CN111060927A - Method for switching main clock and standby clock of on-orbit navigation satellite - Google Patents
Method for switching main clock and standby clock of on-orbit navigation satellite Download PDFInfo
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Abstract
The invention provides a method for switching between main clocks and standby clocks of an on-orbit navigation satellite, which comprises the following steps: combining with the satellite-ground bidirectional ranging observation data, calculating by using a satellite-ground bidirectional comparison method to obtain a plurality of main clock error parameters; acquiring clock difference parameters of the hot standby clock relative to the main clock through engineering telemetering data broadcast by an on-orbit navigation satellite; calculating to obtain a plurality of hot standby clock difference parameters according to the main clock difference parameters and the engineering telemetering data; in the following state of the main clock and the standby clock, the phase and the frequency of the hot standby clock are equal to those of the main clock and synchronously change along with time; after the in-orbit navigation satellite stably operates, the frequency drift rate of the satellite clock error data is a constant, and the hot standby clock error parameter is injected to the in-orbit navigation satellite for storage; when the on-orbit navigation satellite autonomously monitors that the main clock and the hot standby clock are switched, the stored hot standby clock difference parameter is directly and autonomously called to replace the main clock difference parameter to serve as satellite clock difference data, the switched satellite clock difference data is compensated, and the frequency drift rate of the satellite clock difference data is corrected.
Description
Technical Field
The invention relates to the technical field of satellite-borne atomic clocks, in particular to a method for switching master and slave clocks of an on-orbit navigation satellite.
Background
With the continuous development of the fields of satellite navigation positioning, satellite communication and the like, the requirement of the satellite effective load on the accuracy of time frequency is higher and higher. The satellite navigation system can provide high-precision and high-reliability positioning, navigation and time service for various users all day long and all day long in the global range, and is concerned with the national security and national economic development. The precise time keeping technology is the technical basis for providing high-precision positioning, navigation and time service for the satellite navigation system. At present, a satellite navigation system is provided with a precise atomic clock, and the precise atomic clock is always kept in precise synchronization with atomic clocks of each monitoring station and a master control station, so that precise navigation and time service are provided for users.
In order to ensure the stability and reliability of the operation of a navigation satellite system, a satellite-borne time-frequency processing system of the navigation satellite adopts a redundancy backup architecture design, two atomic clocks are powered on to work at the same time, one atomic clock is in a main working state, and the other atomic clock is in a hot backup working state. When the primary working atomic clock is abnormal or fails, the system can be automatically and stably switched to the hot backup atomic clock, so that the continuity of the navigation satellite frequency signal is ensured. In order to ensure that the time-frequency reference signal output by the system does not have large jitter and change before and after the main atomic clock and the standby atomic clock are switched, the system adopts a phase comparator to measure the phase difference of the main atomic clock and the standby atomic clock, and adjusts and controls the hot standby atomic clock signal to always follow the main atomic clock through a phase control word and a frequency control word according to measured phase difference data, as shown in fig. 1.
The prior stable switching technology of the main clock and the standby clock can only realize a in the clock difference parameter0(phase difference), a1Smooth switching of (clock speed) does not enable a in the clock difference parameter2(frequency drift) and therefore optimal performance transfer of the master and slave clocks cannot be achieved. The clock error model of the on-orbit navigation satellite is delta t ═ a0+a1τ+a2τ2Where Δ t is the clock difference, τ is the time, a0Is a phase, a1Is a frequency, a2Is the frequency drift rate. The accuracy of satellite clock error parameter measurement and its long-term consistency directly affect the accuracy of satellite navigation positioning. At present, in order to ensure the stability and reliability of the operation of a navigation satellite system, a satellite-borne time-frequency processing system of a navigation satellite adopts a redundancy backup architecture design, two atomic clocks are powered on to work simultaneously, one atomic clock is in a main working state, the other atomic clock is in a hot backup working state, the main atomic clock and the standby atomic clock are in a tracking enabling state, and the clock difference parameter phase a of the hot backup atomic clock0 prepareAnd frequency a1 preparePhase a with primary atomic clock0 mainAnd frequency a1 mainKeep consistent and hot backup atomic clock frequency drift rate a2 prepareFrequency drift rate a with primary atomic clock2 mainDifferent. Therefore, when the primary atomic clock is abnormal or fails, the navigation satellite system is automatically switched to the hot backup atomic clock to operate, and only the phases a of the primary and backup clocks can be realized0And frequency a1Cannot realize the frequency drift rate a of the main and standby clocks2Is transmitted. Before and after the main and standby clocks are switched, the frequency drift rate a2Jump occurs and the optimal transfer of the performance of the satellite clock cannot be realized.
