CN102291169A - Onboard high-accuracy time synchronization method for satellite - Google Patents
Onboard high-accuracy time synchronization method for satellite Download PDFInfo
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- CN102291169A CN102291169A CN2011102683517A CN201110268351A CN102291169A CN 102291169 A CN102291169 A CN 102291169A CN 2011102683517 A CN2011102683517 A CN 2011102683517A CN 201110268351 A CN201110268351 A CN 201110268351A CN 102291169 A CN102291169 A CN 102291169A
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Abstract
The invention discloses an onboard high-accuracy time synchronization method for a satellite, which is used for effectively solving the problem of unavailability of meeting time synchronization in the sensitive acting process of the satellite due to low accuracy and poor stability of an onboard time system. By adopting the high-accuracy time synchronization method, the time accuracy (an error between the time accuracy and GPS (Global Positioning System) standard time is less than 25 mus) of a satellite central computer is enhanced, the time synchronization accuracy among subsystems of the entire satellite is higher than 0.1 ms (based on the GPS standard time), and the defect of unavailability of continuing working when a GPS receiver is not positioned existing in a design method in which only GPS second pulse is taken as time synchronization of each subsystem of the entire satellite is overcome. Once one of the GPS receiver and a satellite-to-ground observing and controlling channel exists at the in-orbit flying period of the satellite, time synchronization of the satellite can be realized, so that the risk of functional failure of the system is lowered effectively, the time synchronization mode can be changed in time as required or along with the change of environment, and the time synchronization flexibility, reliability and security of the satellite are enhanced remarkably.
Description
Technical field
The present invention relates to high-precision time synchronization method on a kind of satellite star.
Background technology
Clock on the satellite was system's clock in the past, system's clock is interrupted producing by the remote measurement of Star Service central computer, the remote measurement of Star Service central computer is interrupted every 3.90625ms and is produced once, and software is the cumulative time in the remote measurement interrupt service routine, and the time of having no progeny in 256 remote measurements just in time is 1 second.The On-Star system clock add up by second and millisecond, and its time resolution is 1 millisecond, the time etching system clock zero clearing of reception satellite and the rocket separation signal.The Star Service central computer with system's clock by each subsystem broadcasting on star of CAN bus, can provide day, the time, minute, second and millisecond, its precision and stability are belonged on the star and are hanged down the precision time by the crystal oscillator decision of Star Service central computer inside.Raising day by day along with task precision and complexity, increasing task will be finished by a plurality of subsystems on the star are collaborative, the basis of each subsystem collaborative work is exactly to have unified high-precision time synchronization method on the star, precision was the needs that system's clock of ms can't satisfy task in the past, therefore need set up on a kind of satellite star high-precision time synchronization method to guarantee time high accuracy unanimity inner on the star.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, high-precision time synchronization method on a kind of satellite star is provided, the problem of low, the poor stability of time precision on original star when adopting this method effectively to solve in orbit, for whole star has been set up high accuracy unified time, make on the star each subsystem can collaborative work under the unified time coordinate, finish the complex task that satellite in the past can't be finished.
Technical solution of the present invention is:
High-precision time synchronization method on a kind of satellite star, step is as follows:
(1) satellite in orbit during, when the GPS receiver on the star is in positioning states, the GPS receiver receives the navigation signal of GPS navigation satellite and calculates the GPS standard time, in the whole second moment of each GPS standard time, the Star Service central computer of GPS receiver on star sends a GPS pulse per second (PPS); When the GPS receiver on the star was in non-positioning states, the GPS receiver did not send the GPS pulse per second (PPS);
(2) judge that whether the Star Service central computer receives the GPS pulse per second (PPS) that the GPS receiver sends, if receive, then enters step (3); If do not receive, then the Star Service central computer continues to use its internal clocking, enters step (6) afterwards;
(3) Star Service central computer time user on star sends GPS pulse per second (PPS) and temporal information broadcasting;
(4) the Star Service central computer is according to GPS pulse per second (PPS) calibration internal clocking, makes the internal clocking of Star Service central computer and the deviation of GPS between the standard time less than 25us;
Cycle and being stored in Star Service central computer internal register when (5) the Star Service central computer obtains its autonomous evenly school, the cycle is meant that the internal clocking of Star Service central computer and the deviation of GPS between the standard time reach the used time of 25us, return step (1) afterwards during described autonomous evenly school;
(6) judge the cycle when whether having deposited autonomous evenly school in the internal register of Star Service central computer in,, then enter step (7) if deposit in; If do not deposit in, then enter step (8);
(7) Star Service central computer time user transmitting time broadcast message and inside pulse per second (PPS) of producing by the internal clocking of Star Service central computer on star, and the Star Service central computer is adjusted its internal clocking during according to autonomous evenly school in the cycle, make internal clocking and the deviation of GPS between the standard time less than 25us, return step (1) afterwards;
(8) Star Service central computer time user transmitting time broadcast message and by the inside pulse per second (PPS) that the internal clocking of Star Service central computer produces on star is returned step (1) afterwards.
