kalman filtering method.
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| CN109856956A (en) * | 2018-12-13 | 2019-06-07 | 江汉大学 | Clock time service device based on comparison |
| CN111239775A (en) * | 2020-03-10 | 2020-06-05 | 武汉大学 | Clock error compensation-based hardware delay calibration method and system for time service receiver |
| CN111983656A (en) * | 2020-08-17 | 2020-11-24 | 电信科学技术第五研究所有限公司 | Method, device and computer medium for performing optimal estimation on GNSS time in GNSS time system equipment |
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| CN112698563A (en) * | 2020-12-02 | 2021-04-23 | 四川九洲北斗导航与位置服务有限公司 | Satellite time service method and device, electronic equipment and storage medium |
| CN112666820B (en) * | 2020-12-07 | 2022-03-08 | 腾讯科技（深圳）有限公司 | Time correction method, terminal device, electronic device, and storage medium |
| CN112666820A (en) * | 2020-12-07 | 2021-04-16 | 腾讯科技（深圳）有限公司 | Time correction method, terminal device, electronic device, and storage medium |
| CN112799107A (en) * | 2020-12-28 | 2021-05-14 | 中国科学院国家授时中心 | Dynamic time service system and method |
| CN113341437A (en) * | 2021-05-21 | 2021-09-03 | 东南大学 | GNSS unmodeled error inversion method |
| CN113341437B (en) * | 2021-05-21 | 2024-05-28 | 东南大学 | GNSS unmodeled error inversion method |
| CN113608248A (en) * | 2021-06-25 | 2021-11-05 | 北京建筑大学 | Beidou 5G fused high-precision routing inspection personnel positioning method and related equipment |
| CN113608248B (en) * | 2021-06-25 | 2023-06-13 | 北京建筑大学 | Beidou 5G fusion high-precision patrol personnel positioning method and related equipment |
| CN113467221A (en) * | 2021-07-13 | 2021-10-01 | 湖南国科微电子股份有限公司 | Satellite navigation time service method, system and related components |
| CN113985213A (en) * | 2021-11-06 | 2022-01-28 | 威胜电气有限公司 | Error correction method of Beidou time service module during fault location of power distribution network |
| CN113985213B (en) * | 2021-11-06 | 2024-02-23 | 威胜能源技术股份有限公司 | Correction method for errors of Beidou time service module during power distribution network fault distance measurement |
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