According to the clock error model, after the on-orbit navigation satellite is switched between the main clock and the standby clock, when the ground cannot timely inject new clock error parameters, the frequency drift rate a2The jump will result inThe clock error prediction error increases as the square of the integration time, and has a great influence on long-term clock error prediction, for example, the clock error prediction error reaches dozens of nanoseconds in 48 hours, which seriously influences the time service precision of the navigation satellite and seriously limits the autonomous navigation operation capability of the navigation satellite system. Therefore, a transfer technology for switching the optimal performance of the main clock and the standby clock of the on-orbit navigation satellite is urgently needed.
Disclosure of Invention
The invention aims to provide a method for switching between a master clock and a slave clock of an on-orbit navigation satellite, which aims to solve the problem that the frequency drift rate of the master clock and the slave clock cannot be transferred when the conventional navigation satellite system is automatically switched to a hot backup atomic clock.
In order to solve the technical problem, the invention provides a method for switching between main clocks and standby clocks of an on-orbit navigation satellite, which comprises the following steps:
firstly, the in-orbit navigation satellite adopts two atomic clocks to simultaneously work by electrifying, wherein one atomic clock is used as a main clock and is in a main working state, the other atomic clock is used as a hot standby clock and is in a hot standby working state;
combining with the satellite-ground bidirectional ranging observation data, calculating by using a satellite-ground bidirectional comparison method to obtain a plurality of main clock error parameters;
secondly, acquiring clock error parameters of the hot standby clock relative to the main clock through the engineering telemetering data broadcast by the in-orbit navigation satellite;
thirdly, calculating to obtain a plurality of hot standby clock error parameters according to the main clock error parameters and the engineering telemetering data by adopting an on-satellite main-standby atomic clock phase comparison method;
in the following state of the main clock and the standby clock, the phase and the frequency of the hot standby clock and the phase and the frequency of the main clock are kept equal and synchronously change along with time, so that seamless switching can be realized;
after the in-orbit navigation satellite stably operates, the frequency drift rate of the satellite clock error data is a constant, and the hot standby clock error parameter is injected to the in-orbit navigation satellite for storage and standby;
and fifthly, when the on-orbit navigation satellite autonomously monitors that the main clock and the hot standby clock are switched, directly and autonomously calls the stored hot standby clock error parameter to replace the main clock error parameter as satellite clock error data, compensates the switched satellite clock error data, and corrects the frequency drift rate of the satellite clock error data.
Optionally, in the method for switching between the main clock and the standby clock of the in-orbit navigation satellite, the downlink signal used for the satellite-to-ground two-way ranging is a satellite signal output after frequency reduction processing by a tuner, and the frequency of the satellite signal is 950MHZ to 2150 MHZ.
