CN109154796A - Method for updating time, device and moveable platform - Google Patents
Method for updating time, device and moveable platform Download PDFInfo
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- CN109154796A CN109154796A CN201780026754.6A CN201780026754A CN109154796A CN 109154796 A CN109154796 A CN 109154796A CN 201780026754 A CN201780026754 A CN 201780026754A CN 109154796 A CN109154796 A CN 109154796A
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- 238000000034 method Methods 0.000 title claims abstract description 71
- 239000013078 crystal Substances 0.000 claims abstract description 56
- 238000012935 Averaging Methods 0.000 claims abstract description 41
- 230000008569 process Effects 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 5
- 230000000630 rising effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- NRNCYVBFPDDJNE-UHFFFAOYSA-N pemoline Chemical compound O1C(N)=NC(=O)C1C1=CC=CC=C1 NRNCYVBFPDDJNE-UHFFFAOYSA-N 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Classifications
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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
-
- 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
- G04R20/06—Decoding time data; Circuits therefor
-
- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R40/00—Correcting the clock frequency
- G04R40/06—Correcting the clock frequency by computing the time value implied by the radio signal
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Electric Clocks (AREA)
Abstract
The embodiment of the present invention provides a kind of method for updating time, device and moveable platform, this method comprises: obtaining at least two variable quantity in the first preset time of counter；Averaging processing is carried out at least two variable quantity；Based on the result and first preset time for being averaging processing, the crystal oscillator frequency of the counter is determined；Based on the crystal oscillator frequency, local zone time is updated.The embodiment of the present invention is not needed by dedicated hardware circuit, can be reduced the complexity of time update while ensuring that the time updates accuracy, be reduced cost.
Description
Technical field
This application involves time calibration technical field more particularly to a kind of method for updating time, device and moveable platforms.
Background technique
Global Satellite Navigation System (Global Navigation Satellite System, guide number SS) is in the whole world
It is used widely.When GNSS time service is to other equipment, other equipment usually require proprietary hardware circuit and come to local
Time is calibrated and is updated, volume, weight, complexity and the higher cost of the hardware circuit.
Summary of the invention
The embodiment of the present invention provides a kind of method for updating time, device and moveable platform, to ensure that the time updates
While accuracy, the complexity of time update is reduced, cost is reduced.
The first aspect of the embodiment of the present invention is to provide a kind of method for updating time, comprising:
Obtain at least two variable quantity in the first preset time of counter；
Averaging processing is carried out at least two variable quantity；
Based on the result and first preset time for being averaging processing, the crystal oscillator frequency of the counter is determined；
Based on the crystal oscillator frequency, local zone time is updated.
The second aspect of the embodiment of the present invention is to provide a kind of method for updating time, comprising:
Obtain more than two unit time variable quantities of counter；
Averaging processing is carried out to more than two unit time variable quantities of the counter, obtains the counter
Crystal oscillator frequency；
Based on the crystal oscillator frequency, local zone time is updated.
The third aspect of the embodiment of the present invention is to provide a kind of time updating device, comprising:
One or more processors；One or more of processors work alone or synergistically；
The processor is used for: obtaining at least two variable quantity in the first preset time of counter；To it is described extremely
Few two variable quantities carry out averaging processing；Based on the result and first preset time for being averaging processing, institute is determined
State the crystal oscillator frequency of counter；Based on the crystal oscillator frequency, local zone time is updated.
The fourth aspect of the embodiment of the present invention is to provide a kind of time updating device, comprising:
One or more processors；One or more of processors work alone or synergistically；
The processor is used for: obtaining more than two unit time variable quantities of counter；To the two of the counter
A above unit time variable quantity carries out averaging processing, obtains the crystal oscillator frequency of the counter；Based on the crystal oscillator frequency
Rate updates local zone time.
5th aspect of the embodiment of the present invention is to provide a kind of moveable platform, comprising: such as the above-mentioned third aspect or the 4th
Time updating device described in aspect.
The 6th aspect of the embodiment of the present invention is to provide a kind of computer readable storage medium, including instruction, works as described instruction
When operation, method for updating time described in above-mentioned first aspect or second aspect is executed.
