CN109085616B - Satellite time service method, device and storage medium - Google Patents

Abstract

The invention provides a satellite time service method, a device and a storage medium, wherein the satellite time service method comprises the following steps: receiving satellite signals, and obtaining GPS1PPS signals and navigation positioning data information through the satellite signals; calculating the phase difference between the GPS1PPS signal and the frequency division 1PPS, adjusting the phase corresponding to the frequency division 1PPS according to the phase difference, and obtaining a local 1PPS signal according to the frequency division 1PPS signal with the adjusted phase; selecting a time service mode or a time keeping mode according to the satellite geometric precision factor PDOP value; judging whether the state of the local 1PPS signal is normal or not, and selecting whether the local 1PPS signal is directly used as an output signal of a time service mode or not according to the state; the method can calculate to obtain accurate local 1PPS signals, well reduce signal output errors, select a time service mode or a time keeping mode through the satellite geometric accuracy factor PDOP value, determine whether to output the signals as the preferred signals according to the state of the local 1PPS signals, and improve the time service stability.

Description

A kind of satellite timing method, device and storage medium

technical field

The invention mainly relates to the field of timing technology processing, and in particular relates to a satellite timing method, device and storage medium.

Background technique

High-precision timing is crucial to the development of the entire society. Many key infrastructures involving national energy, economic and social security, such as communication systems, power systems, financial systems, and railway systems, depend on high-precision time synchronization for effective operation;

There are many timing methods, which can be divided into long and short wave timing, telephone timing, Internet timing and satellite timing according to the existing timing methods. Satellite timing, which is widely used at present, is a timing method for broadcasting or rebroadcasting standard time signals through navigation satellites; satellite timing can be divided into two-way timing and one-way timing. For relevant information, the user can independently calculate the clock difference to correct the local time, so that the local time is synchronized with the satellite system time.

The current one-way timing method has the problem of large timing error. For example, the method of using the complementary characteristics of satellite clock and crystal oscillator to output frequency signal, ordinary crystal oscillator is difficult to meet the needs of high-precision synchronous control field, even high-precision crystal oscillator, With the passage of time, the accumulated error keeps increasing, and the aging of the crystal oscillator itself will also cause a certain frequency drift.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a satellite timing method, device and storage medium aiming at the deficiencies of the prior art.

The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a satellite timing method, comprising the following steps:

Receive satellite signals, and obtain GPS 1PPS signals and navigation and positioning data information through the satellite signals;

The frequency signal is output by a rubidium atomic clock, and the frequency signal is subjected to frequency division processing to obtain a frequency-divided 1PPS signal, and the phase difference between the GPS 1PPS signal and the frequency-divided 1PPS signal is calculated, and the frequency-divided 1PPS signal is adjusted according to the phase difference. For the corresponding phase, obtain the local 1PPS signal according to the frequency-divided 1PPS signal of the adjusted phase;

Determine the satellite geometric precision factor PDOP value according to the navigation and positioning data information, and select a timing mode or a punctual mode according to the satellite geometric precision factor PDOP value;

When the punctual mode is selected, the local 1PPS signal is used as the output signal of the punctual mode,

When the timing mode is selected, it is judged whether the state of the local 1PPS signal is normal, if it is normal, the local 1PPS signal is used as the output signal of the timing mode, otherwise the GPS 1PPS signal is used as the output signal of the timing mode.

Another technical solution of the present invention to solve the above-mentioned technical problems is as follows: a satellite timing device, comprising:

a satellite signal processing module for receiving satellite signals, and obtaining GPS1PPS signals and navigation and positioning data information through the satellite signals;

The processing module is used to output the frequency signal through the rubidium atomic clock, perform frequency division processing on the frequency signal, obtain the frequency division 1PPS signal, calculate the phase difference between the GPS 1PPS signal and the frequency division 1PPS signal, and adjust the phase difference according to the phase difference. The phase corresponding to the frequency-divided 1PPS signal is obtained, and the local 1PPS signal is obtained according to the frequency-divided 1PPS signal whose phase is adjusted;

a mode selection module, configured to determine a satellite geometric precision factor PDOP value according to the navigation and positioning data information, and select a timing mode or a punctual mode according to the satellite geometric precision factor PDOP value;

The processing module is further configured to use the local 1PPS signal as the output signal of the punctual mode when the punctual mode is selected,

When the timing mode is selected, it is judged whether the state of the local 1PPS signal is normal, if it is normal, the local 1PPS signal is used as the output signal of the timing mode, otherwise the GPS 1PPS signal is used as the output signal of the timing mode.