Optionally, in the method for switching between master and slave clocks of an in-orbit navigation satellite, the calculating to obtain a plurality of master clock difference parameters by using a satellite-to-ground bidirectional comparison method in combination with satellite-to-ground bidirectional ranging observation data includes:
the method comprises the steps that a ground operation and control system with a ground reference atomic clock as a reference transmits an uplink signal, an uplink ranging link is established with a satellite, the satellite uses a main clock of the satellite-borne atomic clock as a reference, meanwhile, the satellite transmits a downlink signal, a downlink ranging link is established with the ground operation and control system, the satellite measures uplink pseudo range values between satellites and the ground, and the ground operation and control system measures downlink pseudo range values between the satellites and the ground;
and the uplink pseudo range value is transmitted back to the ground operation and control system through telemetry, and the ground operation and control system calculates the clock error of the main clock relative to the ground reference atomic clock in the sampling period according to the downlink pseudo range value and the uplink pseudo range value.
Optionally, in the method for switching between the main clock and the standby clock of the in-orbit navigation satellite, the calculating by using a satellite-to-ground bidirectional comparison method to obtain a plurality of main clock difference parameters in combination with the satellite-to-ground bidirectional ranging observation data further includes:
the uplink pseudo range value between the satellite and the earth measured by the satellite is the sum of the microwave propagation delay between the satellite and the earth and the clock difference of the main clock relative to the ground reference atomic clock;
the ground operation and control system measures a downlink pseudo range value between the satellite and the ground as the difference between the microwave propagation delay between the satellite and the ground and the clock difference of the main clock relative to the ground reference atomic clock;
and for the uplink pseudo range value measured in the same sampling period, the satellite-ground microwave propagation delay contained in the uplink pseudo range value is equal to the satellite-ground microwave propagation delay contained in the downlink pseudo range value.
Optionally, in the method for switching between the master clock and the slave clock of the in-orbit navigation satellite, obtaining the clock difference parameter of the hot slave clock relative to the master clock through the engineering telemetry data broadcast by the in-orbit navigation satellite includes:
and the satellite time-frequency processing system measures and records the clock difference of the hot standby clock relative to the main clock in real time.
Optionally, in the method for switching between the main clock and the standby clock of the in-orbit navigation satellite, the clock difference of the hot standby clock relative to the main clock, which is measured and recorded in real time by the satellite time-frequency processing system, is a difference between a phase of an output signal of the hot standby clock and a phase of an output signal of the main clock;
and measuring the phase difference between the output signal of the hot standby clock and the output signal of the main clock by using a phase discriminator of a satellite-borne time-frequency processing system, wherein the phase difference is the clock difference of the hot standby clock relative to the main clock.
Optionally, in the method for switching between master and slave clocks of an in-orbit navigation satellite, calculating a plurality of hot slave clock offset parameters according to the master clock offset parameter and the engineering telemetry data by using an on-satellite master and slave atomic clock ratio method includes:
and the clock difference of the standby clock relative to the main clock is transmitted back to the ground operation and control system through remote measurement, and the ground operation and control system obtains the clock difference of the standby clock relative to the ground reference atomic clock according to the clock difference of the main clock relative to the ground reference atomic clock and the clock difference of the standby clock relative to the main clock.
Optionally, in the method for switching between the primary and secondary clocks of the in-orbit navigation satellite, the uplink pseudorange value and the clock difference between the hot standby clock and the primary clock are both downloaded to the ground in real time through a satellite-to-ground measurement and control channel, and are collected to the ground operation and control system, and data processing is performed to obtain the clock difference between the primary clock and the ground reference atomic clock and the clock difference between the hot standby clock and the ground reference atomic clock.
According to the method for switching the main clock and the standby clock of the in-orbit navigation satellite, a plurality of hot standby clock difference parameters are obtained through calculation according to the main clock difference parameters and engineering telemetering data, the hot standby clock difference parameters are injected to the in-orbit navigation satellite for storage and standby, when the in-orbit navigation satellite autonomously monitors that the main clock and the hot standby clock are switched, the stored hot standby clock difference parameters are directly and autonomously called to replace the main clock difference parameters to serve as satellite clock difference data, the switched satellite clock difference data are compensated, the frequency drift rate of the satellite clock difference data is corrected, and optimal performance transfer of the main clock and the standby clock of the satellite is achieved. Therefore, the invention provides a transfer technology for the optimal performance of the switching between the main clock and the standby clock of the on-orbit navigation satellite, which can realize the optimal transfer of the phase, the frequency and the frequency drift rate when the main clock and the standby clock of the on-orbit are switched, improve the long-term clock error prediction precision by one order of magnitude and improve the autonomous navigation operation capability of the navigation satellite.
