CN113608428A - Method for realizing synchronization of multi-satellite inter-satellite pulse per second and clock - Google Patents
Method for realizing synchronization of multi-satellite inter-satellite pulse per second and clock Download PDFInfo
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- G04—HOROLOGY
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- 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
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses a method for realizing the synchronization of a multi-satellite inter-satellite second pulse and a clock, which is used for providing a synchronous second pulse and a synchronous clock for distributed detection of satellite formation, wherein a master-slave networking mode is adopted among satellites, the satellite inter-satellite multi-satellite synchronization method comprises a main satellite and a plurality of sub-satellites, and the method is realized based on a constant-temperature crystal oscillator and a DAC (digital-to-analog converter) deployed in each satellite; the method comprises the following steps: based on a bidirectional one-way pseudo range principle, the time difference between the main satellite and each subsatellite is obtained through subsatellite measurement and calculation; each subsatellite is used for carrying out frequency modulation and phase modulation on the constant-temperature crystal oscillator of the subsatellite through a DAC (digital-to-analog converter), so that the constant-temperature crystal oscillator of the subsatellite and the constant-temperature crystal oscillator of the main satellite are in the same frequency and direction; based on the time difference between the main satellite and each sub-satellite, each sub-satellite generates an initial phase, so that the second pulse of the sub-satellite is aligned with the second pulse of the main satellite; according to the phase relation between the inter-satellite communication working frequency and the constant-temperature crystal oscillator frequency, the main satellite and each subsatellite carry out phase compensation on the second pulse, so that the second pulse of each subsatellite is synchronously aligned with the clock of the main satellite, and the phase is fixed.
Description
Technical Field
The invention relates to the technical field of aviation and aerospace communication and measurement, in particular to a method for realizing multi-satellite inter-satellite pulse per second and clock synchronization.
Background
The distributed detection of the flying of the formation of the satellite is a new research field which is started in recent years and generally concerned by the domestic and foreign aviation universes, and the synchronization of the pulse per second and the clock among multiple stars is an important basis for realizing the distributed detection function, and is a key technology and a research hotspot.
The active radio measurement technology is mainly that a measurement device actively transmits and receives radio frequency signals and measures according to the one-way or two-way time delay characteristics of the radio signals. Active inter-satellite radio measurements are mainly suitable for baseline measurements in the range of a few kilometers to a hundred kilometers. The inter-satellite link adopts a DOWR (Dual One Way Ranging) system to perform bidirectional Ranging, and the distance and the time difference of two satellites can be obtained simultaneously through calculation.
The principle of the DOWR ranging system is shown in fig. 1: two satellites that are time-aligned transmit time stamps to each other at the same timing, and the time stamps are pulsed for the purpose of clearly expressing the principle. A transmission timing signal of the satellite 1 with a time stamp of the transmission time, the time interval measured from the transmission time of the timing signal to the reception of the timing signal from the satellite 1 by the satellite 2 being T1Since the satellite 2 does not know the time difference between the two satellites, this time interval is referred to as a pseudo-time interval, or pseudorange, which contains the time difference Δ t between the two satellites. Similarly, the reverse time interval is T2。tt1，tr1，tt2，tr2The time delays of the transmitting and receiving devices respectively corresponding to the two satellites and the signal propagation time delay between the antennas are tau, so that the following measurement formula can be obtained:
T1＝tt1+τ+tr2+Δt (1)
T2＝tt2+τ+tr1-Δt (2)
separating the two measurement formulas, the equation can be solved to obtain the clock difference and the distance between the two stars:
in the DOWR system, equations (1) (2) are referred to as measurement equations, and equations (3) (4) are referred to as separation equations.
The time delay unknowns, t, of the four transmitting and receiving devices in the above equationt1，tr1，tt2，tr2The time difference and the distance between two stars can be obtained through final calculation by calibrating through a ground calibration method.
At present, distance measurement design based on bidirectional one-way pseudorange exists at home and abroad, and the problem that the inter-satellite second pulse and clock synchronization phase are not fixed exists.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for realizing synchronization of the intersatellite pulse-per-second and the clock.
In order to achieve the purpose, the invention provides a method for realizing the synchronization of the pulses per second and the clock among the satellites, which is used for providing the synchronous pulses per second and the synchronous clock for the distributed detection of the formation of the satellites, wherein the satellites adopt a master-slave networking mode and comprise a main satellite and a plurality of sub-satellites and the method is realized on the basis of a constant-temperature crystal oscillator and a DA conversion chip which are deployed in each satellite; the method comprises the following steps:
based on a bidirectional one-way pseudo range principle, the time difference between the main satellite and each subsatellite is obtained through subsatellite measurement and calculation;
each subsatellite is used for carrying out frequency modulation and phase modulation on the constant-temperature crystal oscillator of the subsatellite through a DA conversion chip, so that the constant-temperature crystal oscillator of the subsatellite and the constant-temperature crystal oscillator of the main satellite are in the same frequency and the same direction;
based on the time difference between the main satellite and each sub-satellite, each sub-satellite generates an initial phase, so that the second pulse of the sub-satellite is aligned with the second pulse of the main satellite;
according to the phase relation between the inter-satellite communication working frequency and the constant-temperature crystal oscillator frequency, the main satellite and each subsatellite carry out phase compensation on the second pulse, so that the second pulse of each subsatellite is synchronously aligned with the clock of the main satellite, and the phase is fixed.