The beneficial effects of the present invention are: by calculating the GPS 1PPS signal of the satellite and the phase difference of the frequency-divided 1PPS signal for correction to obtain an accurate local 1PPS signal, the correction method based on each other can better reduce the signal output error, and by The satellite geometric precision factor PDOP value is used to select the timing mode or the punctual mode, and it is determined whether to output as the preferred signal according to the state of the local 1PPS signal, which improves the stability of the timing.

Description of drawings

1 is a method flowchart of a satellite timing method provided by an embodiment of the present invention;

2 is a block diagram of a module of a satellite timing device provided by an embodiment of the present invention;

3 is a block diagram of a module of a satellite timing device provided by another embodiment of the present invention;

FIG. 4 is a schematic flowchart of calculating a phase difference according to an embodiment of the present invention.

Detailed ways

The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples are only used to explain the present invention, but not to limit the scope of the present invention.

1 is a method flowchart of a satellite timing method provided by an embodiment of the present invention;

As shown in Figure 1, a satellite timing method includes the following steps:

Receive satellite signals, and obtain GPS 1PPS signals and navigation and positioning data information through the satellite signals;

The frequency signal is output by a rubidium atomic clock, and the frequency signal is subjected to frequency division processing to obtain a frequency-divided 1PPS signal, and the phase difference between the GPS 1PPS signal and the frequency-divided 1PPS signal is calculated, and the frequency-divided 1PPS signal is adjusted according to the phase difference. For the corresponding phase, obtain the local 1PPS signal according to the frequency-divided 1PPS signal of the adjusted phase;

Determine the satellite geometric precision factor PDOP value according to the navigation and positioning data information, and select a timing mode or a punctual mode according to the satellite geometric precision factor PDOP value;

When the punctual mode is selected, the local 1PPS signal is used as the output signal of the punctual mode,

When the timing mode is selected, it is judged whether the state of the local 1PPS signal is normal, if it is normal, the local 1PPS signal is used as the output signal of the timing mode, otherwise the GPS 1PPS signal is used as the output signal of the timing mode.

Specifically, the selecting a timing mode or a timing mode according to the PDOP value of the satellite geometric precision factor includes:

If the PDOP value of the satellite geometric precision factor is greater than 3, the timekeeping mode is selected; otherwise, the timing mode is selected.

In the above-mentioned embodiment, the GPS 1PPS signal of the satellite and the phase difference of the frequency-divided 1PPS signal are calculated and corrected to obtain an accurate local 1PPS signal. The precision factor PDOP value is used to select the timing mode or the punctual mode, and whether it is output as the preferred signal is determined according to the state of the local 1PPS signal, which improves the stability of the timing.

Optionally, as an embodiment of the present invention, when selecting a timing mode or a punctual mode, the steps further include:

Obtain original observation data through the satellite signal, and perform calculation on the original observation data to obtain a clock error correction value;

The local clock is corrected according to the clock difference correction value, and the corrected local clock is synchronized to the UTC clock of the selected timing mode or timekeeping mode.

Optionally, as an embodiment of the present invention, the calculation of the original observation data to obtain a clock error correction value specifically includes:

Calculate the original observation data according to the weighted least squares algorithm to obtain the receiver position and the receiver clock error;

The receiver position and the receiver clock error are calculated according to the high-order difference method between epochs to obtain a clock error correction value.

In the above-mentioned embodiment, the clock difference correction value is obtained by calculating the original observation data, and the local clock is corrected by the clock difference correction value.