Drawings
FIG. 1 is a schematic diagram illustrating a conventional method for switching between master and slave clocks of an in-orbit navigation satellite;
FIG. 2 is a schematic diagram illustrating a clock difference change of a master/slave clock switching method of an existing in-orbit navigation satellite;
FIG. 3 is a schematic diagram illustrating a method for switching between master and slave clocks of an in-orbit navigation satellite according to an embodiment of the present invention;
shown in the figure: 10-a main clock; 20-hot standby clock; 30-a power supply; 40-a frequency synthesizer; 50-phase comparator; 60-a controller; 70-switch matrix.
Detailed Description
The method for switching between the main clock and the standby clock of the in-orbit navigation satellite provided by the invention is further described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The core idea of the invention is to provide a method for switching between the main clock and the standby clock of the on-orbit navigation satellite, so as to solve the problem that the frequency drift rate of the main clock and the standby clock cannot be transferred when the conventional navigation satellite system is automatically switched to a hot backup atomic clock.
In order to realize the idea, the invention provides a method for switching between main clocks and standby clocks of an on-orbit navigation satellite, which comprises the following steps: firstly, the in-orbit navigation satellite adopts two atomic clocks to simultaneously work by electrifying, wherein one atomic clock is used as a main clock and is in a main working state, the other atomic clock is used as a hot standby clock and is in a hot standby working state; combining with the satellite-ground bidirectional ranging observation data, calculating by using a satellite-ground bidirectional comparison method to obtain a plurality of main clock error parameters; secondly, acquiring clock error parameters of the hot standby clock relative to the main clock through the engineering telemetering data broadcast by the in-orbit navigation satellite; thirdly, calculating to obtain a plurality of hot standby clock error parameters according to the main clock error parameters and the engineering telemetering data by adopting an on-satellite main-standby atomic clock phase comparison method; in the following state of the main clock and the standby clock, the phase and the frequency of the hot standby clock and the phase and the frequency of the main clock are kept equal and synchronously change along with time, so that seamless switching can be realized; after the in-orbit navigation satellite stably operates, the frequency drift rate of the satellite clock error data is a constant, and the hot standby clock error parameter is injected to the in-orbit navigation satellite for storage and standby; and fifthly, when the on-orbit navigation satellite autonomously monitors that the main clock and the hot standby clock are switched, directly and autonomously calls the stored hot standby clock error parameter to replace the main clock error parameter as satellite clock error data, compensates the switched satellite clock error data, and corrects the frequency drift rate of the satellite clock error data.
The clock error model of the on-orbit navigation satellite is delta t ═ a0+a1τ+a2τ2Where Δ t is the clock difference, τ is the time, a0Is a phase, a1Is a frequency, a2Is the frequency drift rate.
