CN106527110B - A kind of BDS based on kernel density estimation method and GPS double source pulse per second (PPS) seamless handover method - Google Patents
A kind of BDS based on kernel density estimation method and GPS double source pulse per second (PPS) seamless handover method Download PDFInfo
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- G04R—RADIO-CONTROLLED TIME-PIECES
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- 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
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Abstract
The present invention provides a kind of BDS based on kernel density estimation method and GPS double source pulse per second (PPS) seamless handover method, external constant-temperature crystal oscillator clock is carried out spread spectrum by the inside phaselocked loop of FPGA and obtains high-frequency clock pulse by this method, then carries out nanosecond counting respectively to the pulse per second (PPS) of BDS and GPS.In counting process, the statistical property that the respective shake of the pulse per second (PPS) for obtaining FPGA clock system error, BDS and GPS using kernel density estimation method causes high-frequency clock pulse to count, it determines each pulse per second (PPS) failure threshold, jitter compensation amount, realizes the online switching of double source pulse per second (PPS).When being equipped with BDS and GPS double source to time service clock source, shake when double source pulse per second (PPS) switching can be reduced by this method, improves the time service precision of pulse per second (PPS), and then can greatly improve the reliability in time service clock source.
Description
Technical field
The present invention relates to a kind of big-dipper satellites for being based on kernel density estimation method (Kernel Density Estimate, KDE)
Navigation system (BeiDou Navigation Satellite System, BDS) and global positioning system (Global
Positioning System, GPS) double source pulse per second (PPS) (1Pulse Per Second, 1PPS) seamless handover method, belong to and defends
Star Service of Timing field.
Background technique
Mobile communication and smart grid and quickly propelling for Intelligent transformer station require the whole network harmonious, same to the time
The requirement of step is increasingly urgent to, and accurate, safe and reliable clock signal is needed to provide accurately for all kinds of running equipments of system and business
Time Service.
Currently, in mobile communication field, the time synchronization requirement of base station are as follows: 1. base station should support through 1PPS signal and
TOD information input obtains synchronous timing information, makes to meet between base station and transmission network upstream time synchronism equipment and eat dishes without rice or wine the time
It is synchronous with frequency accuracy requirement；2., using rising edge as punctual edge, the rise time should be less than for 1PPS pulse per second (PPS)
50ns, pulsewidth should be 20ms~200ms；3. TOD information baud rate is defaulted as 9600, no parity, 1 start bit is (with low
Level indicates), 1 stop position (being indicated with high level), idle frame is high level, 8 data bit, Ying 1PPS rising edge 1ms
After start to transmit TOD information, and passed in 500ms, this TOD message indicates current 1PPS and triggers rising time.TOD agreement
It is 1 time per second that message, which sends frequency,.
Requirement of the electric system to timing tracking accuracy is: 1. the synchronization accuracy of failure logging requires 1ms；2. to quantity of state
The synchronization accuracy of acquisition requires 40 μ s；3. the synchronization accuracy of relay protection field test requires 10 μ s；4. phasor real-time measurement
Synchronization accuracy requires 5 μ s；5. traveling wave fault, to reach the positioning accuracy of 300m, synchronization accuracy requires 1 μ s, consider scattering because
The influence of element, synchronization accuracy require 0.5 μ s or so.According to the status and application prospect of time communications, electric system is unified
The precision of clock can be set to 0.5~1 μ s.
Due to all very high in the requirement of communication system and electric system to time synchronization, the synchronous time service clock of guarantee clock
Source becomes system core equipment, and the failure of time service clock source device will cause the collapse of whole system.In order to increase time service
The reliability of clock source, it would be desirable to be equipped with multiple clock sources and realize the online seamless switching of multiple clock sources, therefore study
The online seamless handover method of multiple clock sources has higher practical application value to guarantee communication system, the reliability of electric system.
Summary of the invention
The object of the present invention is to provide a kind of Chinese Beidou satellite navigation systems for being based on kernel density estimation method (KDE)
(BDS) with global positioning system (GPS) double source pulse per second (PPS) (1PPS) seamless handover method, double source can be reduced by this method
Shake when pulse per second (PPS) switches, improves the time service precision of pulse per second (PPS).
