CN109870898A - GNSS Timing Receiver clock combinatorial regulation method and system based on PPP - Google Patents

GNSS Timing Receiver clock combinatorial regulation method and system based on PPP Download PDF

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Publication number
CN109870898A
CN109870898A CN201910146620.9A CN201910146620A CN109870898A CN 109870898 A CN109870898 A CN 109870898A CN 201910146620 A CN201910146620 A CN 201910146620A CN 109870898 A CN109870898 A CN 109870898A
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clock
ppp
control amount
module
deviation
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CN109870898B (en
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郭文飞
谭俊雄
牛小骥
楼益栋
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Wuhan University WHU
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Wuhan University WHU
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Abstract

The GNSS Timing Receiver clock combinatorial regulation method and system based on PPP that the invention discloses a kind of, including clock characteristic modelling phase and clock regulation process, clock characteristic is modeled when PPP module works normally, regulate and control clock including the clock deviation according to estimated by PPP module, the clock control amount for recording the clock deviation of each epoch PPP module estimation and accordingly being exported；After Timing Receiver works more than preset first time period, start to carry out clock characteristic modeling, clock frequency drift is fitted based on clock control amount；After Timing Receiver works more than preset second time period, long-period error item is modeled using clock control amount；It goes to calculate receiver clock-offsets by clock characteristic modeling result when PPP module can not work normally, continues to regulate and control clock.The present invention can realize inside the GNSS Timing Receiver based on PPP technology, and without increasing extras, the time service stability of GNSS Timing Receiver can be only promoted by the combination of PPP technology and fit procedure.

Description

GNSS Timing Receiver clock combinatorial regulation method and system based on PPP
Technical field
The invention belongs to Global Navigation Satellite System (Global Navigation Satellite System, GNSS) skills Art field, in particular to a kind of GNSS for being based on precise single-point positioning technology (Precise Point Positioning (PPP)) The clock combinatorial regulation technical solution of Timing Receiver.
Background technique
Global Navigation Satellite System (GNSS) is a kind of star base radio positioning system, mainly includes US Global positioning system It unites (Global Positioning System, GPS), the Beidou (BDS) of China, Russian GLONASS (GLONASS), And the big system of Galileo (Galileo) four in Europe.Currently, GNSS all played in mapping, navigation and time service it is very crucial Effect.In time service field, carrying out time service using GNSS receiver has the characteristics that precision is high, at low cost and stable, and time service receives Machine will obtain more and more extensive utilization in time service field.
Traditional GNSS Timing Receiver mainly goes estimation clock deviation, the estimation essence of clock deviation using pseudorange One-Point Location technology Degree is in 20ns or so, and time service precision is in 20ns~50ns.In order to improve the precision of time service, had already appeared now based on PPP skill The GNSS Timing Receiver of art, the estimated accuracy of clock deviation is in 0.2ns or so, and time service precision is less than 2ns, but this time service connects The steady operation of receipts machine depends on the satellite correction information (including satellite orbit, clock error correction number) received from server-side, When network or server-side go wrong, the GNSS Timing Receiver based on PPP technology can not just provide stable clock deviation, can be tight Ghost image rings time service precision.The clock stability with higher filled in general Timing Receiver, if when PPP module works normally Some characteristics of atomic clock can be modeled, the period that can not be worked in PPP module is gone using the parameter that modeling obtains Regulate and control clock, to continue to provide more stable time service service.
Summary of the invention
For the GNSS Timing Receiver based on PPP technology award in when PPP module can not work normally, Timing Receiver The case where being unable to complete high-precision time service work, the present invention provides a kind of suitable for the GNSS time service reception based on PPP technology The clock combinatorial regulation method of machine makes full use of PPP to estimate clock deviation feature with high accuracy, carries out accurate modeling to clock characteristic, When PPP can not work using clock models go regulation clock, PPP module recovery work normally when how by when clock System power hands to PPP module.
