CN110837221A - Method for effectively improving time service reliability and continuity - Google Patents
Method for effectively improving time service reliability and continuity Download PDFInfo
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- CN110837221A CN110837221A CN201911184999.9A CN201911184999A CN110837221A CN 110837221 A CN110837221 A CN 110837221A CN 201911184999 A CN201911184999 A CN 201911184999A CN 110837221 A CN110837221 A CN 110837221A
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Abstract
The invention discloses a method for effectively improving time service reliability and continuity, which comprises the following steps: s1: obtaining each item of parameter information and the valid identifier of each item of parameter information from a nonvolatile memory, judging validity, setting a system mode according to the judgment, and directly executing S3 if the system mode is a non-memory mode; otherwise, executing S2; s2: normally working, receiving satellite telegraph messages, updating various parameter information to nonvolatile storage, and setting various parameter marks to be effective; s3: judging the number of available satellites, and selecting to enter a corresponding time service mode according to the judgment; s4: carrying out statistical processing on the time service time and setting a corresponding identifier; s5: and updating the time information into a nonvolatile memory or returning error information according to the time information rationality identification to prepare a new round of time service calculation. The invention adopts different time service methods according to different scene conditions, can automatically identify scenes for flexible conversion, and effectively improves the time service reliability and continuity.
Description
Technical Field
The invention relates to the technical field of satellite navigation, in particular to a method for effectively improving time service reliability and continuity.
Background
Time is a basic physical quantity closely related to the daily life of the people's public. With the rapid development of electronic information and the internet in time, the accuracy and precision requirements of high-time constraint services such as electronic commerce, electronic government affairs and the like on the time information of the whole society are more and more strict. The advent of satellite time service provides one direction to solve these problems. The satellite time service generally refers to that satellite time is used as a time reference, a time mapping relation is established with a local clock through PVT calculation and measurement of transmission delay of a satellite ranging code, stable and reliable time information output with high precision is formed through timing calculation and control strategies of a local clock system, and a second time pulse signal PPS applied to time service or secondary time service is provided. The satellite time service is reliable, mainly because each satellite is provided with a high-precision atomic clock, the ground control station continuously receives the broadcast signals of the satellite, and advanced timing, synchronization, injection and other technologies are adopted, so that the satellite time system can provide precise standard time signals for various communication devices, electronic application systems, process control and management systems, electronic commerce systems and the like in a signal reliable coverage range, and accurate execution of various services is ensured. At present, satellite time service is widely applied to the fields of IT, finance, petrifaction, government offices, national defense, electric power, traffic, medical treatment, education and the like. However, in practical applications, continuous and reliable coverage of satellite signal reception is often not satisfied. For example, under the environment of urban canyons, in-residential areas, shade streets and the like, or when the environment requirement of part of equipment to be timed in engineering installation leads to the fact that the equipment cannot be continuously in the reliable coverage range of enough satellite signals, great errors occur in the reliability and continuity of satellite timing, and in extreme cases, huge economic losses may be caused by time deviation. Therefore, in satellite time service, in addition to ensuring the accuracy of satellite time service, the reliability and continuity of time service are very important performance requirements.
Disclosure of Invention
The invention aims to solve the problem that the prior art often cannot meet the requirement of continuous and reliable coverage of satellite signal reception in practical application. For example, under the environment of urban canyons, in-residential areas, shade streets and the like, or when the environment requirement of part of equipment to be timed in engineering installation leads to the fact that the equipment cannot be continuously in the reliable coverage range of enough satellite signals, great errors occur in the reliability and continuity of satellite timing, and in extreme cases, huge economic losses may be caused by time deviation. In the satellite time service, in addition to ensuring the accuracy of the satellite time service, the reliability and continuity of the time service are also very important performance requirements, so a method for effectively improving the reliability and continuity of the time service is provided.