To achieve the above object, of the present invention the specific technical proposal is:
A kind of BDS based on kernel density estimation method and GPS double source pulse per second (PPS) seamless handover method, comprising the following steps:
Step 1 passes through the inside phaselocked loop of FPGA (Field Programmable Gate Array) outside
50MHz constant-temperature crystal oscillator clock CLOCK_50M is spread, and 200MHz high-frequency clock pulse CLOCK_200M is obtained；
Step 2 drives 64 digit counters using CLOCK_200M clock pulses, obtains the counting index of each clock
SystemCountIndex；Simultaneously under the driving of CLOCK_200M clock pulses, respectively to the pulse per second (PPS) rising edge of BDS and GPS
It is detected, obtains pulse per second (PPS) leading edge position number BDS_PulseEdgeCountIndex, GPS_ of BDS and GPS
PulseEdgeCountIndex obtains the pulse per second (PPS) width counting BDS_ of BDS and GPS further according to the alternate position spike of front and back
PulseEdgeSpan,GPS_PulseEdgeSpan；
The statistical property that step 3, the pulse per second (PPS) width that BDS and GPS is calculated using kernel density estimation method are counted, it is general to obtain it
Rate density function, mean value, standard variance shake biggish pulse per second (PPS) further according to the removal of three times variance scalping method；
Step 4 after rejecting the biggish pulse per second (PPS) of shake, counts BDS_ according to the pulse per second (PPS) width of BDS and GPS
PulseEdgeSpan, GPS_PulseEdgeSpan predict to calculate BDS and GPS current second using linear prediction method respectively
Rising edge of a pulse counts BDS_CalculatedEdgeCountIndex, GPS_CalculatedEdgeCountIndex and second arteries and veins
It rushes width and counts BDS_CalculatedEdgeSpan, GPS_CalculatedEdgeSpan；
Step 5, according to condition managing, utilize the 1PPS square wave of BDS and GPS to predict pulse BDS_
The pulse per second (PPS) width gauge of CalculatedEdgeCountIndex, GPS_CalculatedEdgeCountIndex and BDS and GPS
The current pulse per second (PPS) rising edge of number BDS_CalculatedEdgeSpan, GPS_CalculatedEdgeSpan computing system counts
DTS_PulseEdgeCountIndex and pulse per second (PPS) width count DTS_PulseEdgeSpan, generate double source seamless switching
Pulse per second (PPS).
The present invention provides a kind of BDS based on kernel density estimation method and GPS double source pulse per second (PPS) seamless handover method, when giving
When time service clock source is equipped with BDS and GPS double source, shake when double source pulse per second (PPS) switching can be reduced by this method, is improved
The time service precision of pulse per second (PPS), and then the reliability in time service clock source can be greatly improved.
Detailed description of the invention
Fig. 1 is that the present invention is based on the system frames of the BDS of kernel density estimation method and GPS double source pulse per second (PPS) seamless handover method
Figure.
Fig. 2 is the Density Estimator result of a hour pulse per second (PPS) of the invention.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
As shown in Figure 1, the present invention is based on the BDS of kernel density estimation method and GPS double source pulse per second (PPS) seamless handover methods to include
Following steps:
Step 1 passes through the inside phaselocked loop of FPGA (Field Programmable Gate Array) outside
50MHz constant-temperature crystal oscillator clock CLOCK_50M is spread, and 200MHz high-frequency clock pulse CLOCK_200M is obtained；
Step 2 drives 64 digit counters using CLOCK_200M clock, obtains the counting index of each clock
SystemCountIndex；Simultaneously under the driving of CLOCK_200M clock, the pulse per second (PPS) rising edge of BDS and GPS is carried out respectively
Detection obtains pulse per second (PPS) leading edge position number BDS_PulseEdgeCountIndex, GPS_ of BDS and GPS
PulseEdgeCountIndex obtains the pulse per second (PPS) width counting BDS_ of BDS and GPS further according to the alternate position spike of front and back
PulseEdgeSpan,GPS_PulseEdgeSpan；
The statistical property that step 3, the pulse per second (PPS) width that BDS and GPS is calculated using kernel density estimation method are counted, it is general to obtain it
Rate density function, mean value, standard variance shake biggish pulse per second (PPS) further according to the removal of three times variance scalping method, to ensure error
The pulse per second (PPS) of increasing does not enter subsequent switching and calculates, and guarantees the stability of switching system；
Step 4 after rejecting the biggish pulse per second (PPS) of shake, counts BDS_ according to the pulse per second (PPS) width of BDS and GPS
PulseEdgeSpan, GPS_PulseEdgeSpan predict to calculate BDS and GPS current second using linear prediction method respectively
Rising edge of a pulse counts BDS_CalculatedEdgeCountIndex, GPS_CalculatedEdgeCountIndex and second arteries and veins
It rushes width and counts BDS_CalculatedEdgeSpan, GPS_CalculatedEdgeSpan；
Step 5, according to condition managing, utilize the 1PPS square wave of BDS and GPS to predict pulse BDS_
The pulse per second (PPS) width gauge of CalculatedEdgeCountIndex, GPS_CalculatedEdgeCountIndex and BDS and GPS
The current pulse per second (PPS) rising edge of number BDS_CalculatedEdgeSpan, GPS_CalculatedEdgeSpan computing system counts
DTS_PulseEdgeCountIndex and pulse per second (PPS) width count DTS_PulseEdgeSpan, generate double source seamless switching
Pulse per second (PPS).