In order to solve the above technical problems, the present invention adopts the following technical scheme that:
A kind of GNSS Timing Receiver clock combinatorial regulation method based on PPP includes in the GNSS Timing Receiver PPP module, it is characterised in that: including clock characteristic modelling phase and clock regulation process,
Clock characteristic modeling process, for being modeled when PPP module is worked normally to clock characteristic, including following step Suddenly,
Step SA1 regulates and controls clock according to clock deviation estimated by PPP module, records the clock of each epoch PPP module estimation Difference and the clock control amount accordingly exported；
Step SA2 starts to carry out clock characteristic modeling after Timing Receiver works more than preset first time period, Clock frequency drift is fitted based on clock control amount；After Timing Receiver works more than preset second time period, clock when use Amount processed models long-period error item；
Clock regulation process connects for going to calculate by clock characteristic modeling result when PPP module can not work normally Receipts machine clock deviation, thus continue regulate and control clock, include the following steps,
Step SB1 estimates when PPP module can not work normally according to the clock frequency drift of fitting and long-period error item Clock frequency deviation estimates clock deviation；
Step SB2 calculates clock control amount according to clock deviation obtained by step SB1；
Step SB3 is rounded to integer according to the clock control amount that step SB2 is calculated, is sent to as final result Clock.
Moreover, step SA2 starts to carry out clock characteristic after Timing Receiver works more than preset first time period Modeling, implementation is as follows,
Step SA2.1 pre-processes the clock control amount of record, shaves off rough error data and divergence data；
Step SA2.2 models clock characteristic with clock control amount after pretreatment, including quasi- with a linear function Conjunction is as follows, is clock frequency drift Drift to fitting parameter,
Wherein,Indicating that the k moment is applied to the clock control amount on clock, t indicates corresponding moment value,When expression Clock control amount initial value, is set as the corresponding clock control amount of clock nominal frequency, and m indicates the scale factor of clock control amount.
Moreover, being missed using clock control amount to long period after Timing Receiver works more than preset second time period Poor item is modeled, and is realized by the way of fitting of a polynomial.
Moreover, the realization of step SB1 includes the following steps,
Step SB1.1, if PPP module can not work normally after the k moment, it is believed that clock frequency deviation f this momentkIt is 0, meter Calculate the clock frequency deviation f at k+1 momentk+1It is as follows,
fk+1=fk+Drift×T+wk+1
Wherein, Drift is the frequency drift fitted, and T is sampling interval, wk+1For long-period error item；
Step SB1.2, clock bias estimation is as follows,
δTk+1=δ Tk+(fk+1+fk)/2×T
Wherein, δ Tk+1The receiver clock-offsets that the expression k+1 moment is estimated, δ TkIndicate the receiver clock-offsets at k moment.Moreover, step Rapid SB2 calculates clock control amount according to clock deviation obtained by step SB1, is realized by second-order PLL.
The present invention provides a kind of GNSS Timing Receiver clock combinatorial regulation system based on PPP, and the GNSS time service connects Include PPP module in receipts machine, clock characteristic modeling module and clock regulation module be set,
Clock characteristic modeling module, for being modeled when PPP module is worked normally to clock characteristic, including to place an order Member,
Cell S A1 regulates and controls clock for the clock deviation according to estimated by PPP module, records the estimation of each epoch PPP module Clock deviation and the clock control amount that is accordingly exported；
Cell S A2 is built for after Timing Receiver works more than preset first time period, starting progress clock characteristic Mould is fitted clock frequency drift based on clock control amount；After Timing Receiver works more than preset second time period, clock is used Control amount models long-period error item；
Clock regulation module connects for going to calculate by clock characteristic modeling result when PPP module can not work normally Receipts machine clock deviation, thus continue to regulate and control clock, including with lower unit,
Cell S B1, for when PPP module can not work normally, according to the clock frequency drift and long-period error item of fitting Estimating clock frequency deviation estimates clock deviation；
Cell S B2, for calculating clock control amount according to clock deviation obtained by cell S B1；
Cell S B3, the clock control amount for being calculated according to cell S B2 are rounded to integer, send out as final result Give clock.