The present invention compared with prior art has the following advantages:
(1) the present invention utilizes the high accuracy pulse per second (PPS) that the GPS receiver is exported to the Star Service central computer on the satellite, by the Star Service central computer according to GPS pulse per second (PPS) internal clocking is calibrated, make the error＜25us between the internal clocking of GPS standard time and Star Service central computer, and can't promote Star Service central computer internal clocking precision (the internal clocking error of gps time and Star Service central computer is the ms level) with the GPS pulse per second (PPS) as the design of time synchronized benchmark merely in the past.And, the Star Service central computer is sending pulse per second (PPS) and transmitting time broadcast message on the CAN bus on 422 buses, the split-second precision of realizing (time user on the star) between whole each subsystem of star is synchronous, and precision is better than 0.1ms (standard time (UTC time) with GPS output is a benchmark).
(2) high-precision time synchronization method on the star of the present invention has overcome in the past merely with the GPS pulse per second (PPS) and has designed the shortcoming that can't work on when the delocalization of GPS receiver as whole each subsystem time synchronized of star.Because original method for designing only is to rely on the synchronizing signal of GPS pulse per second (PPS) as each time user, and no longer send pulse per second (PPS) during the delocalization of GPS receiver, can't continue synchronous working between each time user.And our rule can be when the delocalization situation appears in the GPS receiver, the Star Service central computer makes the internal clocking error＜25us of GPS standard time and Star Service central computer during by autonomous evenly school, and can export the high accuracy pulse per second (PPS) and use for the time user, guarantee the needs that each time user time is synchronous.
(3) high-precision time synchronization method on the star of the present invention efficiently solves that time system precision on the star is low, poor stability and can't satisfy satellite and implement time synchronization problem in the quick mobile process.In satellite reality during rail flight, just can realize the time unification of satellite as long as have one of GPS receiver, star ground observing and controlling channel, effectively reduce the risk that systemic-function lost efficacy, and can be as required or the variation of environment for use in time change the time unification mode, significantly improved synchronous flexibility, reliability and the fail safe of satellite time.
Description of drawings
Fig. 1 is a high-precision time synchronization method structural representation of the present invention;
Fig. 2 is a high-precision time synchronization method flow chart of the present invention;
Fig. 3 is a pulse per second (PPS) output services schematic diagram of the present invention;
Schematic diagram when Fig. 4 is school of the present invention.
Embodiment
Be illustrated in figure 1 as high-precision time synchronization method structural representation of the present invention, GPS receiver, Star Service central computer, clock unit and each time user (subsystem on the star) are installed on the satellite.
Wherein, the navigation signal that the GPS receiver receives the GPS navigation satellite calculates the GPS standard time, and sends the high accuracy pulse per second (PPS) to the Star Service central computer.
The internal clocking that the Star Service central computer produces is that benchmark accumulative total forms with internal clocking or clock unit, and the overwhelming majority time is used clock unit in the time of in orbit.Clock unit provides high-precision timing benchmark for the Star Service central computer, and has reduced the correction of ground in the face of satellite time.It adopts the thermostatic control technology, guarantees that quartz crystal and oscillating circuit are operated under the stable temperature, guarantees the stable of output frequency, is output as the square-wave signal of 40kHz.Clock stability is better than 5 * 10
-9/ day, frequency accuracy is 5 * 10
-7The 40kHz square-wave signal that the Star Service central computer is exported the clock unit that receives is counted, and realizes internal clocking with this.
The Star Service central computer is calibrated the internal clocking of Star Service central computer after receiving the GPS pulse per second (PPS), and the time user sends pulse per second (PPS) and time broadcast message on star,
The time user receives pulse per second (PPS) and the temporal information broadcasting that the Star Service central computer sends, and during as the benchmark school, timing.