At present, in order to ensure the stability and reliability of the operation of the navigation satellite system, the satellite-borne time-frequency processing system of the navigation satellite adopts a redundancy backup architecture design, as shown in fig. 1, a power supply 30 supplies power to the whole system, two atomic clocks are used for powering on and working at the same time, and one atomic clock is in a main working state (main clock/main atom)Clock 10) and the other one is in a hot standby working state (hot standby clock/hot standby atomic clock 20), the main and standby clocks are in a tracking enabling state, the phase and frequency of the hot standby clock 20 are kept following with the main clock 10 (realized by a frequency synthesizer 40 and a controller 60, a phase comparator 50 is used for monitoring clock difference data between the main and standby clocks, the hot standby clock 20 is controlled to follow the main clock 10 jointly by the frequency synthesizer 40 and the controller 60 according to the clock difference data, the phase and frequency parameters of the main and standby clocks are kept the same), and the system output frequency, namely standby clock phase a, is realized by a switch matrix 700 prepareAnd frequency a1 preparePhase a of the main clock0 mainAnd frequency a1 mainRemain equal, but with a clock frequency drift rate a2 prepareFrequency drift rate a of main clock2 mainNot equal. Therefore, when the main clock is abnormal or fails and the operation is automatically switched to the standby clock, only the phase a of the main clock and the standby clock can be realized0And frequency a1Cannot realize the frequency drift rate a of the main and standby clocks2Is transmitted. Due to frequency drift rate a of standby clock2 prepareFrequency drift rate a of main clock2 mainUnequal, frequency drift rate a after switching from master to slave2The jump occurs and the optimal transfer of the satellite clock performance cannot be achieved, as shown in figure 2 (at τ)0The clock is switched from the main clock to the standby clock), when the ground can not timely annotate new clock difference parameters, the clock difference parameter a used by the satellite2 mainAnd the actual clock difference parameter a after switching the standby clock2 prepareThe long-term clock error prediction error increases squarely with integration time.
To realize phase a when switching between on-track and off-track clocks0Frequency a1And a frequency drift rate a2After the navigation satellite atomic clock stably runs, the clock error parameter (a) of the standby clock relative to the main clock is obtained through the engineering telemetering data 'the phase difference between the standby clock and the main clock' broadcast under the in-orbit navigation satellite0 prepare-a0 main)、(a1 prepare-a1 main) And (a)2 prepare-a2 main). The main clock error parameter a can be calculated by combining L-band satellite-ground bidirectional distance measurement observation data and utilizing a satellite-ground bidirectional comparison method0 main、a1 mainAnd a2 mainThen the ratio of main atomic clock and standby atomic clock on the satellite is adoptedThe clock error parameter a can be obtained by phase method0 prepare、a1 prepare、a2 prepare. The phase a of the standby clock is in the following state0 prepareAnd frequency a1 preparePhase a of the main clock0 mainAnd frequency a1 mainKeeping equal and synchronously changing along with time, seamless switching can be realized, and the frequency drift rate of the satellite atomic clock is basically a constant after stable operation, so that only the calculated clock difference parameter a of the standby clock is obtained2 prepareAnd the data is injected to the satellite for storage and standby. When the satellite autonomously monitors the switching of the main clock and the standby clock, the stored standby clock difference parameter a is directly and autonomously called2 prepareReplacing the clock error parameter a of the original main clock2 mainAnd compensating the switched satellite clock error data, correcting the frequency drift rate, and realizing the optimal performance transfer when the main and standby clocks of the satellite are switched.
< example one >
The present embodiment provides a method for switching between main and standby clocks of an in-orbit navigation satellite, as shown in fig. 3, the method for switching between main and standby clocks of an in-orbit navigation satellite includes: firstly, the on-orbit navigation satellite adopts two atomic clocks to simultaneously power up for work, wherein one atomic clock is used as a main clock 10, the main clock 10 is in a main working state, the other atomic clock is used as a hot standby clock 20, and the hot standby clock 20 is in a hot standby working state; combining with the satellite-ground bidirectional distance measurement observation data, calculating by using a satellite-ground bidirectional comparison method to obtain a plurality of main clock error parameters a0 main、a1 mainAnd a2 main(ii) a Secondly, acquiring clock error parameters (a) of the hot standby clock relative to the main clock through the engineering telemetering data broadcast by the in-orbit navigation satellite0 prepare-a0 main)、(a1 prepare-a1 main) And (a)2 prepare-a2 main) (ii) a Thirdly, calculating and obtaining a plurality of hot standby clock error parameters a according to the main clock error parameters and the engineering telemetering data by adopting an on-satellite main/standby atomic clock phase comparison method0 prepare、a1 prepareAnd a2 prepare(ii) a Fourthly, in the following state of the main clock and the standby clock, the phase and the frequency a of the hot standby clock0 prepareAnd a1 preparePhase and frequency a of said main clock0 mainAnd a1 mainRemain equal and change synchronously with timeSeamless switching can be realized; after the on-orbit navigation satellite stably operates, the frequency drift rate of the satellite clock error data is a constant, and the hot standby clock error parameter a is used2 prepareThe upper note is stored to the on-orbit navigation satellite for standby; step five, when the on-orbit navigation satellite autonomously monitors that the main clock and the hot standby clock are switched, the stored clock error parameter a of the hot standby clock is directly and autonomously called2 prepareReplacing said master clock difference parameter a2 mainAnd as satellite clock error data, compensating the switched satellite clock error data, and correcting the frequency drift rate of the satellite clock error data.