Moreover, cell S A2 includes following subelement,
Subelement SA2.1 pre-processes for the clock control amount to record, shaves off rough error data and divergence data；
Subelement SA2.2, it is primary for being modeled with clock control amount after pretreatment to clock characteristic, including with one Function Fitting is as follows, is clock frequency drift Drift to fitting parameter,
Wherein,Indicating that the k moment is applied to the clock control amount on clock, t indicates corresponding moment value,When expression Clock control amount initial value, is set as the corresponding clock control amount of clock nominal frequency, and m indicates the scale factor of clock control amount.
Moreover, being missed using clock control amount to long period after Timing Receiver works more than preset second time period Poor item is modeled, and is realized by the way of fitting of a polynomial.
Moreover, cell S B1 includes following subelement,
Subelement SB1.1 can not work normally after the k moment, it is believed that clock frequency deviation f this moment for setting PPP modulek It is 0, calculates the clock frequency deviation f at k+1 momentk+1It is as follows,
fk+1=fk+Drift×T+wk+1
Wherein, Drift is the frequency drift fitted, and T is sampling interval, wk+1For long-period error item；
Subelement SB1.2, it is as follows for clock bias estimation,
δTk+1=δ Tk+(fk+1+fk)/2×T
Wherein, δ Tk+1The receiver clock-offsets that the expression k+1 moment is estimated, δ TkIndicate the receiver clock-offsets at k moment.
Moreover, cell S B2 calculates clock control amount according to clock deviation obtained by cell S B1, realized by second-order PLL.
Compared with prior art, the present invention has a characteristic that
1, without additional equipment, only by increasing a clock models fitting module, it can break or broadcast in a network When sending out the server crash of correction, continues to provide high-precision time service service, improve the stability of GNSS Timing Receiver.
2, when the calculated result of PPP module occur rough error and occur restrain again when, can be used clock characteristic calculating Clock deviation out carries out clock regulation, improves the continuity of GNSS Timing Receiver high-precision time service.
2, it can be used for time service field but not limited to this, it can be also used for crystal oscillator testing field, estimated by PPP module High-precision clock deviation, to complete the test and assessment of clock stability.
Detailed description of the invention
Fig. 1 is the schematic diagram of system of the embodiment of the present invention.
Specific embodiment
Illustrate technical solution of the present invention below in conjunction with drawings and examples.
The present invention can not be given by increasing clock characteristic fitting module in the GNSS Timing Receiver based on PPP in PPP Out when high-precision receiver clock deviation, go to calculate receiver clock-offsets using the obtained clock models of fitting, form PPP module and when Clock property fitting block combiner regulates and controls the mode of clock, to make GNSS time service equipment standby to interrupt in correction (network interruption or The collapse of person's server-side), signal is interfered and occurs still high-precision awarding under rough error or weight convergent with PPP module calculated result Shi Gongneng.
Embodiment provides a kind of GNSS Timing Receiver clock combinatorial regulation method based on PPP, and the GNSS time service connects It include PPP module in receipts machine, including clock characteristic modelling phase and clock regulation process,
Clock characteristic modelling phase, the present invention propose the clock approximating method of the GNSS Timing Receiver based on PPP technology, For being modeled when PPP module is worked normally to clock characteristic, comprising:
SA1 clock deviation according to estimated by PPP module removes regulation clock, is maintained at clock deviation near 0, records each epoch The clock deviation of PPP module estimation and the clock control amount accordingly exported；
When it is implemented, PPP module estimation clock deviation is embodied as the prior art, it will not go into details by the present invention.