Method for updating time, processor and moveable platform provided in an embodiment of the present invention, by obtaining counter extremely
Few two variable quantities in the first preset time, and averaging processing is carried out at least two variable quantities got, it is based on
The result of averaging and the first preset time determine the crystal oscillator frequency of counter, thus according to the crystal oscillator frequency obtained update is determined
Local zone time.Due to be in the embodiment of the present invention by carrying out averaging processing at least two two variable quantities got,
And the crystal oscillator frequency of counter is determined according to the result and the first preset time that are averaging processing, therefore crystal oscillator can be isolated
Influence of the difference and temperature of body to crystal oscillator frequency, ensure that the accuracy and real-time of timer crystal oscillator frequency, thus root
Accurate local zone time can be obtained when updating local zone time according to the crystal oscillator frequency, and is not needed by dedicated hardware electricity
Road has been saved space required for installation hardware circuit, has been reduced costs.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of a scenario provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of method for updating time provided in an embodiment of the present invention；
Fig. 3 is the execution method flow diagram of step 204 provided in an embodiment of the present invention；
Fig. 4 is the flow chart of the update method of accumulated time error provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of time updating device provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of moveable platform provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.In the absence of conflict, in following embodiment and embodiment
Feature can be combined with each other.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 is a kind of schematic diagram of a scenario provided in an embodiment of the present invention, includes satellite 10,11 and of satellite receiver in Fig. 1
Receive the device 12 of time service, wherein the present embodiment Satellite receiver 11 is mounted on the device 12 for receiving time service, but is not limited to
In being mounted on device 12, in fact, satellite receiver 11 and device 12 can be arranged respectively to two independent entities.This reality
Unmanned plane, automobile or other moveable platforms can be specially by applying device 12 in example.When 10 time service of satellite, satellite 10 is outside
Generate a pulse per second (PPS) (Pulse Per Second, abbreviation PPS) signal, at the same by communication link (such as serial ports or bus,
But it is not limited to serial ports or bus) rising edge of PPS signal or the corresponding universal time of failing edge (UTC) are sent out
It goes.After satellite receiver 11 receives the PPS signal and corresponding UTC of satellite 10, by the PPS signal introducing device 12
Exterior terminal in, and introducing in the second preset time after PPS signal, it is by communication link that the PPS signal is corresponding
UTC be sent to device 12, device 12 can export this event of PPS signal with the form response satellite receiver 11 interrupted.Into
One step, after receiving UTC, device 12 carries out initialization process to local zone time, local zone time is updated to UTC, and lead to
The variable quantity for obtaining at least two counters in the first preset time is crossed, based on asking at least two variable quantities got
Average result and the first preset time determine the crystal oscillator frequency of counter, are based on the crystal oscillator frequency, update local zone time, thus
Accurate local zone time can be obtained, and is not needed by dedicated hardware circuit, therefore, the sky of device 12 can be saved
Between, the weight of device 12 is reduced, cost is reduced.
Specifically, Fig. 2 is a kind of flow chart of method for updating time provided in an embodiment of the present invention, this method can be by one
Kind of time updating device executes, which can be specially the processor with operation and processing capacity, or such as without
It is man-machine, the moveable platforms such as automobile.As shown in Fig. 2, this method comprises the following steps:
Step 201, at least two variable quantity in the first preset time for obtaining counter.
In one possible implementation, three or more count values for obtaining counter can be first passed through, so that should
It include the time interval between at least two groups count value in three or more count values equal to the first preset time, then based on acquisition
To three or more count values at least two groups count value, calculate obtain at least two first preset times in variation
Amount.For example, the count value got is a, b, c, wherein when the time interval between a and b and b and c is default equal to first
Between, the variable quantity for calculating timer is | a-b | and | c-b |.Certainly it is only for illustrating, rather than to of the invention unique
It limits.
In alternatively possible implementation, counter can be first obtained respectively in more than two first preset times
In starting counter value and terminate count value, then the initial count based on counter in more than two first preset times
Value and termination count value, calculate the variable quantity obtained at least two first preset times.Such as, it is assumed that counter was at the 1st second
Count value be a, the 2nd second count value be b, the 3rd second count value be c, the 4th second count value be d, then at least may be used
Obtain counter following variable quantity in the first preset time: | a-b |, | c-b |, | c-d |.Certainly it is only for illustrating,
Rather than to unique restriction of the invention.
Optionally, in order to ensure the accuracy of the variable quantity got, the present embodiment can also be by obtaining counter
Periodicity is overturn, and combines the counting for the counter that any one implementation is got in above two possible implementation
Value obtains variable quantity of the counter in the first preset time to calculate.
By taking the first preset time is equal to 1 second as an example, it is assumed that count value of the counter at the 1st second is counter (n-1),
Count value at the 2nd second is counter (n), and the overturning periodicity of counter is T_counter, then can be according to such as following table
The variable quantity delta (n) for obtaining counter in 1 second is calculated up to formula:
Delta (n)=[counter (n)-counter (n-1)+T_counter] %T_counter
Certainly it is only for illustrating, rather than to unique restriction of the invention.