The invention provides a method for effectively improving time service reliability and continuity, which comprises the following steps: s1, obtaining historical positioning information, time information, parameter information contained in the satellite messages and effective identification of the information from the nonvolatile storage, judging the effectiveness of the information, setting a system mode according to the judgment, and directly executing S3 if the system mode is a non-memory mode; otherwise, executing S2; s2, working normally, receiving satellite telegraph text, obtaining positioning information and time information by resolving telegraph text information, updating the positioning information, the time information and the satellite telegraph text information to nonvolatile storage, setting each parameter mark as effective, and executing S3; s3, judging the number of available satellites, and selecting to enter a corresponding time service mode according to the judgment: acquiring time service calculation necessary parameters from a nonvolatile storage in a normal time service mode, a few-satellite time service mode and a no-satellite time service mode, calculating time service according to different time service modes, calculating clock error according to the collected satellite information in the normal time service reference time service principle and the few-satellite time service mode, correcting time information by using the clock error, estimating time by using a time estimation formula in the no-satellite time service mode and estimating current time information by using time statistical information counted in the nonvolatile storage in the earlier stage; s4, counting the time service time, judging the reasonability of time information, setting a corresponding identifier, storing the statistical information into a nonvolatile memory, providing a calculation condition for future satellite-free time service calculation, wherein the information is time-efficient, and is deleted when the information is invalid; carrying out statistical processing to obtain reliable time service time, and setting a reliability identifier; and S5, updating the time information into a nonvolatile memory or returning error information according to the time information rationality mark, preparing a new round of time service calculation, and finishing time service work.
Preferably, in step S3, the satellite-less timing mode is executed: judging to enter a few-satellite time service mode according to the number of available satellites; acquiring parameter information from a nonvolatile storage; calculating pseudo range and solving various delays by using information in nonvolatile storage; calculating clock error by using the relationship between the satellite pseudo range and the clock error according to the mapping relationship between the transmission delay and the local time and the collected satellite information; and correcting the time information by using the clock difference to obtain the time service time.
Preferably, in step S3, the star-less time service mode is executed: acquiring parameter information from a nonvolatile storage; the time service time is obtained by directly depending on a time estimation formula.
Preferably, in step S4, the mean and variance parameters of the time service deviations of the time information obtained by the three time service modes are counted, whether each parameter is within a reasonable range is determined, the reliability of the time service information is ensured, and meanwhile, a calculation parameter is provided for a satellite-free time service mode in future time service modes.
Preferably, in step S2, the setting of the time service mode depends on determining whether the information in the nonvolatile storage is valid, the time service mode is set as the memory mode, the time service mode is reset as the non-memory mode after the valid time is exceeded and the stored information is not updated; setting the time service mode as a non-memory mode when the information in the nonvolatile storage is invalid or all 0, waiting for resolving the time information and updating the time information into the storage, and resetting the time service mode as a memory mode; wherein, in the memory mode, the system is divided into two scenes of starting and normal work; in the startup + memory mode, only a satellite is needed, and the time information extraction initialization process can be accelerated; the method works normally, if the time information is normal, the method belongs to a memory mode, and the stored information is refreshed before the memory information is invalid, so that the overtime timer is cleared; therefore, in the non-memory mode, more than 4 satellites are needed to obtain accurate PVT information, and normal work and normal time service can be performed.
Preferably, in step S5, the reliability determination flag of the time service result is obtained in S4 for the time service results obtained in the low-star time service mode and the no-star time service mode, and when updating the stored information, the reliability determination flag is determined first, and if the time result is reliable, the stored information is updated to the nonvolatile storage.
The beneficial effects of the invention include: under different application scene conditions introduced by environment change, different time service modes are adopted: when the number of the satellites is more than 4, normal time service can be realized, the time service precision can be ensured to be kept within 20ns for normal timing, and time information can be provided; when the number of the satellites is insufficient, a few-satellite time service method is adopted, so that the time service deviation mean value can be kept at about 20ns within a long period of time; when the signal is completely shielded or the signal is abnormal, a satellite-free time service method is adopted, and the time service deviation can be ensured to be within 200ns within a certain time. Different time service methods are adopted according to different scene conditions, scenes are automatically identified for flexible conversion, the reliability of local time of a receiver can be obtained or maintained under various scenes, and the time service reliability and continuity are effectively improved.