Further, step SA1 includes:
When 1.1 Timing Receiver of SA just starts, receiver clock-offsets are larger, need the regulation clock of big stepping, make clock deviation fast Speed converges to 0；
SA 1.2PPP module output clock deviation precision also have a convergence process, so booting first half hour record when Clock control amount is simultaneously unavailable；
SA2 starts to carry out clock characteristic modeling, when being based on after Timing Receiver works more than preset first time period Clock control amount is fitted clock frequency drift；After Timing Receiver works more than preset second time period, clock control amount pair is used Long-period error item is modeled.
Second time period is greater than first time period, for obtaining the modeling data of long-period error item.
In embodiment, first time period is taken one day, and second time period takes three days.
After Timing Receiver works more than one, start to carry out clock characteristic modeling；
Further, step SA2 includes:
SA 2.1 pre-processes the step SA1 clock control amount recorded, shaves off the data and hair for significantly having rough error Scattered data；
Clock control amount models clock characteristic after SA 2.2 is pre-processed, and the value of clock control amount can be used to table Levy the rough frequency deviation of each epoch.It is clock frequency drift Drift to fitting parameter so can go to be fitted with a linear function, Fitting function is formula (1)
Wherein,It indicates that the k moment is applied to the clock control amount on clock (value is integer), can be used in step SA1 The result of record；T indicates corresponding moment value,Indicate clock control amount initial value, be set as clock nominal frequency it is corresponding when Clock control amount, m indicate the scale factor of clock control amount, indicate frequency departure corresponding to control amount minimum step 1.It is specific real The clock control amount calculated is applied on clock and generallys use D/A module (digital-to-analogue conversion module) realization, m by Shi Shi Value can adjust extent length to be calculated divided by DA digit by the electricity of selected clock.
After Timing Receiver works more than 3 days, clock control amount can be used, long period caused by environmental factor is missed Poor item is modeled.
When it is implemented, the mode that fitting of a polynomial can be used realizes that long-period error item models, such as cubic polynomial.
When it is implemented, software modularity mode, which can be used, realizes the above clock approximating method, clock characteristic fitting is provided Module.
Real-time clock (RTC) regulation process, the present invention propose a kind of clock regulation technology using clock models estimation clock deviation, can adopt With clock property fitting module, for further modeling acquired results by clock characteristic when PPP module can not work normally Clock models go to calculate receiver clock-offsets, thus go to continue to regulate and control clock, comprising steps of
When PPP module can not work normally, clock characteristic fitting module starts to estimate clock deviation SB1；
Further, step SB1 includes:
SB 1.1 sets PPP module and can not work normally after some k moment, it is believed that clock frequency deviation f this momentkIt is 0, root The frequency drift of the clock estimated according to clock characteristic fitting module, can be with there are also the information such as long-period error item caused by environmental factor Calculate the clock frequency deviation f at k+1 momentk+1；
fk+1=fk+Drift×T+wk+1 (2)
Wherein, Drift is the frequency drift that clock characteristic fitting module is fitted by formula (1), and T is the sampling interval,
wk+1It can be used if Timing Receiver works more than 3 days according to SA2.3 modeling estimation for long-period error item Long-period error item, otherwise value be 0.
After SB1.2 calculates frequency deviation of clock, since the integral of frequency departure is equal to phase error, here with average frequency (f partiallyk+1+fk)/2The integral of frequency departure is solved multiplied by the time, so the calculation formula of the clock deviation at k+1 moment is as follows:
δTk+1=δ Tk+(fk+1+fk)/2×T (3)
Wherein, δ Tk+1The receiver clock-offsets that the expression k+1 moment is estimated, δ TkIndicate the receiver clock-offsets at k moment.For the first time When executing step SB1, δ TkEstimated by the PPP module recorded using clock characteristic fitting module in embodiment one in step SA1 Clock deviation, δ T when successive iterations executekThe result for using formula (3) to calculate using last moment.
The clock deviation δ T that SB2 is estimated according to step SB1 clock characteristic fitting modulek+1, remove the when clock for calculating the k+1 moment Amount processedThe prior art can be used, such as pass through second-order PLL (PLL) Lai Shixian.