In the step 2,3,4,5,1PPS rising edge detection module is respectively adopted, KDE checks module, KDE prediction mould
Block, 1PPS rising edge switching computing module are handled data as nucleus module, each nucleus module described further below
Concrete processing procedure.
One, the nucleus module that the step 2 uses is 1PPS rising edge detection module, the specific process is as follows:
Input: 1PPS square-wave pulse；
Output: 64 counting positions of 200MHz of 1PPS rising edge index PulseEdgeCountIndex；
Treatment process:
Step 101: it is idle state, S=EDGE_CHECK_IDLE that init state, which manages variable S,；State maintains to count
SC=0；
Step 102: each circulation executes the period, and current period is counted as SystemCountIndex, holds by the current value of S
The different treatment process of row；If S=EDGE_CHECK_IDLE executes " step 103 ", if S=EDGE_CHECK_START
It executes " step 104 ", if S=EDGE_CHECK_LOW executes " step 105 ", if S=EDGE_CHECK_HIGH is executed
" step 106 "；
Step 103: if 1PPS be low level: if detect SC size, if SC be greater than highest threshold value, state, which is arranged, is
S=EDGE_CHECK_START, and SC=0, otherwise SC cumulative one；If 1PPS is high level, counting restarts SC=0；
Step 104: if 1PPS be low level: if detect SC size, if SC be greater than highest threshold value, state, which is arranged, is
S=EDGE_CHECK_LOW, and SC=0, otherwise SC cumulative one；If 1PPS is high level, counting restarts SC=0；
Step 105: if 1PPS be low level: if detect SC size, if SC be greater than highest threshold value, state, which is arranged, is
S=EDGE_CHECK_HIGH, and SC=0, otherwise SC cumulative one；If 1PPS is high level, counting restarts SC=0；
Step 106: if 1PPS be high level: if detect SC size, if SC be greater than highest threshold value, state, which is arranged, is
S=EDGE_CHECK_IDLE exports result PulseEdgeCountIndex, and SC=0, otherwise SC cumulative one；If
1PPS restarts SC=0 for low level counting, wherein
PulseEdgeCountIndex=SystemCountIndex- highest threshold value -1.
Two, the nucleus module that the step 3 uses is KDE inspection module, the specific process is as follows:
Input: 64 counting positions of 200MHz of 1PPS rising edge index PulseEdgeCountIndex；
Output: whether the location index passes through inspection；
Treatment process:
Step 201: calculating the counting width x of t per secondt,
Wherein, xt=PulseEdgeCountIndext–PulseEdgeCountIndex(t-1)
Step 202: calculating the Density Estimator of probability density function p (x) is defined as:
Wherein: K () is kernel function (kernel function), and h is window width, and n is to calculate number of pulses used, t=
1,2,…,n；Calculated result is as shown in Figure 2；
Step 203: utilizing sliding window, choose 1 hour, 3600 1PPS and count width xtCalculate mean value:
E=x3600p(x3600)+...+x2p(x2)+x1p(x1)
Step 204: utilizing sliding window, choose 1 hour, 3600 1PPS and count width xtCalculate variance:
D=(x3600-E)2p(x3600)+...+(x2-E)2p(x2)+(x1-E)2p(x1)
Step 205: standard deviation is calculated according to variance；
Step 206: checking that current PRF counts according to three times mean square deviation criterion: if current count width xtWith mean value E
Subtract each other and be greater than three times standard deviation, then current count does not pass through inspection, otherwise passes through inspection.