Specifically, in the method for switching between the main clock and the standby clock of the in-orbit navigation satellite, the downlink signal used for the satellite-to-ground two-way ranging is a satellite signal output after frequency reduction processing by a tuner, and the frequency of the satellite signal is 950MHZ to 2150 MHZ. In the method for switching between the main clock and the standby clock of the in-orbit navigation satellite, combining the satellite-ground bidirectional ranging observation data, and obtaining a plurality of main clock difference parameters by utilizing a satellite-ground bidirectional comparison method comprises the following steps: the method comprises the steps that a ground operation and control system with a ground reference atomic clock as a reference transmits an uplink signal, an uplink ranging link is established with a satellite, the satellite uses a main clock of the satellite-borne atomic clock as a reference, meanwhile, the satellite transmits a downlink signal, a downlink ranging link is established with the ground operation and control system, the satellite measures uplink pseudo range values between satellites and the ground, and the ground operation and control system measures downlink pseudo range values between the satellites and the ground; and the uplink pseudo range value is transmitted back to the ground operation and control system through telemetry, and the ground operation and control system calculates the clock error of the main clock relative to the ground reference atomic clock in the sampling period according to the downlink pseudo range value and the uplink pseudo range value.
Further, in the method for switching between the main clock and the standby clock of the in-orbit navigation satellite, combining the satellite-ground bidirectional ranging observation data, and obtaining a plurality of main clock error parameters by using a satellite-ground bidirectional comparison method, the method further comprises the following steps: the uplink pseudo range value between the satellite and the earth measured by the satellite is the sum of the microwave propagation delay between the satellite and the earth and the clock difference of the main clock relative to the ground reference atomic clock; the ground operation and control system measures a downlink pseudo range value between the satellite and the ground as the difference between the microwave propagation delay between the satellite and the ground and the clock difference of the main clock relative to the ground reference atomic clock; and for the uplink pseudo range value measured in the same sampling period, the satellite-ground microwave propagation delay contained in the uplink pseudo range value is equal to the satellite-ground microwave propagation delay contained in the downlink pseudo range value.
In addition, in the method for switching between the main clock and the standby clock of the in-orbit navigation satellite, acquiring clock error parameters of the hot standby clock relative to the main clock through engineering telemetering data broadcast under the in-orbit navigation satellite comprises the following steps: and the satellite time-frequency processing system measures and records the clock difference of the hot standby clock relative to the main clock in real time. In the method for switching the main clock and the standby clock of the in-orbit navigation satellite, the clock difference of the hot standby clock relative to the main clock, which is measured and recorded in real time by the satellite time-frequency processing system, is the difference between the phase of an output signal of the hot standby clock and the phase of an output signal of the main clock; and measuring the phase difference between the output signal of the hot standby clock and the output signal of the main clock by using a phase discriminator of a satellite-borne time-frequency processing system, wherein the phase difference is the clock difference of the hot standby clock relative to the main clock.