The S2 clock control amount for calculating the gained k+1 moment is rounded to integer by SB3, when being sent to as final result Clock, while the frequency departure at this moment is updated, formula is as follows:
If PPP module is not restored also to work normally, k=k+1 is enabled, step SB1 is executed according to the frequency deviation iteration of update ~SB3 calculates the clock control amount of subsequent time.
Above step calculates receiver clock-offsets according to the frequency deviation of the clock fitted and long-period error item, in the short time It is interior, precision with higher.
When it is implemented, computer software technology, which can be used, in above technical scheme realizes automatic running process, can also adopt Corresponding system is provided with modular mode.Such as a kind of GNSS Timing Receiver clock combinatorial regulation system based on PPP is provided, Include PPP module in the GNSS Timing Receiver, clock characteristic modeling module and clock regulation module be set,
Clock characteristic modeling module, for being modeled when PPP module is worked normally to clock characteristic, including to place an order Member,
Cell S A1 regulates and controls clock for the clock deviation according to estimated by PPP module, records the estimation of each epoch PPP module Clock deviation and the clock control amount that is accordingly exported；
Cell S A2 is built for after Timing Receiver works more than preset first time period, starting progress clock characteristic Mould is fitted clock frequency drift based on clock control amount；After Timing Receiver works more than preset second time period, clock is used Control amount models long-period error item；
Clock regulation module connects for going to calculate by clock characteristic modeling result when PPP module can not work normally Receipts machine clock deviation, thus continue to regulate and control clock, including with lower unit,
Cell S B1, for when PPP module can not work normally, according to the clock frequency drift and long-period error item of fitting Estimating clock frequency deviation estimates clock deviation；
Cell S B2, for calculating clock control amount according to clock deviation obtained by cell S B1；
Cell S B3, the clock control amount for being calculated according to cell S B2 are rounded to integer, send out as final result Give clock.
Specific each module, which is realized, can be found in corresponding steps, and it will not go into details by the present invention.
When it is implemented, system module partition realization can also be carried out using other modes, referring to Fig. 1, embodiment is proposed A kind of GNSS Timing Receiver clock combinatorial regulation system based on PPP technology, for controlling in Timing Receiver operational process Switching between two kinds of clock regulation modes, comprising:
First module receives satellite observation, the clock deviation of receiver is estimated by PPP technology, using the prior art The PPP module of middle GNSS Timing Receiver is realized；
Second module calculates receiver clock-offsets, i.e. clock property fitting module according to the obtained clock models of modeling；
Further, the second module further comprises submodule:
First submodule, for the frequency drift that is fitted clock according to the clock control amount of record, there are also caused by environmental factor Long-period error item；
Second submodule, for carrying out clock according to information such as the clock frequency drifts of fitting when PPP module can not work normally Difference calculates；
Third module, i.e. PPP outcome quality control module, for monitoring the working condition of PPP module in real time, when PPP mould When block can not work normally, notify that the 4th the second module of module replacing is input source, the notice when PPP module can work normally Input source is switched to the first module by the 4th module；
4th module, for generating clock control according to the first module or the receiver clock-offsets of the second module output Amount sends clock for clock control amount to complete the function of regulation clock, and specific strategy is controlled by third module；
For the sake of ease of implementation, the GNSS time service based on PPP technology for increasing clock characteristic fitting module is provided Operation of receiver process is as follows:
When 1 GNSS Timing Receiver starts, estimation clock deviation is gone using the first module, that is, PPP module, is walked with biggish regulation Enter to control clock, receiver clock-offsets is made quickly to approach 0.
2 after receiver clock-offsets are neighbouring to 0, are input with receiver clock-offsets, when going to generate by a second-order PLL Clock control amount stablizes receiver clock-offsets near 0.
3 record the clock control amount generated each epoch.
4 when Timing Receiver works more than one, pre-processes to the clock control amount of record, need to weed out with Under several data: receiver has just started the data of clock difference not converged period, PPP module positioning result also in convergence process Data, data when rough error occurs in PPP module positioning result.