Optionally, in the present embodiment, the first preset time can refer to a unified time value, such as 1 second, but not limit to
In 1 second.It can also refer to multiple and different time values, for example, can wait within 3 seconds according to setting by 1 second, 2 seconds and all be referred to as first in advance
If the time.Certainly certainly it is only for illustrating, rather than to unique restriction of the invention.
The present embodiment is also to directly acquire more than two unit time variable quantities of counter, for example, obtaining counter
In the 1st second variable quantity, the 2nd second variable quantity, the 3rd second variable quantity etc., certainly it is only for illustrating rather than to this
Unique restriction of invention.
Step 202 carries out averaging processing at least two variable quantity.
In the first possible average treatment mode, directly all changes amount got can be carried out at averaging
Reason.
In the second possible implementation, can be greater than in the quantity of the variable quantity of the first preset time got
At two, first remove maximum value and/or minimum value therein from all changes amount got, then to removal maximum value and/
Or the remaining variable quantity of minimum value carries out averaging processing.
Example in undertaking, it is assumed that the number of variable quantity of the counter got in the first preset time (being 1 second in upper example)
Amount is greater than preset number of samples filter_num, then can be averaged by following filtering algorithm to the variable quantity got
Filtering processing, acquires average result
Delta_min=Min { delta (n-filter_num+1) ... delta (n) }
Delta_max=Max { delta (n-filter_num+1) ... delta (n) }
Wherein, filter_num can take the arbitrary value in 6~8 ranges, but be not limited to 6~8, actually filter_
The value of num, which can according to need, to be set, in the present embodiment without limitation.In the present embodiment, by taking for filter_num
Value range, which is set as 6~8, can lead to not eliminate interference to avoid the filter_num mistake being arranged, or the excessive of setting is led
It causes slow in reacting, quick response can not be made to temperature change.What needs to be explained here is that when the first preset time is 1 second, i.e.,
When the unit time, above-mentioned acquisitionThe crystal oscillator frequency of the counter as acquired, if the first preset time is not unit
Between when, then need further basisThe crystal oscillator frequency of counter is determined with the first preset time.
Certainly, above-mentioned example is illustrated to above-mentioned second possible implementation, rather than to the present invention
Unique restriction.
In the third possible implementation, first can to extract numerical value from least two variable quantities got big
The small object variations amount in the first preset range, to remove exceptional value from all variable quantities got.Further, then
Averaging processing is carried out to all object variations amounts obtained are extracted.
Step 203, result and first preset time based on the averaging processing, determine the crystalline substance of the counter
Vibration frequency.
When the first preset time refer to be a preset unified time value when, can use averaging and handle to obtain
Mean change amount divided by the first preset time, obtain the crystal oscillator frequency of counter.
When the first preset time refer to be preset multiple time spans when, then can pass through all changes to getting
First preset time corresponding to change amount carries out averaging processing, obtains average length of time, and aforementioned calculating is recycled to obtain
Mean change amount obtains the crystal oscillator frequency of counter divided by average length of time.
Step 204 is based on the crystal oscillator frequency, updates local zone time.
Optionally, the present embodiment can be according to predetermined period, periodically update local zone time, wherein predetermined period can
To be arbitrary value, for example, preset threshold can be set smaller than to the overturning periodicity and counter of counter in actual scene
Crystal oscillator frequency ratio arbitrary value, lead to the loss of time to avoid counter overflow.
Optionally, Fig. 3 is the execution method flow diagram of step 204 provided in an embodiment of the present invention, as shown in figure 3, the party
Method includes:
Step 301 obtains the counter in local zone time initial runtime to the variable quantity in the time at current time.
In one possible implementation, can the count value directly by counter at current time subtract counter
In the count value of local zone time initial runtime, counter is obtained in local zone time initial runtime to time at current time
Variable quantity.
In alternatively possible implementation, can overturning periodicity and counter based on counter in local
The count value of time initial runtime and the count value at current time calculate acquisition counter and arrive in local zone time initial runtime
Variable quantity in time at current time.Its specific execution method may refer to solve variable quantity in counter 1 second in step 201
Example, repeat no more herein.
The crystal oscillator frequency of step 302, variable quantity and the counter based on the counter within the time,
The determination deviation time.
It is exemplary, it can be calculated by following expression and obtain deviation time delta_s:
Delta_s=delta_counter/freq
Wherein, delta_counter is counter in local zone time initial runtime to the variation in the time at current time
Amount, freq are the crystal oscillator frequency of counter.Above-mentioned example can also be not limited to by calculating deviation time in certain actual scene
Method also can according to need using other customized methods.
Step 303 is based on the deviation time, is modified to local zone time, obtains the time at current time.
