CN112286038A - Common-view time synchronization method and device for Beidou satellite navigation - Google Patents
Common-view time synchronization method and device for Beidou satellite navigation Download PDFInfo
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- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
Abstract
The invention discloses a common-view time synchronization method and a common-view time synchronization device for Beidou satellite navigation, which comprises the steps of respectively acquiring original observation data of a same time signal aiming at equipment to be positioned and broadcasted by the Beidou satellite navigation from at least two observation stations positioned at different places, and calculating the time of a reference station and the observation clock error observation data of each satellite; the Beidou satellite adopts the same signal as a common-view reference source, all remote reference stations perform real-time difference comparison in a Beidou common-view mode and the common-view reference source while performing RTK observation, and the comparison result is used for correcting the internal clock output and keeping synchronization with the reference source. The invention effectively utilizes the advantage of the existing high-precision satellite observation capability of the reference station receiver, performs the adaptive transformation of the Beidou common-view function on the basis of not influencing the RTK differential positioning, and outputs the standard time signal synchronous with the reference time of the data processing center.
Description
Technical Field
The invention belongs to the field of satellite navigation application, and particularly relates to a common-view time synchronization method and a common-view time synchronization device for Beidou satellite navigation.
Background
The Beidou satellite navigation system is a satellite navigation system which is autonomously built and independently operated in view of the development requirements of national security and economic society in China, and is a national important space infrastructure for providing all-weather, all-time and high-precision positioning, time service and navigation services for global users. After the Beidou system is built, China becomes one of four core suppliers of global satellite navigation systems.
At present, the Beidou second satellite navigation system is widely applied to various domestic industry fields, particularly high-precision positioning, lane navigation, unmanned driving, fine agriculture, homeland resource management, urban planning, water conservancy improvement, traffic management and the like. The 'electric Beidou accurate service network' for national power grid planning and construction aims at realizing real-time meter-level, decimeter-level and centimeter-level positioning and nanosecond-level time service in the national range, providing high-precision position and time service for national grid operation and inspection, infrastructure construction, marketing and other services, and ensuring the construction of an intelligent power grid.
The traditional satellite time service precision is about 30 ns-50 ns, and the precision is low. The precision of emerging technologies such as optical fiber time service and the like is high and reaches ns magnitude, but the requirements of wide-area and large-range layout cannot be met. Therefore, a common-view time synchronization method and a common-view time synchronization device for Beidou satellite navigation are needed.
Disclosure of Invention
The invention is applied to a beam line station of a fourth generation synchrotron radiation device, and provides a common-view time synchronization method and a common-view time synchronization device for Beidou satellite navigation to achieve the aim of the invention.
The invention comprises the following steps:
and A, respectively acquiring original observation data of the same time signal aiming at the equipment to be positioned, which is broadcasted by the Beidou satellite navigation, of at least two observation stations positioned at different places, and calculating the time of a reference station and the observation clock error observation data of each satellite.
B, the observation clock error observation data simultaneously receive the same time signal transmitted by the central station and forwarded by the satellite through the Beidou satellite common-view equipment in different places, and the pseudo range/time difference between the local clock signal and the satellite time scale signal is measured to obtain first correction time;
and C, the Beidou satellite adopts the same signal as a common-view reference source, all the different-place reference stations perform real-time difference comparison in a Beidou common-view mode and the common-view reference source while performing RTK observation, and the comparison result is utilized to correct the internal clock output to keep synchronization with the reference source.
And D, the data processing center obtains the clock error correction number of each reference station and the power grid time UTC (SGCC), then the clock error correction number is fed back to each reference station, and after the internal clock of the first correction time is corrected for the second time by each reference station, a standard time signal is output to the observation station, so that accurate synchronization is realized.