Specifically, in the method for switching between the main clock and the standby clock of the in-orbit navigation satellite, the calculating to obtain a plurality of hot standby clock error parameters according to the main clock error parameters and the engineering telemetering data by adopting an on-satellite main and standby atomic clock ratio method comprises the following steps: and the clock difference of the standby clock relative to the main clock is transmitted back to the ground operation and control system through remote measurement, and the ground operation and control system obtains the clock difference of the standby clock relative to the ground reference atomic clock according to the clock difference of the main clock relative to the ground reference atomic clock and the clock difference of the standby clock relative to the main clock. In the method for switching the primary and standby clocks of the in-orbit navigation satellite, the uplink pseudo range value and the clock difference of the hot standby clock relative to the primary clock are both downloaded to the ground in real time through a satellite-ground measurement and control channel and are collected to the ground operation and control system, and data processing is carried out to obtain the clock difference of the primary clock relative to the ground reference atomic clock and the clock difference of the hot standby clock relative to the ground reference atomic clock.
According to the method for switching the main clock and the standby clock of the in-orbit navigation satellite, a plurality of hot standby clock difference parameters are obtained through calculation according to the main clock difference parameters and engineering telemetering data, the hot standby clock difference parameters are injected to the in-orbit navigation satellite for storage and standby, when the in-orbit navigation satellite autonomously monitors that the main clock and the hot standby clock are switched, the stored hot standby clock difference parameters are directly and autonomously called to replace the main clock difference parameters to serve as satellite clock difference data, the switched satellite clock difference data are compensated, the frequency drift rate of the satellite clock difference data is corrected, and optimal performance transfer of the main clock and the standby clock of the satellite is achieved. Therefore, the invention provides a transfer technology for the optimal performance of the switching between the main clock and the standby clock of the on-orbit navigation satellite, which can realize the optimal transfer of the phase, the frequency and the frequency drift rate when the main clock and the standby clock of the on-orbit are switched, improve the long-term clock error prediction precision by one order of magnitude and improve the autonomous navigation operation capability of the navigation satellite.
In summary, the above embodiments describe in detail different configurations of the method for switching between the main and standby clocks of the in-orbit navigation satellite, and of course, the present invention includes but is not limited to the configurations listed in the above embodiments, and any content that is changed based on the configurations provided by the above embodiments belongs to the protection scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (8)
1. A method for switching between main clocks and standby clocks of an on-orbit navigation satellite is characterized by comprising the following steps:
firstly, the in-orbit navigation satellite adopts two atomic clocks to simultaneously work by electrifying, wherein one atomic clock is used as a main clock and is in a main working state, the other atomic clock is used as a hot standby clock and is in a hot standby working state;
combining with the satellite-ground bidirectional ranging observation data, calculating by using a satellite-ground bidirectional comparison method to obtain a plurality of main clock error parameters;
secondly, acquiring clock error parameters of the hot standby clock relative to the main clock through the engineering telemetering data broadcast by the in-orbit navigation satellite;
thirdly, calculating to obtain a plurality of hot standby clock error parameters according to the main clock error parameters and the engineering telemetering data by adopting an on-satellite main-standby atomic clock phase comparison method;
in the following state of the main clock and the standby clock, the phase and the frequency of the hot standby clock and the phase and the frequency of the main clock are kept equal and synchronously change along with time, so that seamless switching can be realized;
after the in-orbit navigation satellite stably operates, the frequency drift rate of the satellite clock error data is a constant, and the hot standby clock error parameter is injected to the in-orbit navigation satellite for storage and standby;
and fifthly, when the on-orbit navigation satellite autonomously monitors that the main clock and the hot standby clock are switched, directly and autonomously calls the stored hot standby clock error parameter to replace the main clock error parameter as satellite clock error data, compensates the switched satellite clock error data, and corrects the frequency drift rate of the satellite clock error data.