Optionally, in one possible implementation, directly local zone time can be repaired using following expression
Just, the time at current time is obtained:
Local_now=local_time+delta_s
Wherein, local_now is the time at the current time obtained after correcting, when local_time is the local before amendment
Between.Certainly it is only for illustrating rather than to unique restriction of the invention.
In alternatively possible implementation, it can be based on deviation time and predetermined accumulated time error, it is right
Local zone time is modified, and obtains the correct time at current time, exemplary, in this fashion, solves the time at current time
Expression formula can be expressed as form:
Local_now=local_time+delta_s+T_error_filter
Wherein, T_error_filter is predetermined accumulated time error.
Optionally, in the present embodiment, after the time, updating device received UTC, it is also based on the UTC received
And local zone time when receiving UTC, update the accumulated time error that the above method is related to.It can receive among these primary
UTC just updates an accumulated time error, can also often receive the UTC of preset quantity according to preset strategy, updates
Primary local accumulated time error.
Often to receive the UTC of preset quantity, for updating an accumulated time error, Fig. 4 is that the embodiment of the present invention mentions
The flow chart of the update method of the accumulated time error of confession, as shown in figure 4, the update method of accumulated time error includes:
Step 401 often receives a UTC, calculates primary local accumulated time error.
It is exemplary, local accumulated time error can be calculated according to following expression:
T_error=UTC-local_time
Wherein, local_time is local zone time when receiving UTC, and T_error is the time local when receiving UTC
Accumulated error.
Optionally, if when receiving UTC, the accumulated time for calculating acquisition misses absolute value of the difference less than the first default threshold
Value, it is determined that this when receiving UTC corresponding local accumulated time error be preset value (for example, " 0 " but being not limited to
It 0) is, and by local accumulated time error update preset value.
If the accumulated time for calculating acquisition misses absolute value of the difference and is greater than or equal to the first preset threshold when receiving UTC,
The accumulated time for then determining that corresponding local accumulated time error is equal to before receiving the UTC when this receives UTC misses
Difference.
If the accumulated time for calculating acquisition misses absolute value of the difference and is greater than the second preset threshold when receiving UTC, then it is based on
Incidence relation between preset accumulated time error and the second preset threshold determines current local accumulated time error, and
It is to determine the accumulated time error obtained by local accumulated time error update.Wherein, above-mentioned accumulated time error and second
Incidence relation between preset threshold may be expressed as:
T_error_now=sign (T_error) * limit
Wherein, T_error_now is current local accumulated time error, when T_error is local before receiving UTC
Between accumulated error, limit is the second preset threshold (such as 1 second, but do not limit to and 1 second), and sign () is to take symbol, and positive number is
1, negative is -1.
If the accumulated time for calculating acquisition misses absolute value of the difference and is less than or equal to the second preset threshold when receiving UTC,
The accumulated time for then determining that corresponding local accumulated time error is equal to before receiving the UTC when this receives UTC misses
Difference.
Step 402, after receiving the UTC of preset quantity, to calculate obtain preset quantity accumulated time error into
Row median filter process obtains the intermediate value of the accumulated time error of the preset quantity.
It is exemplary, it is assumed that local accumulated time error is updated after receiving 3 UTC, wherein to receive first
When UTC, the accumulated time error of calculating is T_error1, when receiving second UTC, the accumulated time error of calculating is T_
error2, when receiving third UTC, the accumulated time error of calculating is T_error3, then obtained after carrying out median filter process
The intermediate value of the accumulated time error arrived are as follows: T_error_filter=Mid { T_error1T_error2T_error3}。
Certainly, although the method for the median filtering that the present embodiment uses, obtains and update local accumulated time error,
The method for being not limited to median filtering in practice, in fact, can also obtain preset quantity accumulated time error after,
Local accumulated time error is determined according to the method for averaging.
Local accumulated time error update is the intermediate value by step 403.
Method for updating time provided in this embodiment, even if time updating device can not receive PPS signal and UTC for some reason,
The time of degree of precision can be provided in longer period of time, the reliability of time update is improved, in addition, the present embodiment passes through
Local accumulated time error is determined and updated after receiving UTC, and one updated using accumulated time error as the time examines
Worry factor can eliminate error caused by adding up at any time, improve the accuracy of time update.
Optionally, the present embodiment is also to directly acquire more than two unit time variable quantities of counter, to counter
More than two unit time variable quantities carry out averaging processing, obtain the crystal oscillator frequency of counter；Based on the crystal oscillator frequency,
Update local zone time.Its specific implementation procedure is similar with above method embodiment, repeats no more herein.