The invention provides high-precision time synchronization method on a kind of satellite star, as shown in Figure 2, step is as follows:
(1) satellite in orbit during, when the GPS receiver on the star is in positioning states, the GPS receiver receives the navigation signal of GPS navigation satellite and calculates the GPS standard time, each GPS standard time whole second constantly, the Star Service central computer of GPS receiver on star send one with the high-precision GPS pulse per second (PPS) of GPS standard time error less than 1 μ s; When the GPS receiver on the star was in non-positioning states, the GPS receiver did not send the GPS pulse per second (PPS);
(2) judge that whether the Star Service central computer receives the GPS pulse per second (PPS) that the GPS receiver sends, if receive, then enters step (3); If do not receive, then the Star Service central computer continues to use its internal clocking, enters step (6) afterwards;
(3) Star Service central computer time user on star sends GPS pulse per second (PPS) and temporal information broadcasting;
As shown in Figure 3, the Star Service central computer can independently be judged the inside pulse per second (PPS) of selecting output GPS pulse per second (PPS) or Star Service central computer to produce according to the positioning states of GPS receiver.
When the GPS receiver was in positioning states, the Star Service central computer was directly transmitted the GPS pulse per second (PPS) that the GPS receiver is exported to the Star Service central computer to the time user by 422 buses.
The Star Service central computer transfers can be to CAN bus transmitting time broadcast message in after the GPS pulse per second (PPS) 50 milliseconds.When GPS pulse per second (PPS) that each time user can transfer according to the Star Service central computer on the star and the time broadcast message on the CAN bus are carried out the school, timing, self internal time was alignd with the GPS standard time.
(4) the Star Service central computer is according to GPS pulse per second (PPS) calibration internal clocking, makes the internal clocking of Star Service central computer and the deviation of GPS between the standard time less than 25us;
The inside pulse per second (PPS) that the Star Service central computer produces adopts the mode of counter cascade to realize, at first the 40KHz square-wave signal of clock unit output is imported as the clock signal of counter 1, and the generation cycle is the square-wave signal of 1ms; Then the square-wave signal of this 1ms is imported as the clock signal of counter 2, the generation cycle is 1 second, and negative pulse width is the pulse signal of 1ms.The one-period of 40KHz clock is 25us, can reach the purpose that fast or the 25us that slows down are transferred in inner pulse per second (PPS) by the pulse that increases or reduce 1 40KHz square-wave signal.
Implementation method during according to GPS pulse per second (PPS) school is as shown in Figure 4:
The Star Service central computer reads the clock number of the 40KHz signal of inner pulse per second (PPS) trailing edge in the time period from GPS pulse per second (PPS) trailing edge to the Star Service central computer, error in judgement time (unit of error time is 25us) thus.If the clock number is more than or equal to 40001 or smaller or equal to 39999, the Star Service central computer sends that pulse adds " 1 " or pulse subtracts a pulse in the corresponding increase and decrease of " 1 " instruction 40KHz pulse train, reach the inner pulse per second (PPS) of Star Service central computer and transfer the purpose of the fast 25us or the 25us that slows down, thereby make inner pulse per second (PPS) of Star Service central computer and GPS pulse per second (PPS) error in a clock cycle (25us).
Cycle and being stored in Star Service central computer internal register when (5) the Star Service central computer obtains its autonomous evenly school, the cycle is meant that the internal clocking of Star Service central computer and the deviation of GPS between the standard time reach the used time of 25us, return step (1) afterwards during described autonomous evenly school;
When the GPS receiver is in positioning states, the Star Service central computer reads the error between GPS pulse per second (PPS) and the inner pulse per second (PPS), note time that each error reaches 25us as cycle during autonomous evenly school on the star, and with cycle during autonomous evenly school on the star that once obtains before the cycle covering during autonomous evenly school on the last star that obtains, the minimum time equivalent of adjusting during autonomous evenly school is 25us.The method in cycle during autonomous evenly school on the star that once obtains before cycle covering when adopting autonomous evenly school on the last star that obtains can also be asked for mean value that error between GPS pulse per second (PPS) and the inner pulse per second (PPS) reaches the used time of 25us as cycle during autonomous even school on the star through continual statistics.
(6) judge the cycle when whether having deposited autonomous evenly school in the internal register of Star Service central computer in,, then enter step (7) if deposit in; If do not deposit in, then enter step (8);
(7) Star Service central computer time user transmitting time broadcast message and inside pulse per second (PPS) of producing by the internal clocking of Star Service central computer on star, and the Star Service central computer is adjusted its internal clocking during according to autonomous evenly school in the cycle, make internal clocking and the deviation of GPS between the standard time less than 25us, return step (1) afterwards;
As shown in Figure 3, the Star Service central computer is independently judged the inside pulse per second (PPS) of selecting output GPS pulse per second (PPS) or Star Service central computer to produce according to the positioning states of GPS receiver.
When the GPS receiver was in the delocalization state, the Star Service central computer sent the inside pulse per second (PPS) that the Star Service central computer produces by 422 buses to the time user.