Drawings
Fig. 1 is a timing flowchart of a satellite navigation receiver according to an embodiment of the invention.
Fig. 2 is a flowchart of an implementation of a satellite navigation receiver satellite-less time service mode according to an embodiment of the present invention.
Fig. 3 is a flowchart of an implementation of a satellite-less time service mode of a satellite navigation receiver according to an embodiment of the present invention.
FIG. 4 shows a connection of a time service test device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The invention is further described with reference to the following figures and embodiments.
Fig. 1 is a timing flow chart of a beidou navigation receiver according to an embodiment of the present invention. Firstly, the receiver is powered on and initialized, and the position information (receiver coordinates), the time information, the satellite text information and the effective identification of each item of information of the receiver are read from the nonvolatile storage. And setting the operation mode of the receiver according to the valid identifier (if the information is valid, setting the operation mode of the receiver to be a non-memory mode, indicating that the position information and the time information of the receiver have been manually input or acquired from the base station console, if the information is invalid or all zero, setting the operation mode of the receiver to be a memory mode, and the information needs to be acquired by the normal work of the receiver). The acquisition of the information is a precondition for the receiver to calculate time service, namely the information contains parameters necessary for the receiver to calculate time service, and under a non-memory mode, the receiver can quickly calculate time service under the condition of receiving a small number of satellites; and in the memory mode, the receiver is calculated to obtain the time service calculation condition depending on normal work, and if the receiver does not meet the calculation condition, the time service can be carried out after the receiver meets the normal work calculation condition.
After the receiver mode is set, the receiver carries out time service in different modes by judging the number of available satellites. Under the long-time operation of the receiver, the satellite signals may be obscured due to the constant change of the satellite positions and the change of the environment where the receiver is located, and therefore, the time service manner of the receiver may change variously, such as: the normal time service is changed into the time service with few stars, the time service with few stars is changed into the time service with no stars, etc., under different environment conditions, the receiver is flexibly switched among various time service modes, and the continuous and reliable time service is ensured. For the switching of the time service modes of the receiver, the switching depends on judging the number of available satellites, when the number of the available satellites is more than 4, the receiver normally performs time service, when the number of the available satellites is between 1 and 3, the receiver performs satellite-less time service, and when the number of the available satellites is 0, the receiver performs satellite-less time service.
When the receiver is normally taught, namely the receiver normally works, the position information and the clock error of the receiver are solved by using the satellite messages, the formula (1) is referred, the local time is corrected by using the clock error, and the time is taught after the time rationality judgment is completed by referring to the formula (2) and the formula (3). And finally, storing the position information, the time information and the satellite telegraph text information of the receiver into a nonvolatile storage.
Satellite positioning principle:
Tnow that＝TCalendar+tPVT-interval+f(δPVT(t))+δ(tu)+f(δ(tu)) (2)
Wherein T isNow thatFor the present time of the receiver, TCalendarIs the time of the receiver at the last moment, tPVT-intervalIs PVT interval, f (delta)PVT(t)) is the statistical compensation for the receiver internal clock count, δ (tu) is the clock difference at the last moment in the receiver, and f (δ (tu)) is the statistical compensation for the receiver clock difference. f (δ (tu), δ' (tu), ε i) is defined as:
f(δ(tu))＝f(δ(tu)，δ′(tu)，εi) (3)
where δ' (tu) is the receiver clock drift and ε i is the remaining participating calculation parameters.