Optionally, as an embodiment of the present invention, the outputting a frequency signal through a rubidium atomic clock, and dividing the frequency signal to obtain a frequency-divided 1PPS signal, including:

The output signal of the rubidium atomic clock is a 10M frequency signal, and the 10M frequency signal is subjected to frequency doubling processing to obtain a frequency doubling signal;

The frequency-multiplied signal is subjected to frequency division processing to obtain a frequency-divided 1PPS signal.

Specifically, the rubidium atomic clock is a chip-level rubidium atomic clock.

In the above-mentioned embodiment, the frequency signal whose output signal of the rubidium atomic clock is 10M can be multiplied, which facilitates the frequency division processing to obtain the frequency division 1PPS signal, and improves the signal accuracy.

Optionally, as an embodiment of the present invention, the calculation of the phase difference between the GPS 1PPS signal and the frequency-divided 1PPS signal includes a rough phase measurement step and a phase fine measurement step:

Described phase rough measurement step is: obtain the phase of GPS 1PPS signal and frequency-divided 1PPS signal according to pulse counting method, calculate the difference between the rising edge phase of GPS 1PPS signal and the rising edge phase of frequency-divided 1PPS signal, obtain the first phase difference;

The step of detailed phase measurement is as follows: measure the phase of the GPS 1PPS signal and the frequency-divided 1PPS signal that are less than the second signal period corresponding to the TDC-GP22 time measurement chip, and calculate the rising edge phase of the GPS 1PPS signal less than the second signal period corresponding to and the phase difference of the rising edge of the frequency-divided 1PPS signal to obtain the second phase difference;

The first phase difference and the second phase difference are summed to obtain the phase difference between the GPS 1PPS signal and the frequency-divided 1PPS signal.

Since the signal period of the frequency-divided 1PPS signal obtained after frequency division processing is 5ns, the measurement accuracy of the rough phase measurement is plus or minus 5ns, and the phase difference with a period less than 5ns cannot be measured. Therefore, the phase fine measurement part adopts high-precision TDC. -GP22 time measurement chip is used to measure the phase difference less than the second signal period, that is, 5ns. The measurement accuracy is 50ps, so the phase difference less than 5ns can be accurately measured.

Optionally, as an embodiment of the present invention, judging whether the state of the local 1PPS signal is normal, including:

Determine whether the phase difference between the local 1PPS signal and the GPS 1PPS signal is less than the preset deviation value, and whether the duration of the state where the phase difference is less than the preset deviation value is greater than the preset time, if both are satisfied, the local 1PPS The signal is used as the output signal of the timing mode, otherwise, the GPS 1PPS signal is used as the output signal of the timing mode.

For example, the preset deviation value is 5ns and the duration is 10s.

In the above embodiment, the state of the local 1PPS signal is judged, and if it meets the standard, the local 1PPS signal is preferably used as the timing mode output signal, otherwise, the GPS 1PPS signal is used as the output signal.

2 is a block diagram of a module of a satellite timing device provided by an embodiment of the present invention;

Optionally, as an embodiment of the present invention, as shown in FIG. 2, a satellite timing device includes:

a satellite signal processing module for receiving satellite signals, and obtaining GPS1PPS signals and navigation and positioning data information through the satellite signals;

The processing module is used to output the frequency signal through the rubidium atomic clock, perform frequency division processing on the frequency signal, obtain the frequency division 1PPS signal, calculate the phase difference between the GPS 1PPS signal and the frequency division 1PPS signal, and adjust the phase difference according to the phase difference. The phase corresponding to the frequency-divided 1PPS signal is obtained, and the local 1PPS signal is obtained according to the frequency-divided 1PPS signal whose phase is adjusted;

a mode selection module, configured to determine a satellite geometric precision factor PDOP value according to the navigation and positioning data information, and select a timing mode or a punctual mode according to the satellite geometric precision factor PDOP value;

The processing module is further configured to use the local 1PPS signal as the output signal of the punctual mode when the punctual mode is selected,

When the timing mode is selected, it is judged whether the state of the local 1PPS signal is normal, if it is normal, the local 1PPS signal is used as the output signal of the timing mode, otherwise the GPS 1PPS signal is used as the output signal of the timing mode.