2. The method for switching between master and slave clocks of an in-orbit navigation satellite according to claim 1, wherein the downlink signal used for the satellite-to-ground two-way ranging is a satellite signal output after being subjected to frequency reduction processing by a tuner, and the frequency of the downlink signal is 950MHZ to 2150 MHZ.
3. The method for switching between master and slave clocks of an on-orbit navigation satellite according to claim 2, wherein the step of calculating a plurality of master clock error parameters by using a satellite-to-ground bidirectional comparison method in combination with satellite-to-ground bidirectional ranging observation data comprises the steps of:
the method comprises the steps that a ground operation and control system with a ground reference atomic clock as a reference transmits an uplink signal, an uplink ranging link is established with a satellite, the satellite uses a main clock of the satellite-borne atomic clock as a reference, meanwhile, the satellite transmits a downlink signal, a downlink ranging link is established with the ground operation and control system, the satellite measures uplink pseudo range values between satellites and the ground, and the ground operation and control system measures downlink pseudo range values between the satellites and the ground;
and the uplink pseudo range value is transmitted back to the ground operation and control system through telemetry, and the ground operation and control system calculates the clock error of the main clock relative to the ground reference atomic clock in the sampling period according to the downlink pseudo range value and the uplink pseudo range value.
4. The method for switching between master and slave clocks of an in-orbit navigation satellite according to claim 3, wherein the step of calculating a plurality of master clock error parameters by using a satellite-to-ground bidirectional comparison method in combination with satellite-to-ground bidirectional ranging observation data further comprises the steps of:
the uplink pseudo range value between the satellite and the earth measured by the satellite is the sum of the microwave propagation delay between the satellite and the earth and the clock difference of the main clock relative to the ground reference atomic clock;
the ground operation and control system measures a downlink pseudo range value between the satellite and the ground as the difference between the microwave propagation delay between the satellite and the ground and the clock difference of the main clock relative to the ground reference atomic clock;
and for the uplink pseudo range value measured in the same sampling period, the satellite-ground microwave propagation delay contained in the uplink pseudo range value is equal to the satellite-ground microwave propagation delay contained in the downlink pseudo range value.
5. The method for switching between the main clock and the standby clock of the in-orbit navigation satellite according to claim 4, wherein the step of obtaining the clock error parameter of the hot standby clock relative to the main clock through the engineering telemetry data broadcast by the in-orbit navigation satellite comprises the following steps:
and the satellite time-frequency processing system measures and records the clock difference of the hot standby clock relative to the main clock in real time.
6. The method according to claim 5, wherein the clock difference of the hot standby clock relative to the main clock, which is measured and recorded in real time by the satellite time-frequency processing system, is the difference between the phase of the output signal of the hot standby clock and the phase of the output signal of the main clock;
and measuring the phase difference between the output signal of the hot standby clock and the output signal of the main clock by using a phase discriminator of a satellite-borne time-frequency processing system, wherein the phase difference is the clock difference of the hot standby clock relative to the main clock.
7. The method for switching between master and slave clocks of an in-orbit navigation satellite according to claim 6, wherein the step of calculating a plurality of hot slave clock error parameters according to the master clock error parameters and the engineering telemetry data by using an on-board master and slave atomic clock ratio method comprises:
and the clock difference of the standby clock relative to the main clock is transmitted back to the ground operation and control system through remote measurement, and the ground operation and control system obtains the clock difference of the standby clock relative to the ground reference atomic clock according to the clock difference of the main clock relative to the ground reference atomic clock and the clock difference of the standby clock relative to the main clock.
8. The method for switching between master and slave clocks of an in-orbit navigation satellite according to claim 7, wherein the uplink pseudorange value and the clock difference between the hot standby clock and the master clock are both downloaded to the ground in real time through a satellite-to-ground measurement and control channel and are collected to the ground operation and control system, and data processing is performed to obtain the clock difference between the master clock and the ground reference atomic clock and the clock difference between the hot standby clock and the ground reference atomic clock.
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