A common-view time synchronizer for Beidou satellite navigation comprises a choke coil antenna, a high-precision satellite receiver, a control main board, a communication module and a power module, and is characterized by further comprising a satellite common-view processing module, a data processing center and a time-frequency output module, wherein the satellite common-view processing module is in wireless communication connection with the data processing center through the control main board, and a data output end of the data processing center is connected with a data input end of the time-frequency output module through the control main board;
the common-view processing module calculates and generates common-view format data by receiving satellite original observation messages including observation information such as carrier phase, pseudo code ranging and the like, and forwards the common-view format data to the data processing center through the control main board;
the data processing center returns the processed time difference result to a time frequency signal generating module of the receiver;
the time-frequency signal generating module disciplines the internal crystal oscillator to output and generate synchronous, stable, accurate and continuous standard time signals.
Furthermore, the data processing center adopts a standard satellite common-view receiver as a common-view reference source, and a standard time 1pps signal is simulated by adopting a stable rubidium clock.
A storage medium, characterized in that it has stored thereon a program which, when being executed by a processor, carries out the method.
An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the method.
The invention has the beneficial effects that:
according to the invention, by adopting the technical scheme of combining Beidou difference and common view, the RTK foundation enhancement technical capability of the reference station is met, the precise synchronization of the national network reference station time is realized, the synchronization index is superior to 5ns, then radiation is carried out on each peripheral power system by using a frequency mechanism depending on the standard time reproduced by the reference station, and the realization of high-precision time service of the whole network has a remarkable practical application value.
Drawings
FIG. 1 is a schematic diagram of a Beidou common view method for achieving time synchronization;
FIG. 2 is a time synchronization schematic diagram of each reference station based on Beidou common view;
FIG. 3 is a flow chart of a Beidou-based common view time synchronization service at a reference station;
FIG. 4 is a schematic diagram of a reference station receiver adding a common view time service;
FIG. 5 is a diagram of a clock error observation curve of four Beidou satellites;
FIG. 6 is a connection diagram of four receivers viewing time service test equipment together;
FIG. 7 is a graph of comparison time difference of four receivers in common view;
Detailed Description
The present invention is further illustrated by the following examples, which are intended to be in a manner including, but not limited to, the following examples.
And A, respectively acquiring original observation data of the same time signal aiming at the equipment to be positioned, which is broadcasted by the Beidou satellite navigation, of at least two observation stations positioned at different places, and calculating the time of a reference station and the observation clock error observation data of each satellite.
B, the observation clock error observation data simultaneously receive the same time signal transmitted by the central station and forwarded by the satellite through the Beidou satellite common-view equipment in different places, and the pseudo range/time difference between the local clock signal and the satellite time scale signal is measured to obtain first correction time;
as shown in fig. 1, a Beidou ground central station transmits a time signal to a Beidou satellite at fixed time under the control of a local time reference, the signal is received by a user after being forwarded by the satellite, A, B two observation stations located at different places receive the same time signal transmitted by the central station forwarded by the satellite at the same time in different places by using Beidou satellite common-view equipment, the pseudo range/time difference between a local clock signal and a satellite time scale signal is measured, and the common-view time transmission between every two different places is realized through data processing, various corrections, observation result transmission exchange and reprocessing.
And C, the Beidou satellite adopts the same signal as a common-view reference source, all the different-place reference stations perform real-time difference comparison in a Beidou common-view mode and the common-view reference source while performing RTK observation, and the comparison result is utilized to correct the internal clock output to keep synchronization with the reference source.
In the Beidou common-view process, errors of a plurality of same paths and factors, such as satellite-borne atomic clock errors, satellite position errors, ionosphere and troposphere delay correction and the like, can be eliminated, and the errors are directly subtracted to cancel each other in the common-view calculation, so that the Beidou common-view can realize higher comparison accuracy. The single star co-view can realize the comparison precision better than 10ns, the multi-star co-view can realize the comparison precision better than 5ns, and the short baseline can even reach the comparison precision within 1 ns. Therefore, the Beidou common view comparison method is one of the most extensive means for the remote common view time frequency transmission at present.