Three, the nucleus module that the step 4 uses is KDE prediction module, the specific process is as follows:
Input: PulseEdgeCountIndex is indexed by 64 counting positions of 200MHz of the 1PPS rising edge of inspection
Historical series xi, wherein i is the history pulse number needed for calculating；
Output: the prediction result x ' of current location index0；
Treatment process:
Step 301: calculating prediction weight ai；
Step 302: calculating normalizing and predict weight a 'i；
Step 303: calculate pulse position index placed in the middle:
x5=(a 'ix0+a’ix1+a’ix2+a’ix3+a’ix4+a’ix6+a’ix7+a’ix8+a’ix9+a’ix10)/10；
Step 304: calculating to occupy and work as preshoot location index: x '0=x5+ 6E, wherein E is step 203 calculated result.
Four, the nucleus module that the step 5 uses is 1PPS rising edge switching computing module, the specific process is as follows:
Input: the 1PPS square wave of the prediction of 1PPS square wave pulse BDS_CalculatedEdgeCountIndex, GPS of BDS
Predict pulse GPS_CalculatedEdgeCountIndex；
Output: the current pulse per second (PPS) rising edge of system counts DTS_PulseEdgeCountIndex, this is seamless switching
Calculated result；
Treatment process:
Step 401: initialization switching state management variable S is idle state, S=EDGE_PROCESS_IDLE；
Step 402: each 1PPS circulation executes the period, and different treatment processes is executed by the current value of S；If S=
EDGE_PROCESS_IDLE executes " step 403 ", if S=EDGE_PROCESS_WAITPULSE executes " step 404 ", such as
Fruit S=EDGE_PROCESS_RUNNING executes " step 405 ", if S=EDGE_PROCESS_DONE executes " step 406 "；
Step 403: if the KDE prediction of BDS and GPS calculates in idle state, switching state S=EDGE_
PROCESS_WAITPULSE；
Step 404: if the KDE results of prediction and calculation of BDS and GPS is effective, switching state S=EDGE_
It is BDS that PROCESS_RUNNING, 1PPS, which switch source,；If BDS results of prediction and calculation is effective, GPS results of prediction and calculation is invalid,
Switching state is S=EDGE_PROCESS_RUNNING, and it is BDS that 1PPS, which switches source,；If BDS results of prediction and calculation is invalid, GPS
Results of prediction and calculation is effective, after waiting 10ms, if BDS results of prediction and calculation is still invalid, and switching state S=EDGE_
It is GPS that PROCESS_RUNNING, 1PPS, which switch source,；If the KDE results of prediction and calculation of BDS and GPS is invalid, 100ms is waited
Afterwards, it is still invalid to check again for, then switching state is S=EDGE_PROCESS_RUNNING, and it is internal meter that 1PPS, which switches source,
Calculate DTS；
Step 405: if 1PPS switching source is BDS,
DTS_PulseEdgeCountIndex=BDS_CalculatedEdgeCountIndex；
If it is GPS that 1PPS, which switches source,
DTS_PulseEdgeCountIndex=GPS_CalculatedEdgeCountIndex；
If it is DTS that 1PPS, which switches source,
DTS_PulseEdgeCountIndex=DTS_PulseEdgeCountIndex+E, wherein E is step 203 calculating
As a result；
Step 406: being completed if 1PPS switching calculates, switching state S=EDGE_PROCESS_IDLE.