The Star Service central computer sends can be to CAN bus transmitting time broadcast message in after the inner pulse per second (PPS) 50 milliseconds.When inside pulse per second (PPS) that each time user can send according to the Star Service central computer on the star and the time broadcast message on the CAN bus are carried out the school, in time, self internal time was alignd with the GPS standard time.
When the GPS receiver is in the delocalization state, the Star Service central computer can not be received the GPS pulse per second (PPS), the cycle is adjusted internal clocking in the time of can be according to autonomous evenly school, promptly do not receive a moment of GPS pulse per second (PPS) from the Star Service central computer, every through just sending on the secondary star that pulse adds " 1 " during autonomous evenly school the cycle or pulse subtracts a pulse in the corresponding increase and decrease of " 1 " instruction 40KHz pulse train, reach the purpose that the fast 25us or the 25us that slows down are transferred in the inner pulse per second (PPS) of Star Service central computer, thereby keep Star Service central computer internal clocking and the error of GPS standard time in a clock cycle (25us).
(8) Star Service central computer time user transmitting time broadcast message and by the inside pulse per second (PPS) that the internal clocking of Star Service central computer produces on star is returned step (1) above-mentioned steps that circulates again afterwards.
Claims (1)
1. high-precision time synchronization method on the satellite star is characterized in that step is as follows:
(1) satellite in orbit during, when the GPS receiver on the star is in positioning states, the GPS receiver receives the navigation signal of GPS navigation satellite and calculates the GPS standard time, in the whole second moment of each GPS standard time, the Star Service central computer of GPS receiver on star sends a GPS pulse per second (PPS); When the GPS receiver on the star was in non-positioning states, the GPS receiver did not send the GPS pulse per second (PPS);
(2) judge that whether the Star Service central computer receives the GPS pulse per second (PPS) that the GPS receiver sends, if receive, then enters step (3); If do not receive, then the Star Service central computer continues to use its internal clocking, enters step (6) afterwards;
(3) Star Service central computer time user on star sends GPS pulse per second (PPS) and temporal information broadcasting;
(4) the Star Service central computer is according to GPS pulse per second (PPS) calibration internal clocking, makes the internal clocking of Star Service central computer and the deviation of GPS between the standard time less than 25us;
Cycle and being stored in Star Service central computer internal register when (5) the Star Service central computer obtains its autonomous evenly school, the cycle is meant that the internal clocking of Star Service central computer and the deviation of GPS between the standard time reach the used time of 25us, return step (1) afterwards during described autonomous evenly school;
(6) judge the cycle when whether having deposited autonomous evenly school in the internal register of Star Service central computer in,, then enter step (7) if deposit in; If do not deposit in, then enter step (8);
(7) Star Service central computer time user transmitting time broadcast message and inside pulse per second (PPS) of producing by the internal clocking of Star Service central computer on star, and the Star Service central computer is adjusted its internal clocking during according to autonomous evenly school in the cycle, make internal clocking and the deviation of GPS between the standard time less than 25us, return step (1) afterwards;
(8) Star Service central computer time user transmitting time broadcast message and by the inside pulse per second (PPS) that the internal clocking of Star Service central computer produces on star is returned step (1) afterwards.
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| CN102882586A (en) * | 2012-10-15 | 2013-01-16 | 北京空间飞行器总体设计部 | Satellite time synchronization system |
| CN103309229A (en) * | 2013-07-10 | 2013-09-18 | 中国人民解放军国防科学技术大学 | Satellite-to-ground dynamic bidirectional time synchronization and ranging combined algorithm based on fitting method |
| CN104730983A (en) * | 2015-03-11 | 2015-06-24 | 航天东方红卫星有限公司 | High-precision time program control method |
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| CN105824231A (en) * | 2016-03-30 | 2016-08-03 | 上海卫星工程研究所 | Satellite-earth time delay measurement system and work method thereof |
| CN106549701A (en) * | 2016-09-23 | 2017-03-29 | 北京空间飞行器总体设计部 | A kind of retrievable satellite separates assembly time calibrating method |
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| CN115623582A (en) * | 2022-12-20 | 2023-01-17 | 浙江吉利控股集团有限公司 | Low-orbit satellite constellation time synchronization method, system, device and medium |
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| CN112698360A (en) * | 2021-01-26 | 2021-04-23 | 中国科学院微小卫星创新研究院 | Method for improving time precision of navigation satellite platform |
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| CN115623582A (en) * | 2022-12-20 | 2023-01-17 | 浙江吉利控股集团有限公司 | Low-orbit satellite constellation time synchronization method, system, device and medium |
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