And D, the data processing center obtains the clock error correction number of each reference station and the power grid time UTC (SGCC), then the clock error correction number is fed back to each reference station, and after the internal clock of the first correction time is corrected for the second time by each reference station, a standard time signal is output to the observation station, so that accurate synchronization is realized.
The data processing center is accessed with an electric power reference time UTC (SGCC) signal as a common-view reference source, all the different-place reference stations perform real-time difference comparison in a Beidou common-view mode and the common-view reference source while performing RTK observation, and the comparison result is used for correcting internal clock output to keep the internal clock output synchronous with the reference source, so that the time synchronization of the whole network reference stations is realized. As shown in fig. 2, the specific implementation flow is as follows: and each reference station receives the telegraph text transmitted by the Beidou satellite navigation system in real time, and calculates the time of the reference station and the observation clock error of each satellite. As shown in fig. 3, each reference station sends the processed clock offset observation data to the data processing center, the data processing center performs data processing by using the big dipper co-viewing principle to obtain the clock offset correction number (i.e., the deviation between the time of each reference station and the standard time) between each reference station and the power grid time utc (sgcc), and then the clock offset correction number is fed back to each reference station. After the internal clock is corrected, each reference station outputs a standard time signal to realize accurate synchronization with the electric time UTC (SGCC) of the data processing center.
Because the traditional reference station receiver mainly realizes the observation and processing of the Beidou real-time precise difference, the interior of the traditional reference station receiver mainly comprises a choke coil antenna, a high-precision satellite receiver, a control mainboard, a communication module, a power module and the like, the traditional reference station receiver has the output of 1pps time service signals, but the precision is lower, and the traditional reference station receiver does not have independent time keeping capability. In order to meet the requirement that the reference station simultaneously realizes the common-view time synchronization function, the receiver must be redesigned, and a satellite common-view and time-frequency output module is added. The specific design principle is shown in fig. 4.
The upper half part of the figure is the main component of the original reference station receiver, and the lower half part of the figure is expanded by additionally arranging a common-view processing module and a time-frequency signal generating module to realize the expansion of the common-view time service function. The common-view processing module calculates and generates common-view format data by receiving satellite original observation messages including observation information such as carrier phase and pseudo code ranging, and forwards the common-view format data to the data processing center through the control main board. The data processing center returns the processed time difference result to the receiver time-frequency signal generating module, so as to tame the internal crystal oscillator to output and generate synchronous, stable, accurate and continuous standard time signals.
According to the design scheme of the reference station receiver, the reference station receiver is modified, and a time frequency module is added, so that the common-view time service function is achieved. Any receiver is connected with the full-frequency-point satellite antenna for common-view observation, and the time of the current receiver and the clock error condition of each observation satellite can be obtained. FIG. 5 is an observation result of a GEO satellite No. 01-04 Beidou, wherein the green line of the upper half part of the diagram is the time difference between a local clock and the satellite clock, and the red line of the lower half part of the diagram is a corresponding residual error. As can be seen from the figure, the observation clock difference is continuous, and the uncertainty of single measurement is 1-2 ns.
In the embodiment, four receivers are randomly selected from three different types of reference station receivers, a zero baseline method is adopted for the common-view time service test, a standard satellite common-view receiver is adopted as a common-view reference source by the data processing center, and a stable rubidium clock is adopted for simulating a standard time 1pps signal. Then, a time difference measurement is carried out between the standard time 1pps simulated by the rubidium clock actually measured by the multichannel time interval counter and the standard time 1pps output by the four reference station receivers, and the connection and the result of the test equipment are shown in FIGS. 6 and 7.