Method for updating time, processor and moveable platform provided in this embodiment, by obtaining at least two counters
Variable quantity in the first preset time, and averaging processing is carried out at least two variable quantities got, based on averaging
Result and the first preset time determine the crystal oscillator frequency of counter, thus when according to determining that the crystal oscillator frequency obtained updates local
Between.By be in this present embodiment by carrying out averaging processing at least two two variable quantities got, and it is flat according to asking
The result and the first preset time that handle determines the crystal oscillator frequency of counter, therefore the difference of crystal oscillator individual can be isolated,
And influence of the temperature to crystal oscillator frequency, it ensure that the accuracy and real-time of timer crystal oscillator frequency, thus according to the crystal oscillator
Frequency can obtain accurate local zone time when updating local zone time, and not need to save by dedicated hardware circuit
Space required for hardware circuit is installed, is reduced costs.
Fig. 5 is a kind of structural schematic diagram of time updating device provided in an embodiment of the present invention, which can
To be mounted in any equipment with time timing and time more new function, it is particularly possible to it is removable flat to be mounted on unmanned plane etc.
On platform.As shown in figure 5, the time updating device 50 includes: one or more processors 51；One or more of processor lists
Solely or cooperate；The processor is used for: obtaining at least two variable quantity in the first preset time of counter；To institute
It states at least two variable quantities and carries out averaging processing；Based on the result and first preset time for being averaging processing, really
The crystal oscillator frequency of the fixed counter；Based on the crystal oscillator frequency, local zone time is updated.
Optionally, the processor 51 is used for: obtaining three of counter or more count values, described three or more meters
In numerical value include at least two groups count value between time interval be the first preset time, based on described three or more count values
In at least two groups count value, calculate obtain at least two first preset times in variable quantity.
Optionally, processor is used for: obtaining initial count of the counter in more than two first preset times respectively
Value and termination count value；Based on starting counter value of the counter in described two the first above preset times and termination
Count value calculates the variable quantity obtained at least two first preset times.
Optionally, the processor 51 is used for: the overturning periodicity of the counter is obtained, based on the counter in institute
It states the starting counter value in more than two first preset times and terminates the overturning period of count value and the counter
Number calculates the variable quantity obtained at least two first preset times.
Optionally, the processor 51 is used for: when the quantity of the variable quantity of first preset time got is greater than
At two, the maximum value and/or minimum value in the variable quantity of all first preset times got are removed, to removal maximum value
And/or the variable quantity of remaining first preset time carries out averaging processing after minimum value.
Optionally, the processor 51 is used for: to the object variations amount at least two variable quantity got into
Row averaging processing, wherein the object variations amount is variable quantity of the numerical values recited in the first preset range.
Optionally, the processor 51 is used for: carrying out initialization process to local zone time.
Optionally, the processor 51 is used for: being received receiving in the second preset time after pulse per second (PPS) PPS signal
The universal time UTC that sending device is sent, at the time of the UTC corresponds to the PPS signal rising edge or failing edge, by institute
It states local zone time and is updated to the UTC.
Optionally, the processor 51 is used for: obtaining the counter in local zone time initial runtime to current time
Variable quantity in time, the crystal oscillator frequency of variable quantity and the counter based on the counter within the time,
The determination deviation time is based on the deviation time, is modified to local zone time, obtains the time at current time.
Optionally, the processor 51 is used for: overturning periodicity and the counter based on the counter are at this
The count value and the count value at current time of ground time initial runtime calculate and obtain the counter in local zone time initialization
Variable quantity in time at moment to current time.
Optionally, the processor 51 is used for: the deviation time and predetermined accumulated time error is based on, to this
The ground time is modified, and obtains the time at current time.
Optionally, the processor 51 is used for: after receiving the UTC, based on the UTC and receiving the UTC
When local zone time, update local accumulated time error.
Optionally, the processor 51 is used for: often being received the UTC of preset quantity, is updated primary local accumulated time
Error.
Optionally, the processor 51 is used for: a UTC is often received, primary local accumulated time error is calculated,
After the UTC for receiving preset quantity, median filter process is carried out to the accumulated time error for calculating the preset quantity obtained, is obtained
Local accumulated time error update is the intermediate value by the intermediate value of the accumulated time error of the preset quantity.
Optionally, the processor 51 is used for: when receiving UTC, if the UTC and sheet when receiving the UTC
The absolute difference of ground time is less than the first preset threshold, it is determined that the corresponding accumulated time error of the UTC is equal to preset value；
If the absolute difference of the UTC and local zone time when receiving the UTC is greater than or equal to the first preset threshold, described
The corresponding accumulated time error of UTC is equal to the accumulated time error received before the UTC.