When the receiver performs satellite-less time giving, the receiver reads the receiver position information, the time information and the satellite text information in the nonvolatile storage again, at the moment, the information is effective (the receiver has two states before performing satellite-less time giving, the receiver is started or normally works, the validity of the stored information is judged when the receiver is started, the time giving calculation can be performed only when the information is effective, the information is kept updated when the receiver normally works, and the information is also kept effective), the receiver performs satellite-less time giving calculation flow is shown in figure 2, and the receiver reads the receiver coordinates (x is x) from the nonvolatile storageu，yu，zu) Receiver time TRXThe clock error of the receiver is calculated through the relation between the pseudo-range between the receiver and the satellite and the clock error of the receiver, the formula (4) is referred, and for the accuracy of the clock error calculation, because the position of the receiver is accurate coordinates in the parameters participating in the calculation, whether the position is obtained by resolving or is manually input or obtained by a base station control console, and because the rest time information and the satellite parameter (clock error and satellite coordinates) information are effective (the information is ensured not to exceed the effective time length when the information is obtained from the nonvolatile storage before calculation), the accuracy of the clock error obtained by calculation can be ensured. After the clock error of the receiver is calculated, the clock error is used for correcting the local time, and the time service is finished after the time rationality judgment is finished by referring to a formula (2) and a formula (3). And updates the time information of the receiver to the non-volatile storage. In the case of few satellites, different satellites will resolve different receiver clock differences, e.g., receiver clock differences σ tu1, σ tu2, σ tu3, and the clock differences used in calculating the receiver time are averaged over a number of calculated clock differences, i.e.:
then, the variance is calculated as follows:
wherein n is more than 0 and less than 4.
The pseudoranges are related to the clock error as follows:
where ρ represents the pseudorange between the receiver and the satellite, (x)i，yi，zi) Denotes the satellite coordinates, (x)u，yu，zu) Representing the coordinates of the receiver, sigma tu representing the clock error of the receiver, sigma ti representing the clock error of the satellite, and epsilon i representing various time delays in the propagation process;
when the receiver does no-satellite time service, the execution flow of the receiver is as shown in fig. 3, and the receiver again reads the time information of the receiver in the nonvolatile storage to determine whether the information is valid. Because the satellite-free time service has no data of a satellite as reference and utilizes the previous statistical time information, in order to ensure reliable time service precision, whether the statistical information exceeds the effective time needs to be judged before the satellite-free time service calculation is carried out, the effective time is set and adjusted according to the statistical time information data, if the statistical information is invalid, the time service is stopped, an error is returned, and the time service mode judgment is carried out again; otherwise, if the statistical time information is effective, the time information of the receiver is directly estimated by using a satellite-free time estimation formula, such as formula (5) and formula (6), and after the time reasonability of the receiver is judged, if the time information is reasonable, the time information is updated into a nonvolatile storage to finish time service. In the calculation process, because no new available satellite telegraph text is received, the estimated clock error information comes from the time information statistics updated to the nonvolatile storage when the receiver works, and the time service to the receiver can be continuously ensured under the condition of low precision requirement in the time validity period.
TNow that＝TCalendar+tPVT-interval+f(δPVT(t))+fk(σtu) (5)
Wherein T isNow thatFor the present time of the receiver, TCalendarTime of the last moment of the receiver, tPVT-intervalFor PVT intervals, f (delta PVT (t)) is the statistical compensation for the receiver internal clock count, fk(σ tu) is defined as follows:
fkand (sigma tu) is defined as the clock error and clock drift and other items of time information under the condition of no satellite calculated according to the historical information statistics under the condition of no satellite, and is used for estimating the time of the receiver, wherein E (sigma tu) is expected statistical clock error, delta (sigma tu) is variance of statistical clock error, n is the number of statistical samples, and epsilon i is the other parameters participating in calculation.
When the receiver calculates the time information of the receiver, the rationality of the time of the receiver needs to be further judged, the precision of the time of the receiver is ensured to be in a required range, meanwhile, conditions are provided for the following time service calculation, especially for few-satellite time service and no-satellite time service, parameters used in the calculation process depend on the statistics of time service results of the receiver, in the step of counting and judging the rationality, the time service clock difference needs to be counted at each time service time, the mean value and the variance of the time service clock difference are calculated, the rationality judgment is carried out on the mean value and the variance, if the time service clock difference is in a reasonable range, the time service is carried out on the receiver, and the time information in the nonvolatile storage is updated. Otherwise, the result is discarded, an error is returned, and the next round of calculation is restarted.