Claims (1)
1. a kind of BDS based on kernel density estimation method and GPS double source pulse per second (PPS) seamless handover method, it is characterized in that: including following
Step:
Step 1 spreads external 50MHz constant-temperature crystal oscillator clock CLOCK_50M by the inside phaselocked loop of FPGA, obtains
200MHz high-frequency clock pulse CLOCK_200M；
Step 2 drives 64 digit counters using CLOCK_200M clock pulses, obtains the counting index of each clock
SystemCountIndex；Simultaneously under the driving of CLOCK_200M clock pulses, respectively to the pulse per second (PPS) rising edge of BDS and GPS
It is detected, obtains pulse per second (PPS) leading edge position number BDS_PulseEdgeCountIndex, GPS_ of BDS and GPS
PulseEdgeCountIndex obtains the pulse per second (PPS) width counting BDS_ of BDS and GPS further according to the alternate position spike of front and back
PulseEdgeSpan,GPS_PulseEdgeSpan；
The statistical property that step 3, the pulse per second (PPS) width that BDS and GPS is calculated using kernel density estimation method are counted, it is close to obtain its probability
Function, mean value, standard variance are spent, shakes biggish pulse per second (PPS) further according to the removal of three times variance scalping method；
Step 4 after rejecting the biggish pulse per second (PPS) of shake, counts BDS_ according to the pulse per second (PPS) width of BDS and GPS
PulseEdgeSpan, GPS_PulseEdgeSpan predict to calculate BDS and GPS current second using linear prediction method respectively
Rising edge of a pulse counts BDS_CalculatedEdgeCountIndex, GPS_CalculatedEdgeCountIndex and second arteries and veins
It rushes width and counts BDS_CalculatedEdgeSpan, GPS_CalculatedEdgeSpan；
Step 5, according to condition managing, utilize the 1PPS square wave of BDS and GPS to predict pulse BDS_
The pulse per second (PPS) width gauge of CalculatedEdgeCountIndex, GPS_CalculatedEdgeCountIndex and BDS and GPS
The current pulse per second (PPS) rising edge of number BDS_CalculatedEdgeSpan, GPS_CalculatedEdgeSpan computing system counts
DTS_PulseEdgeCountIndex and pulse per second (PPS) width count DTS_PulseEdgeSpan, generate double source seamless switching
Pulse per second (PPS)；
In the step 2, data are handled as nucleus module using 1PPS rising edge detection module, it is specific to handle
Process are as follows:
Input: 1PPS square-wave pulse；
Output: 64 counting positions of 200MHz of 1PPS rising edge index PulseEdgeCountIndex；
Treatment process:
Step 101: it is idle state, S=EDGE_CHECK_IDLE that init state, which manages variable S,；State maintains to count SC=
0；
Step 102: each circulation executes the period, and current period is counted as SystemCountIndex, executes not by the current value of S
Same treatment process；If S=EDGE_CHECK_IDLE executes " step 103 ", if S=EDGE_CHECK_START is executed
" step 104 ", if S=EDGE_CHECK_LOW executes " step 105 ", if S=EDGE_CHECK_HIGH executes " step
106"；
Step 103: if 1PPS be low level: if detect SC size, if SC be greater than highest threshold value, be arranged state be S=
EDGE_CHECK_START, and SC=0, otherwise SC cumulative one；If 1PPS is high level, counting restarts SC=0；
Step 104: if 1PPS be low level: if detect SC size, if SC be greater than highest threshold value, be arranged state be S=
EDGE_CHECK_LOW, and SC=0, otherwise SC cumulative one；If 1PPS is high level, counting restarts SC=0；
Step 105: if 1PPS be low level: if detect SC size, if SC be greater than highest threshold value, be arranged state be S=
EDGE_CHECK_HIGH, and SC=0, otherwise SC cumulative one；If 1PPS is high level, counting restarts SC=0；
Step 106: if 1PPS be high level: if detect SC size, if SC be greater than highest threshold value, be arranged state be S=
EDGE_CHECK_IDLE exports result PulseEdgeCountIndex, and SC=0, otherwise SC cumulative one；If 1PPS is
Low level counting restarts SC=0, wherein
PulseEdgeCountIndex=SystemCountIndex- highest threshold value -1；
In the step 3, module is checked as nucleus module using KDE, data are handled, the specific process is as follows:
Input: 64 counting positions of 200MHz of 1PPS rising edge index PulseEdgeCountIndex；
Output: whether the location index passes through inspection；
Treatment process:
Step 201: calculating the counting width x of t per secondt,
Wherein, xt=PulseEdgeCountIndext–PulseEdgeCountIndex(t-1)
Step 202: calculating the Density Estimator of probability density function p (x) is defined as:
Wherein: K () is kernel function (kernel function), and h is window width, and n is to calculate number of pulses used, t=1,