Optionally, the processor 51 is used for: when receiving UTC, if the UTC and sheet when receiving the UTC
The absolute difference of ground time is greater than the second preset threshold, then based on preset accumulated time error and second preset threshold
Between incidence relation, determine the corresponding accumulated time error of the UTC；If the UTC and local when receiving the UTC
The absolute difference of time is less than or equal to second preset threshold, then the corresponding accumulated time error of the UTC is equal to and connects
Receive the accumulated time error before the UTC.
Optionally, the processor 51 is used for: updating local zone time based on predetermined period, the predetermined period is less than described
The ratio of the crystal oscillator frequency of the overturning periodicity and counter of counter.
Time updating device provided in this embodiment can be used in executing the technical solution of above method embodiment, execute
Mode is similar with beneficial effect, repeats no more herein.
The present invention also provides a kind of time updating devices, which includes one or more processors；It is described
One or more processors work alone or synergistically；
The processor is used for: obtaining more than two unit time variable quantities of counter；To the two of the counter
A above unit time variable quantity carries out averaging processing, obtains the crystal oscillator frequency of the counter；Based on the crystal oscillator frequency
Rate updates local zone time.
Time updating device provided in this embodiment can be used in executing the technical solution of above method embodiment, execute
Mode is similar with beneficial effect, repeats no more herein.
Fig. 6 is a kind of structural schematic diagram of moveable platform provided in an embodiment of the present invention, as shown in fig. 6, removable flat
Platform 60 includes the time updating device 50 as described in above-described embodiment.
The embodiment of the present invention also provides a kind of computer readable storage medium, including instruction, when described instruction operation, holds
The method for updating time of row above-described embodiment.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (38)
1. a kind of method for updating time characterized by comprising
Obtain at least two variable quantity in the first preset time of counter；
Averaging processing is carried out at least two variable quantity；
Based on the result and first preset time for being averaging processing, the crystal oscillator frequency of the counter is determined；
Based on the crystal oscillator frequency, local zone time is updated.
2. the method according to claim 1, wherein it is described obtain counter at least two when first is default
Interior variable quantity, comprising:
Three or more count values of counter are obtained, include between at least two groups count value in described three or more count values
Time interval be the first preset time；
Based on at least two groups count value in described three or more count values, when calculating acquisition at least two first is default
Interior variable quantity.
3. the method according to claim 1, wherein it is described obtain counter at least two when first is default
Interior variable quantity, comprising:
Starting counter value and termination count value of the counter in more than two first preset times are obtained respectively；
Starting counter value and termination count value based on the counter in described two the first above preset times, calculate
Obtain the variable quantity at least two first preset times.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
Obtain the overturning periodicity of the counter；
The starting counter value based on the counter in described two the first above preset times and termination count value,
Calculate the variable quantity obtained at least two first preset times, comprising:
Starting counter value and termination count value based on the counter in described two the first above preset times, and
The overturning periodicity of the counter calculates the variable quantity obtained at least two first preset times.
5. method according to any of claims 1-4, which is characterized in that described default to described two above first
The variable quantity of time carries out averaging processing, comprising:
When the quantity of the variable quantity of first preset time got is greater than two, it is pre- to remove all first got
If maximum value and/or minimum value in the variable quantity of time；
Averaging processing is carried out to the variable quantity of remaining first preset time after removal maximum value and/or minimum value.
6. method according to any of claims 1-4, which is characterized in that it is described at least two variable quantity into
Row averaging processing, comprising:
Averaging processing is carried out to the object variations amount at least two variable quantity got, wherein the target becomes
Change amount is variable quantity of the numerical values recited in the first preset range.
7. the method according to claim 1, wherein it is described obtain counter at least two when first is default
Before interior variable quantity, the method also includes:
Initialization process is carried out to local zone time.
8. the method according to the description of claim 7 is characterized in that described carry out initialization process to local zone time, comprising:
The inscribed universal time for transmitting and receiving equipment transmission of the second preset time after receiving pulse per second (PPS) PPS signal
At the time of UTC, the UTC correspond to the PPS signal rising edge or failing edge；
The local zone time is updated to the UTC.
9. according to the method described in claim 8, it is characterized in that, described be based on the crystal oscillator frequency, update local zone time, packet
It includes:
The counter is obtained in local zone time initial runtime to the variable quantity in the time at current time；
The crystal oscillator frequency of variable quantity and the counter based on the counter within the time, when determination deviation
Between；
Based on the deviation time, local zone time is modified, obtains the time at current time.