After the rationality judgment of the time service time information, the time is updated to the nonvolatile storage according to the judgment, namely, a new time service calculation preparation is started.
By the three time service methods, the time service precision can be controlled within a certain range within a certain time no matter how the environment changes, and correspondingly, the time service precision can still be controlled within the same magnitude range when the time information calculated by the three methods is subjected to secondary time service.
Measurement result method:
measuring the accuracy of time service: and (4) obtaining time service deviation by adopting a method of making difference with the reference time and analyzing the rationality of the time service deviation to judge whether the time service precision is reliable or not. FIG. 4 shows a connection mode of the time service test device, and the time service test execution steps are as follows:
the first step is as follows: connecting the equipment according to the equipment connection mode diagram;
the second step is that: the receiver of the tested device is set to be in a memory mode, and the formal test is started after the receiver is started for 15 minutes. After the receiver finishes positioning, outputting a pulse per second (1PPS) signal to a time interval counter in real time;
the third step: measuring the difference value of the 1PPS rising edge time output by the tested equipment and the 1PPS rising edge time output by the time reference by using a time interval counter, and counting the timing precision delta, wherein the number of sampling samples is not less than 3600;
the fourth step: the tested device repeats the steps of S2 and S3 to measure again;
after the time service deviation of the tested receiver is obtained through the steps, the mean value and the variance of the time service deviation are counted by using an evaluation method, and the evaluation method refers to a formula (7), wherein: xi is the difference value of the measurement samples at the adjacent moments of the time interval counter, i is the sample serial number, n is the total number of the samples minus 1, the statistical results are compared and analyzed, and whether the time service deviation is in a reasonable range or not is judged.
The evaluation method comprises the following steps:
in this example, the test shows that the time difference is kept around 20ns for a long time in the case of the satellite-less time, and is kept within 200ns for a certain period of time in the case of the satellite-less time.
According to the method provided by the invention, during normal time giving, the receiver utilizes the satellite telegraph message information to resolve the information such as the position of the receiver, the clock error of the receiver and the like, and then utilizes the relation between the clock error and the time of the receiver to give time to the receiver; when the satellite is short, the receiver calculates the receiver clock error by using the relation between the pseudo-range between the receiver and the satellite and the receiver clock error through historical positioning, time and satellite telegraph information, and calculates the receiver time by using the relation between the receiver clock error and the receiver time to provide time for the receiver; and when no satellite exists, the receiver estimates the time of the receiver by using the relation between the historical information and the time of the receiver to provide time for the receiver. The method provided by the invention can ensure that the receiver can select a proper time service mode under different environmental conditions, ensure the time service deviation to be within a reasonable range within a certain time period under the condition of few stars or even no stars, realize time service under different environments and improve the reliability and continuity of time service.
While there has been described and illustrated what are considered to be example embodiments of the present invention, it will be understood by those skilled in the art that various changes and substitutions may be made therein without departing from the spirit of the invention. In addition, many modifications may be made to adapt a particular situation to the teachings of the present invention without departing from the central concept described herein. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments and equivalents falling within the scope of the invention.
Claims (6)
1. A method for effectively improving time service reliability and continuity is characterized by comprising the following steps:
s1, obtaining the necessary information for time service calculation, and setting the system mode: obtaining historical positioning information, time information, various parameter information contained in the satellite messages and effective marks of the various parameter information from a nonvolatile memory, judging the effectiveness of the information, setting a system mode according to the judgment, and directly executing S3 if the system mode is a non-memory mode; otherwise, executing S2;
and S2, solving parameter information necessary for time service: normally working, receiving satellite telegraph text, acquiring positioning information and time information by resolving telegraph text information, updating the positioning information, the time information and the satellite telegraph text information to nonvolatile storage, setting each parameter mark as effective, and executing S3;
s3, entering different time service modes according to different environmental conditions, and calculating to obtain corresponding time service time: judging the number of available satellites, and selecting to enter a corresponding time service mode according to the judgment: a normal time service mode, a few-star time service mode and a no-star time service mode; acquiring time service calculation necessary parameters from a nonvolatile storage, and calculating time service according to different time service modes; a normal time reference time service principle; calculating clock error through the collected satellite information during the few-satellite time service, and correcting the time information by using the clock error; estimating current time information by using a time estimation formula and time statistical information counted into nonvolatile storage in an earlier stage in the satellite-free time service;
s4, completing statistical processing to obtain reliable time service, and setting reliability identification: the time service time is subjected to statistical processing, the reasonability of time information is judged, corresponding identification is set, the statistical information is stored in a nonvolatile storage, a calculation condition is provided for future satellite-free time service calculation, the information is timeliness, and when the information is invalid, the information is deleted;
and S5, updating the time information into a nonvolatile memory or returning error information according to the time information rationality mark, preparing a new round of time service calculation, finishing time service work and starting the new round of time service calculation preparation.