5 models established according to formula (1), are fitted clock frequency drift by pretreated data, adoptable fitting Method is polynomial fitting method.
The working condition of 6 monitoring PPP modules estimates clock frequency drift based on formula (3) when PPP module can not work normally, It goes to calculate clock deviation using the clock frequency drift that estimation obtains, goes to generate clock control amount using the clock deviation.Long week is not obtained also at this time Period error item, if wkValue is 0.
7 when PPP module recovery works normally, and continues to calculate clock deviation by PPP module, to prevent error of fitting from causing to connect The phenomenon that error accumulation of receipts machine clock deviation.
8 every 6 hours updated that a clock is fitted as a result, and being fitted the clock control amount of clock models must be PPP The clock deviation of module output generates.
9 when Timing Receiver works more than three days, on the basis of by the way of step 6, can also by when clock Amount processed removes long-period error item caused by fitting environmental factor, and when specific implementation can be used polynomial mode and be fitted long period mistake Poor item.
When it is implemented, the automatic running that software technology realizes the above process can be used.
The method of taming is combined the present invention is to provide a kind of clock of GNSS Timing Receiver based on PPP technology and is System, it can also be used to test and assessment clock stability.

Claims (10)

  1. It include PPP in the GNSS Timing Receiver 1. a kind of GNSS Timing Receiver clock combinatorial regulation method based on PPP Module, it is characterised in that: including clock characteristic modelling phase and clock regulation process,
    Clock characteristic modeling process, for PPP module work normally when clock characteristic is modeled, include the following steps,
    Step SA1, according to clock deviation estimated by PPP module regulate and control clock, record each epoch PPP module estimation clock deviation and The clock control amount accordingly exported；
    Step SA2 starts to carry out clock characteristic modeling, be based on after Timing Receiver works more than preset first time period Clock control amount is fitted clock frequency drift；After Timing Receiver works more than preset second time period, clock control amount is used Long-period error item is modeled；
    Clock regulation process calculates receiver for going when PPP module can not work normally by clock characteristic modeling result Clock deviation, thus continue regulate and control clock, include the following steps,
    Step SB1 estimates clock according to the clock frequency drift of fitting and long-period error item when PPP module can not work normally Frequency deviation estimates clock deviation；
    Step SB2 calculates clock control amount according to clock deviation obtained by step SB1；
    Step SB3 is rounded to integer according to the clock control amount that step SB2 is calculated, is sent to clock as final result.
  2. 2. the GNSS Timing Receiver clock combinatorial regulation method based on PPP according to claim 1, it is characterised in that: step Rapid SA2 starts to carry out clock characteristic modeling, implementation is such as after Timing Receiver works more than preset first time period Under,
    Step SA2.1 pre-processes the clock control amount of record, shaves off rough error data and divergence data；
    Step SA2.2 models clock characteristic with clock control amount after pretreatment, including such as with a linear function fitting Under, it is clock frequency drift Drift to fitting parameter,
    Wherein,Indicating that the k moment is applied to the clock control amount on clock, t indicates corresponding moment value,Indicate clock control Initial value is measured, the corresponding clock control amount of clock nominal frequency is set as, m indicates the scale factor of clock control amount.
  3. 3. the GNSS Timing Receiver clock combinatorial regulation method based on PPP according to claim 1, it is characterised in that: when After Timing Receiver works more than preset second time period, long-period error item is modeled using clock control amount, is adopted It is realized with the mode of fitting of a polynomial.
  4. 4. the GNSS Timing Receiver clock combinatorial regulation method based on PPP according to claim 2, it is characterised in that: step Suddenly the realization of SB1 includes the following steps,
    Step SB1.1, if PPP module can not work normally after the k moment, it is believed that clock frequency deviation f this momentkIt is 0, calculates k+1 The clock frequency deviation f at momentk+1It is as follows,
    fk+1=fk+Drift×T+wk+1
    Wherein, Drift is the frequency drift fitted, and T is sampling interval, wk+1For long-period error item；
    Step SB1.2, clock bias estimation is as follows,
    δTk+1=δ Tk+(fk+1+fk)/2×T
    Wherein, δ Tk+1The receiver clock-offsets that the expression k+1 moment is estimated, δ TkIndicate the receiver clock-offsets at k moment.