2,…,n；
Step 203: utilizing sliding window, choose 1 hour, 3600 1PPS and count width xtCalculate mean value:
E=x3600p(x3600)+...+x2p(x2)+x1p(x1)
Step 204: utilizing sliding window, choose 1 hour, 3600 1PPS and count width xtCalculate variance:
D=(x3600-E)2p(x3600)+...+(x2-E)2p(x2)+(x1-E)2p(x1)
Step 205: standard deviation is calculated according to variance；
Step 206: checking that current PRF counts according to three times mean square deviation criterion: if current count width xtSubtract each other greatly with mean value E
In three times standard deviation, then current count does not pass through inspection, otherwise passes through inspection；
In the step 4, data are handled as nucleus module using KDE prediction module, the specific process is as follows:
Input: PulseEdgeCountIndex history is indexed by 64 counting positions of 200MHz of the 1PPS rising edge of inspection
Sequence xi, wherein i is the history pulse number needed for calculating；
Output: the prediction result x ' of current location index0；
Treatment process:
Step 301: calculating prediction weight ai；
Step 302: calculating normalizing and predict weight a 'i；
Step 303: calculate pulse position index placed in the middle:
x5=(a 'ix0+a’ix1+a’ix2+a’ix3+a’ix4+a’ix6+a’ ix7+a’ix8+a’ ix9+a’ix10)/10；
Step 304: calculating to occupy and work as preshoot location index: x’ 0=x5+ 6E, wherein E is step 203 calculated result；
In the step 5, data are handled as nucleus module using 1PPS rising edge switching computing module, it is specific
Treatment process are as follows:
Input: the 1PPS square wave prediction of the prediction of 1PPS square wave pulse BDS_CalculatedEdgeCountIndex, GPS of BDS
Pulse GPS_CalculatedEdgeCountIndex；
Output: the current pulse per second (PPS) rising edge of system counts DTS_PulseEdgeCountIndex, this is that seamless switching calculates
As a result；
Treatment process:
Step 401: initialization switching state management variable S is idle state, S=EDGE_PROCESS_IDLE；
Step 402: each 1PPS circulation executes the period, and different treatment processes is executed by the current value of S；If S=EDGE_
PROCESS_IDLE executes " step 403 ", if S=EDGE_PROCESS_WAITPULSE executes " step 404 ", if S=
EDGE_PROCESS_RUNNING executes " step 405 ", if S=EDGE_PROCESS_DONE executes " step 406 "；
Step 403: if the KDE prediction of BDS and GPS calculates in idle state, switching state S=EDGE_PROCESS_
WAITPULSE；
Step 404: if the KDE results of prediction and calculation of BDS and GPS is effective, switching state S=EDGE_PROCESS_
It is BDS that RUNNING, 1PPS, which switch source,；If BDS results of prediction and calculation is effective, GPS results of prediction and calculation is invalid, switching state
Switching source for S=EDGE_PROCESS_RUNNING, 1PPS is BDS；If BDS results of prediction and calculation is invalid, GPS prediction is calculated
As a result effectively, after waiting 10ms, if BDS results of prediction and calculation is still invalid, switching state S=EDGE_PROCESS_
It is GPS that RUNNING, 1PPS, which switch source,；If the KDE results of prediction and calculation of BDS and GPS is invalid, after waiting 100ms, again
It is still invalid to check, then switching state is S=EDGE_PROCESS_RUNNING, and it is internal calculation DTS that 1PPS, which switches source,；
Step 405: if 1PPS switching source is BDS,
DTS_PulseEdgeCountIndex=BDS_CalculatedEdgeCountIndex；
If it is GPS that 1PPS, which switches source,
DTS_PulseEdgeCountIndex=GPS_CalculatedEdgeCountIndex；
If it is DTS that 1PPS, which switches source,
DTS_PulseEdgeCountIndex=DTS_PulseEdgeCountIndex+E, wherein E is that step 203 calculates knot
Fruit；
Step 406: being completed if 1PPS switching calculates, switching state S=EDGE_PROCESS_IDLE.
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| CN104570717A (en) * | 2013-10-25 | 2015-04-29 | 沈阳工业大学 | Time keeping system based on GPS /Beidou satellite and finite-state machine |
| CN104185233A (en) * | 2014-09-17 | 2014-12-03 | 陕西浩瀚新宇科技发展有限公司 | Dual-mode mobile terminal switching method |
| CN104375413A (en) * | 2014-11-06 | 2015-02-25 | 西安交通大学 | Time synchronization system and method based on GPS/BD dual-mode time service |
| CN105548809A (en) * | 2015-12-18 | 2016-05-04 | 南瑞（武汉）电气设备与工程能效测评中心 | Harmonic wave responsibility determining method of power system |
| CN105676627A (en) * | 2015-12-25 | 2016-06-15 | 中国科学院国家授时中心 | Time keeping system primary and standby main clock seamless switching system and method |
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