10. according to the method described in claim 9, it is characterized in that, described obtain the counter in local zone time initialization
Variable quantity in time at moment to current time, comprising:
Overturning periodicity and the counter based on the counter local zone time initial runtime count value and work as
The count value at preceding moment calculates and obtains the counter in local zone time initial runtime to the variation in the time at current time
Amount.
11. method according to claim 9 or 10, which is characterized in that it is described to be based on the deviation time, to local zone time
It is modified, obtains the time at current time, comprising:
Based on the deviation time and predetermined accumulated time error, local zone time is modified, obtains current time
Time.
12. according to the method described in claim 8, it is characterized in that, the method also includes:
After receiving the UTC, based on the UTC and local zone time when receiving the UTC, it is tired to update the local time
Product error.
13. according to the method for claim 12, which is characterized in that it is described after receiving the UTC, it is based on the UTC
Local zone time with when receiving the UTC, updates local accumulated time error, comprising:
The UTC of preset quantity is often received, primary local accumulated time error is updated.
14. according to the method for claim 13, which is characterized in that the UTC for often receiving preset quantity updates primary
Local accumulated time error, comprising:
A UTC is often received, primary local accumulated time error is calculated；
After receiving the UTC of preset quantity, the accumulated time error for calculating the preset quantity obtained is carried out at median filtering
Reason, obtains the intermediate value of the accumulated time error of the preset quantity；
It is the intermediate value by local accumulated time error update.
15. according to the method for claim 14, which is characterized in that it is described often to receive a UTC, calculate primary local
Accumulated time error, comprising:
When receiving UTC, if the absolute difference of the UTC and local zone time when receiving the UTC are pre- less than first
If threshold value, it is determined that the corresponding accumulated time error of the UTC is equal to preset value；
If the absolute difference of the UTC and local zone time when receiving the UTC are greater than or equal to the first preset threshold,
The corresponding accumulated time error of the UTC is equal to the accumulated time error received before the UTC.
16. according to the method for claim 14, which is characterized in that it is described often to receive a UTC, calculate primary local
Accumulated time error, including
When receiving UTC, if the absolute difference of the UTC and local zone time when receiving the UTC is greater than second in advance
If threshold value, then based on the incidence relation between preset accumulated time error and second preset threshold, described UTC pairs is determined
The accumulated time error answered；
If the absolute difference of the UTC and local zone time when receiving the UTC are less than or equal to the described second default threshold
Value, then the corresponding accumulated time error of the UTC is equal to the accumulated time error received before the UTC.
17. method described in any one of -16 according to claim 1, which is characterized in that it is described to be based on the crystal oscillator frequency, more
New local zone time, comprising:
Local zone time, overturning periodicity of the predetermined period less than the counter and the counting are updated based on predetermined period
The ratio of the crystal oscillator frequency of device.
18. a kind of method for updating time characterized by comprising
Obtain more than two unit time variable quantities of counter；
Averaging processing is carried out to more than two unit time variable quantities of the counter, obtains the crystal oscillator of the counter
Frequency；
Based on the crystal oscillator frequency, local zone time is updated.
19. a kind of time updating device, which is characterized in that when described device includes processor, the processor is configured for:
Obtain at least two variable quantity in the first preset time of counter；At least two variable quantity is carried out at averaging
Reason；Based on the result and first preset time for being averaging processing, the crystal oscillator frequency of the counter is determined；Based on institute
Crystal oscillator frequency is stated, local zone time is updated.
20. time updating device according to claim 19, which is characterized in that the processor is used for: obtaining counter
Three or more count values, include time interval between at least two groups count value in described three or more count values be the
One preset time is calculated and is obtained at least two the based on at least two groups count value in described three or more count values
Variable quantity in one preset time.
21. time updating device according to claim 19, which is characterized in that the processor by: respectively obtain based on
Starting counter value and termination count value of the number device in more than two first preset times；Based on the counter described two
Starting counter value and termination count value in a the first above preset time, calculate and obtain at least two first preset times
Variable quantity.
22. time updating device according to claim 21, which is characterized in that the processor by: obtain it is described based on
The overturning periodicity of number devices, based on starting counter value of the counter in described two the first above preset times and end
The only overturning periodicity of count value and the counter calculates the variable quantity obtained at least two first preset times.
23. time updating device described in any one of 9-22 according to claim 1, which is characterized in that the processor is used for:
When the quantity of the variable quantity of first preset time got be greater than two when, remove all first got it is default when
Between variable quantity in maximum value and/or minimum value, to remaining first preset time after removal maximum value and/or minimum value
Variable quantity carries out averaging processing.
24. time updating device described in any one of 9-22 according to claim 1, which is characterized in that the processor is used for:
Averaging processing is carried out to the object variations amount at least two variable quantity got, wherein the object variations amount
For variable quantity of the numerical values recited in the first preset range.