2. The method for effectively improving the reliability and continuity of time service according to claim 1, wherein in step S3, the satellite-less time service mode is executed as follows: judging to enter a few-satellite time service mode according to the number of available satellites; acquiring parameter information from a nonvolatile storage; calculating pseudo range and solving various delays by using information in nonvolatile storage; calculating clock error by using the relationship between the satellite pseudo range and the clock error according to the mapping relationship between the transmission delay and the local time and the collected satellite information; and correcting the time information by using the clock difference to obtain the time service time.
3. The method for effectively improving the reliability and continuity of time service according to claim 1, wherein in step S3, the star-less time service mode is executed: acquiring parameter information from a nonvolatile storage; the time service time is obtained by directly depending on a time estimation formula.
4. The method according to claim 1, wherein the step S4 is to count the mean and variance parameters of the time service deviation of the time information obtained by the three time service modes, determine whether each parameter is within a reasonable range, ensure the reliability of the time service information, and provide the calculation parameters for the satellite-less time service mode in the future time service mode.
5. The method according to claim 1, wherein the setting of the time service mode in step S2 depends on determining whether the information in the nonvolatile storage is valid, the time service mode is set as the memory mode, the time service mode is reset as the non-memory mode after the validity time is exceeded and the information in the storage is not updated; setting the time service mode as a non-memory mode when the information in the nonvolatile storage is invalid or all 0, waiting for resolving the time information and updating the time information into the storage, and resetting the time service mode as a memory mode; wherein, in the memory mode, the system is divided into two scenes of starting and normal work; in the startup + memory mode, only a satellite is needed, and the time information extraction initialization process can be accelerated; the method works normally, if the time information is normal, the method belongs to a memory mode, and the stored information is refreshed before the memory information is invalid, so that the overtime timer is cleared; therefore, in the non-memory mode, more than 4 satellites are needed to obtain accurate PVT information, and normal work and normal time service can be performed.
6. The method according to claim 1, wherein the step S5 is that for the timing results obtained by the low-star timing mode and the no-star timing mode, the reliability judgment flag of the timing result is obtained in S4, when the stored information is updated, the reliability judgment flag is judged first, and if the time result is reliable, the reliability judgment flag is updated to the nonvolatile storage.
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| CN113176973A (en) * | 2021-05-14 | 2021-07-27 | 山东英信计算机技术有限公司 | PSU power supply black box log time stamp recording method, device, equipment and medium |
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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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| CN114545761B (en) * | 2020-11-27 | 2023-08-01 | 辰芯科技有限公司 | Local timing updating method, device, equipment and storage medium |
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| CN113391328B (en) * | 2021-04-13 | 2024-05-10 | 中国科学院微小卫星创新研究院 | Method for autonomously monitoring satellite ephemeris integrity by using navigation satellite system |
| CN113176973A (en) * | 2021-05-14 | 2021-07-27 | 山东英信计算机技术有限公司 | PSU power supply black box log time stamp recording method, device, equipment and medium |
| CN113176973B (en) * | 2021-05-14 | 2023-04-25 | 山东英信计算机技术有限公司 | PSU power supply black box log time stamp recording method, device, equipment and medium |
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