Specifically, as shown in Figure 3, the satellite signal processing module includes a u-blox M8T processing sub-module and an ARM processing sub-module. The u-blox M8T processing sub-module is used to receive satellite signals and positioning information, and the ARM processing sub-module is used for GPS 1PPS signal and navigation and positioning data information obtained by processing satellite signals.

Optionally, as an embodiment of the present invention, the processing module is used for:

The output signal through the rubidium atomic clock is a 10M frequency signal;

Perform frequency multiplication processing on the 10M frequency signal to obtain a frequency multiplied signal;

The frequency-multiplied signal is subjected to frequency division processing to obtain a frequency-divided 1PPS signal.

Specifically, the rubidium atomic clock is a chip-level rubidium atomic clock;

Specifically, as shown in Figure 3, the processing module includes an FPGA processing sub-module and a phase detection sub-module:

The phase detector sub-module is used to calculate the phase difference between the GPS 1PPS signal and the frequency-divided 1PPS signal;

The FPGA processing sub-module includes a frequency dividing unit and a phase-shifting unit:

The frequency division unit is used to perform frequency division processing on the frequency multiplied signal to obtain a frequency division 1PPS signal;

The phase shifting unit is configured to adjust the phase corresponding to the frequency-divided 1PPS signal according to the phase difference, and obtain a local 1PPS signal according to the adjusted phase.

In the above embodiment, if the frequency multiplication is processed by an external frequency multiplier, the external frequency multiplier sends the processed frequency multiplied signal to the frequency division unit of the FPGA processing chip.

Optionally, as an embodiment of the present invention, as shown in FIG. 4 , the phase detection sub-module of the processing module is specifically used for rough phase measurement and fine phase measurement:

Described phase rough measurement is, obtain the phase of GPS 1PPS signal and frequency division 1PPS signal according to pulse counting method, calculate the difference of the rising edge phase of GPS 1PPS signal and the rising edge phase of frequency division 1PPS signal, obtain the first phase difference;

The phase detailed measurement step is to measure the difference between the rising edge phase of the GPS 1PPS signal less than the second signal period corresponding to the rising edge phase of the GPS 1PPS signal and the rising edge phase of the frequency-divided 1PPS signal through the TDC-GP22 time measurement chip to obtain the second phase difference;

The first phase difference and the second phase difference are summed to obtain the phase difference between the GPS 1PPS signal and the frequency-divided 1PPS signal.

Since the signal period of the frequency-divided 1PPS signal obtained after frequency division processing is 5ns, the measurement accuracy of the rough phase measurement is plus or minus 5ns, and the phase difference with a period less than 5ns cannot be measured. Therefore, the phase fine measurement part adopts high-precision TDC. -GP22 time measurement chip is used to measure the phase difference less than the second signal period, that is, 5ns. The measurement accuracy is 50ps, so the phase difference less than 5ns can be accurately measured.

Optionally, as an embodiment of the present invention, the AMR processing unit of the satellite signal processing module is configured to obtain original observation data through the satellite signal, and perform calculation on the original observation data to obtain clock error correction. value;

The FPGA processing sub-module further includes a clock correction unit, which is further configured to correct the local clock according to the clock difference correction value, and synchronize the corrected local clock to the UTC clock of the selected timing mode or timekeeping mode.

Optionally, as an embodiment of the present invention, the ARM processing submodule of the satellite signal processing module is also used for:

Obtain original observation data through the satellite signal, and perform calculation on the original observation data to obtain a clock error correction value;

The local clock is corrected according to the clock difference correction value, and the corrected local clock is synchronized to the UTC clock of the selected timing mode or timekeeping mode.