25. time updating device according to claim 19, which is characterized in that the processor is used for: to local zone time
Carry out initialization process.
26. time updating device according to claim 25, which is characterized in that the processor is used for: receiving the second
The inscribed universal time UTC, the UTC for transmitting and receiving equipment transmission of the second preset time after pulse PPS signal is corresponding
At the time of the PPS signal rising edge or failing edge, the local zone time is updated to the UTC.
27. time updating device according to claim 26, which is characterized in that the processor by: obtain it is described based on
Number device is in local zone time initial runtime to the variable quantity in the time at current time, based on the counter within the time
The crystal oscillator frequency of variable quantity and the counter, determination deviation time are based on the deviation time, carry out to local zone time
Amendment, obtains the time at current time.
28. time updating device according to claim 27, which is characterized in that the processor by: based on described
The overturning periodicity and the counter of number device are in the count value of local zone time initial runtime and the counting at current time
Value calculates and obtains the counter in local zone time initial runtime to the variable quantity in the time at current time.
29. the time updating device according to claim 27 or 28, which is characterized in that the processor is used for: being based on institute
Deviation time and predetermined accumulated time error are stated, local zone time is modified, obtains the time at current time.
30. time updating device according to claim 26, which is characterized in that the processor is used for: receiving
After stating UTC, based on the UTC and local zone time when receiving the UTC, local accumulated time error is updated.
31. time updating device according to claim 30, which is characterized in that the processor is used for: often receiving pre-
If the UTC of quantity, primary local accumulated time error is updated.
32. time updating device according to claim 31, which is characterized in that the processor is used for: often receiving one
A UTC calculates primary local accumulated time error, after receiving the UTC of preset quantity, to the preset quantity for calculating acquisition
Accumulated time error carry out median filter process, obtain the intermediate value of the accumulated time error of the preset quantity, will be local
Accumulated time error update is the intermediate value.
33. time updating device according to claim 32, which is characterized in that the processor is used for: receiving UTC
When, if the absolute difference of the UTC and local zone time when receiving the UTC is less than the first preset threshold, it is determined that institute
The corresponding accumulated time error of UTC is stated equal to preset value；If the difference of the UTC and local zone time when receiving the UTC
Absolute value is greater than or equal to the first preset threshold, then the corresponding accumulated time error of the UTC is equal to before receiving the UTC
Accumulated time error.
34. time updating device according to claim 32, which is characterized in that the processor is used for: receiving UTC
When, if the absolute difference of the UTC and local zone time when receiving the UTC are greater than the second preset threshold, based on pre-
If accumulated time error and second preset threshold between incidence relation, determine that the corresponding accumulated time of the UTC misses
Difference；If the absolute difference of the UTC and local zone time when receiving the UTC are less than or equal to the described second default threshold
Value, then the corresponding accumulated time error of the UTC is equal to the accumulated time error received before the UTC.
35. time updating device described in any one of 9-34 according to claim 1, which is characterized in that the processor is used for:
Local zone time is updated based on predetermined period, the predetermined period is less than the overturning periodicity and the counter of the counter
The ratio of crystal oscillator frequency.
36. a kind of time updating device characterized by comprising one or more processors；One or more of processors
It works alone or synergistically；
The processor is used for: obtaining more than two unit time variable quantities of counter；To two of the counter with
On unit time variable quantity carry out averaging processing, obtain the crystal oscillator frequency of the counter；Based on the crystal oscillator frequency, more
New local zone time.
37. a kind of moveable platform characterized by comprising time more new clothes described in any one of claim 19-36
It sets.
38. a kind of computer readable storage medium, including instruction are executed when described instruction operation as in claim 1-18
Described in any item method for updating time.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/117010 WO2019119228A1 (en) | 2017-12-18 | 2017-12-18 | Method and apparatus for updating time, and movable platform |
Publications (2)
| Publication Number | Publication Date |
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| CN109154796A true CN109154796A (en) | 2019-01-04 |
| CN109154796B CN109154796B (en) | 2021-04-06 |
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| CN201780026754.6A Expired - Fee Related CN109154796B (en) | 2017-12-18 | 2017-12-18 | Time updating method, device and movable platform |
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| WO (1) | WO2019119228A1 (en) |
Cited By (1)
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|---|---|---|---|---|
| CN114545761A (en) * | 2020-11-27 | 2022-05-27 | 辰芯科技有限公司 | Local timing updating method, device, equipment and storage medium |
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| WO2019119228A1 (en) | 2019-06-27 |
| CN109154796B (en) | 2021-04-06 |
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