TABLE 1 comparison time difference result of common-view time service of four receivers
| Equipment/index | Mean value of | Standard deviation of the mean | RMS |
| Receiver A | 0.17ns | 2.28ns | 2.29ns |
| Receiver B | -2.94ns | 2.48ns | 3.85ns |
| Receiver C | -1.52ns | 1.37ns | 2.05ns |
| Receiver D | -1.09ns | 1.48ns | 1.84ns |
From the analysis of the actual test results, the comparison time difference of each receiver is within 5ns under the condition of zero-baseline test, the system design requirements are met, the deviation of one system is slightly large, and further calibration can be performed.
The satellite-based common-view method provided by the invention realizes common-view time synchronization of all reference station receivers of an electric Beidou precise service network, the synchronization precision is superior to 5ns, a specific solution of the reference station receivers is provided and realized, the effectiveness is proved through actual measurement, the system design requirement is met, the advantage that the reference station receivers have high-precision satellite observation capability is effectively utilized, the time difference measurement is carried out by adopting the thought of satellite common-view, the standard time-frequency signal output is realized through a newly-added time-frequency module, and continuous, accurate, stable and reliable service is provided for common-view time frequency synchronization in the whole network range.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A common-view time synchronization method for Beidou satellite navigation is characterized in that,
and A, respectively acquiring original observation data of the same time signal aiming at the equipment to be positioned, which is broadcasted by the Beidou satellite navigation, of at least two observation stations positioned at different places, and calculating the time of a reference station and the observation clock error observation data of each satellite.
B, the observation clock error observation data simultaneously receive the same time signal transmitted by the central station and forwarded by the satellite through the Beidou satellite common-view equipment in different places, and the pseudo range/time difference between the local clock signal and the satellite time scale signal is measured to obtain first correction time;
and C, the Beidou satellite adopts the same signal as a common-view reference source, all the different-place reference stations perform real-time difference comparison in a Beidou common-view mode and the common-view reference source while performing RTK observation, and the comparison result is utilized to correct the internal clock output to keep synchronization with the reference source.
And D, the data processing center obtains the clock error correction number of each reference station and the power grid time UTC (SGCC), then the clock error correction number is fed back to each reference station, and after the internal clock of the first correction time is corrected for the second time by each reference station, a standard time signal is output to the observation station, so that accurate synchronization is realized.
2. A common-view time synchronizer for Beidou satellite navigation comprises a choke coil antenna, a high-precision satellite receiver, a control main board, a communication module and a power module, and is characterized by further comprising a satellite common-view processing module, a data processing center and a time-frequency output module, wherein the satellite common-view processing module is in wireless communication connection with the data processing center through the control main board, and a data output end of the data processing center is connected with a data input end of the time-frequency output module through the control main board;
the common-view processing module calculates and generates common-view format data by receiving satellite original observation messages including observation information such as carrier phase, pseudo code ranging and the like, and forwards the common-view format data to the data processing center through the control main board;
the data processing center returns the processed time difference result to a time frequency signal generating module of the receiver;
the time-frequency signal generating module disciplines the internal crystal oscillator to output and generate synchronous, stable, accurate and continuous standard time signals.
3. The common-view time synchronization device for Beidou satellite navigation according to claim 2, characterized in that: the data processing center adopts a standard satellite common-view receiver as a common-view reference source, and a standard time 1pps signal is simulated by adopting a stable rubidium clock.
4. A storage medium, characterized in that the storage medium has stored thereon a program which, when executed by a processor, performs the method according to any one of claims 1.
5. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the method of claim 1.
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| CN116299618A (en) * | 2023-03-24 | 2023-06-23 | 中国科学院精密测量科学与技术创新研究院 | Carrier phase satellite common view time transfer method based on PPP (point-to-point protocol) calculation parameters |
| CN116299618B (en) * | 2023-03-24 | 2024-03-19 | 中国科学院精密测量科学与技术创新研究院 | Carrier phase satellite common view time transfer method based on PPP (point-to-point protocol) calculation parameters |
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Application publication date: 20210129 |