  5. 5. the according to claim 1 or 2 or 3 or 4 GNSS Timing Receiver clock combinatorial regulation methods based on PPP, special Sign is: step SB2, calculates clock control amount according to clock deviation obtained by step SB1, is realized by second-order PLL.
  6. It include PPP in the GNSS Timing Receiver 6. a kind of GNSS Timing Receiver clock combinatorial regulation system based on PPP Module, it is characterised in that: setting clock characteristic modeling module and clock regulation module,
    Clock characteristic modeling module, for being modeled when PPP module is worked normally to clock characteristic, including with lower unit,
    Cell S A1 regulates and controls clock for the clock deviation according to estimated by PPP module, records the clock of each epoch PPP module estimation Difference and the clock control amount accordingly exported；
    Cell S A2 carries out clock characteristic modeling for starting after Timing Receiver works more than preset first time period, Clock frequency drift is fitted based on clock control amount；After Timing Receiver works more than preset second time period, clock when use Amount processed models long-period error item；
    Clock regulation module calculates receiver for going when PPP module can not work normally by clock characteristic modeling result Clock deviation, thus continue to regulate and control clock, including with lower unit,
    Cell S B1, for being estimated according to the clock frequency drift of fitting and long-period error item when PPP module can not work normally Clock frequency deviation estimates clock deviation；
    Cell S B2, for calculating clock control amount according to clock deviation obtained by cell S B1；
    Cell S B3, the clock control amount for being calculated according to cell S B2 are rounded to integer, are sent to as final result Clock.
  7. 7. the GNSS Timing Receiver clock combinatorial regulation system based on PPP according to claim 6, it is characterised in that: single First SA2 includes following subelement,
    Subelement SA2.1 pre-processes for the clock control amount to record, shaves off rough error data and divergence data；
    Subelement SA2.2, for being modeled with clock control amount after pretreatment to clock characteristic, including with a linear function Fitting is as follows, is clock frequency drift Drift to fitting parameter,
    Wherein,Indicating that the k moment is applied to the clock control amount on clock, t indicates corresponding moment value,Indicate clock control Initial value is measured, the corresponding clock control amount of clock nominal frequency is set as, m indicates the scale factor of clock control amount.
  8. 8. the GNSS Timing Receiver clock combinatorial regulation system based on PPP according to claim 6, it is characterised in that: when After Timing Receiver works more than preset second time period, long-period error item is modeled using clock control amount, is adopted It is realized with the mode of fitting of a polynomial.
  9. 9. the GNSS Timing Receiver clock combinatorial regulation system based on PPP according to claim 7, it is characterised in that: single First SB1 includes following subelement,
    Subelement SB1.1 can not work normally after the k moment, it is believed that clock frequency deviation f this moment for setting PPP modulekIt is 0, Calculate the clock frequency deviation f at k+1 momentk+1It is as follows,
    fk+1=fk+Drift×T+wk+1
    Wherein, Drift is the frequency drift fitted, and T is sampling interval, wk+1For long-period error item；
    Subelement SB1.2, it is as follows for clock bias estimation,
    δTk+1=δ Tk+(fk+1+fk)/2×T
    Wherein, δ Tk+1The receiver clock-offsets that the expression k+1 moment is estimated, δ TkIndicate the receiver clock-offsets at k moment.
  10. 10. according to claim 6 or 7 or the 8 or 9 GNSS Timing Receiver clock combinatorial regulation systems based on PPP, special Sign is: cell S B2 calculates clock control amount according to clock deviation obtained by cell S B1, is realized by second-order PLL.
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