Optionally, as an embodiment of the present invention, the ARM processing submodule of the satellite signal processing module is specifically used for:

Calculate the original observation data according to the weighted least squares algorithm to obtain the receiver position and the receiver clock difference;

The receiver position and the receiver clock error are calculated according to the high-order difference method between epochs to obtain a clock error correction value.

Optionally, as an embodiment of the present invention, the processing module further includes a signal state judgment sub-module:

Determine whether the phase difference between the local 1PPS signal and the GPS 1PPS signal is less than the preset deviation value and determine whether the time for maintaining the state where the phase difference is less than the preset deviation value is greater than the preset time, and if both are satisfied, the local 1PPS signal is used as The output signal of the timing mode, otherwise, the GPS1PPS signal is used as the output signal of the timing mode.

Optionally, as another embodiment of the present invention, a satellite timing device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the The steps of the method as described are implemented when the described computer program is executed.

Optionally, as another embodiment of the present invention, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method are implemented.

The present invention corrects by calculating the phase difference of the GPS 1PPS signal and the frequency-divided signal of the satellite to obtain an accurate local 1PPS signal, and better reduces the signal output error with the mutual reference correction method, and obtains the signal output error through the satellite geometric precision factor PDOP value. To select timing mode or punctual mode, according to the state of the local 1PPS signal to determine whether to output as the preferred signal, which improves the stability of timing.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described devices and units may refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented.

Units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solutions of the embodiments of the present invention.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or a part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, removable hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or modifications within the technical scope disclosed by the present invention. Replacement, these modifications or replacements should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (9)

1. a satellite timing method, is characterized in that, comprises the steps: Receive satellite signals, and obtain GPS 1PPS signals and navigation and positioning data information through the satellite signals; The frequency signal is output by a rubidium atomic clock, and the frequency signal is subjected to frequency division processing to obtain a frequency-divided 1PPS signal, and the phase difference between the GPS 1PPS signal and the frequency-divided 1PPS signal is calculated, and the frequency-divided 1PPS signal is adjusted according to the phase difference. For the corresponding phase, obtain the local 1PPS signal according to the frequency-divided 1PPS signal of the adjusted phase; Determine the satellite geometric precision factor PDOP value according to the navigation and positioning data information, and select a timing mode or a punctual mode according to the satellite geometric precision factor PDOP value; When the punctual mode is selected, the local 1PPS signal is used as the output signal of the punctual mode, When selecting the timing mode, determine whether the state of the local 1PPS signal is normal, if normal, the local 1PPS signal is used as the output signal of the timing mode, otherwise the GPS 1PPS signal is used as the output signal of the timing mode; Described calculating the phase difference of the GPS 1PPS signal and the frequency-divided 1PPS signal, including the phase rough measurement step and the phase fine measurement step: The phase rough measurement step is: obtaining the phases of the GPS 1PPS signal and the frequency-divided 1PPS signal respectively according to the pulse counting method, calculating the difference between the rising edge phase of the GPS 1PPS signal and the rising edge phase of the frequency-dividing 1PPS signal, and obtaining the first phase difference. ; The phase detailed measurement step is: measure the phase of the GPS 1PPS signal and the frequency-divided 1PPS signal corresponding to the second signal cycle through the TDC-GP22 time measurement chip, and calculate the rising edge phase and the corresponding GPS 1PPS signal less than the second signal cycle. The second phase difference is obtained by dividing the phase difference between the rising edges of the 1PPS signal; The first phase difference and the second phase difference are summed to obtain the phase difference between the GPS 1PPS signal and the frequency-divided 1PPS signal. 2. a kind of satellite timing method according to claim 1, is characterized in that, when selecting timing mode or time-keeping mode, also comprises the step: Obtain original observation data through the satellite signal, and perform calculation on the original observation data to obtain a clock error correction value; The local clock is corrected according to the clock difference correction value, and the corrected local clock is synchronized to the UTC clock of the selected timing mode or timekeeping mode. 3. a kind of satellite timing method according to claim 2, is characterized in that, described to described original observation data is solved, obtain clock error correction value specifically comprises: Calculate the original observation data according to the weighted least squares algorithm to obtain the receiver position and the receiver clock error; The receiver position and the receiver clock error are calculated according to the high-order difference method between epochs to obtain a clock error correction value. 4. a kind of satellite timing method according to claim 1, is characterized in that, described outputting frequency signal by rubidium atomic clock, described frequency signal is divided into frequency to obtain frequency-divided 1PPS signal, comprising: The output signal of the rubidium atomic clock is a 10M frequency signal, and the 10M frequency signal is subjected to frequency doubling processing to obtain a frequency doubling signal; The frequency-multiplied signal is subjected to frequency division processing to obtain a frequency-divided 1PPS signal. 5. A satellite timing method according to any one of claims 1 to 4, wherein judging whether the state of the local 1PPS signal is normal, comprising: Determine whether the phase difference between the local 1PPS signal and the GPS 1PPS signal is less than the preset deviation value, and whether the duration of the state where the phase difference is less than the preset deviation value is greater than the preset time, if both are satisfied, the local 1PPS The signal is used as the output signal of the timing mode, otherwise, the GPS 1PPS signal is used as the output signal of the timing mode. 6. A satellite timing device, characterized in that, comprising: a satellite signal processing module for receiving satellite signals, and obtaining GPS1PPS signals and navigation and positioning data information through the satellite signals; The processing module is used to output the frequency signal through the rubidium atomic clock, perform frequency division processing on the frequency signal, obtain the frequency division 1PPS signal, calculate the phase difference between the GPS 1PPS signal and the frequency division 1PPS signal, and adjust the phase difference according to the phase difference. The phase corresponding to the frequency-divided 1PPS signal is obtained, and the local 1PPS signal is obtained according to the frequency-divided 1PPS signal whose phase is adjusted; a mode selection module, configured to determine a satellite geometric precision factor PDOP value according to the navigation and positioning data information, and select a timing mode or a punctual mode according to the satellite geometric precision factor PDOP value; The processing module is further configured to use the local 1PPS signal as the output signal of the punctual mode when the punctual mode is selected, When selecting the timing mode, determine whether the state of the local 1PPS signal is normal, if normal, the local 1PPS signal is used as the output signal of the timing mode, otherwise the GPS 1PPS signal is used as the output signal of the timing mode; In the processing module, the phase difference between the GPS 1PPS signal and the frequency-divided 1PPS signal is calculated, including a rough phase measurement step and a phase fine measurement step: The phase rough measurement step is: obtaining the phases of the GPS 1PPS signal and the frequency-divided 1PPS signal respectively according to the pulse counting method, calculating the difference between the rising edge phase of the GPS 1PPS signal and the rising edge phase of the frequency-dividing 1PPS signal, and obtaining the first phase difference. ; The phase detailed measurement step is: measure the phase of the GPS 1PPS signal and the frequency-divided 1PPS signal corresponding to the second signal cycle through the TDC-GP22 time measurement chip, and calculate the rising edge phase and the corresponding GPS 1PPS signal less than the second signal cycle. The second phase difference is obtained by dividing the phase difference of the rising edge of the 1PPS signal; The first phase difference and the second phase difference are summed to obtain the phase difference between the GPS 1PPS signal and the frequency-divided 1PPS signal. 7 . The satellite timing device according to claim 6 , wherein the satellite signal processing module is further configured to obtain original observation data through the satellite signal, and solve the original observation data to obtain 7 . Clock error correction value; The processing module is further configured to correct the local clock according to the clock difference correction value, and synchronize the corrected local clock to the UTC clock of the selected timing mode or timekeeping mode. 8. A satellite timing device, comprising a memory, a processor and a computer program that is stored in the memory and can be run on the processor, wherein the processor implements the computer program as claimed in the right The steps of any one of claims 1 to 5 of the method. 9. A computer-readable storage medium storing a computer program, wherein the computer program implements the steps of the method according to any one of claims 1 to 5 when the computer program is executed by a processor .

Images