As an improvement of the method, before the step of obtaining the time difference between the main satellite and each sub satellite by measuring and calculating the sub satellites based on the bidirectional one-way pseudo range principle, the method further comprises the step of presetting the initial voltage value of the constant temperature crystal oscillator through the DA conversion chip of each sub satellite, so that the frequencies of the constant temperature crystal oscillators of the main satellite and the sub satellites after being electrified are kept consistent as much as possible, and the time for frequency modulation and phase modulation is reduced.
As an improvement of the above method, each of the subsategories performs initial phase generation based on the time difference between the main satellite and each of the subsategories, so that the second pulse of the local subsategorie is aligned with the second pulse of the main satellite; the method specifically comprises the following steps:
based on the time difference between the main satellite and each sub-satellite, each sub-satellite converts the corresponding time difference into a frame count, a bit count and a phase count, and adds the frame count, the bit count and the phase count to the frame count, the bit count and the phase count of the sub-satellite, and the corresponding count of the main satellite is kept unchanged, so that the second pulse of each sub-satellite is aligned with the second pulse of the main satellite.
As an improvement of the above method, according to the phase relationship between the inter-satellite communication operating frequency and the constant temperature crystal oscillator frequency, the main satellite and each subsatellite perform phase compensation on the pulse per second, so that the pulse per second of each subsatellite is synchronously aligned with the clock of the main satellite, and the phase is fixed; the method specifically comprises the following steps:
sampling the constant-temperature crystal oscillator frequency division by the inter-satellite communication working frequency, wherein the constant-temperature crystal oscillator frequency is f0, the inter-satellite communication working frequency fs is N times of the constant-temperature crystal oscillator frequency division f _ com, the phase relation of fs and f _ com is X, and X is an integer which satisfies the condition that (N-1) is more than or equal to X and more than or equal to 0;
the main star carries out phase compensation on the second pulse, the compensation quantity Y is equal to X, and the compensation quantity Z of the sub-star to the phase is equal to N M- (N0+ X), wherein N0 is the initial phase of the sub-star when the initial phase is generated; m is the smallest integer that results in Z > 0.
As an improvement of the above method, the method further comprises: each satellite needs to send the local phase compensation amount to the opposite satellite through an inter-satellite link, and the phase compensation amount is added into the time difference when the phase tracking is carried out.
As an improvement of the above method, the main satellite and each sub-satellite include a forward link and a reverse link, wherein the forward link is used for the main satellite to send the inter-satellite data packets to the sub-satellites in a broadcasting manner, and the reverse link is used for the sub-satellites to send the inter-satellite data packets to the main satellite in a point-to-point manner; the forward link and reverse link communication rates are not identical.
As an improvement of the above method, the inter-satellite data packet of the reverse link includes subsatellite frequency adjustment completion information; the forward link inter-satellite data packet comprises: a second pulse output enable signal; and after receiving the frequency adjustment completion information of each subsatellite, the main satellite uniformly sends a pulse per second output enabling signal to each subsatellite through the forward link, so that the main satellite and each subsatellite simultaneously output pulse per second.
As an improvement of the method, a frequency division multiplexing communication mode is adopted between the main satellite and the plurality of sub-satellites, and the inter-satellite communication ranging and clock synchronization of the plurality of satellites are realized simultaneously.
As an improvement of the method, the second pulse and the clock synchronization comprise two steps, firstly, the phase compensation is not carried out, and the second pulses of multiple stars are aligned; then, the phase compensation quantity is added to achieve the aim that the pulse per second and the synchronous clock are simultaneously aligned.
Compared with the prior art, the invention has the advantages that:
1. the method for realizing the synchronization of the pulse per second and the clock among the multiple stars has the advantages of clear principle, simple realization and good expansibility;
2. the method for realizing the multi-satellite inter-satellite pulse per second and clock synchronization can realize communication, distance measurement and clock synchronization on one wireless link, can simultaneously realize the multi-satellite inter-satellite communication distance measurement and clock synchronization by adopting a frequency division multiplexing method, and has the advantages of simple realization and low cost.
Drawings
FIG. 1 is a two-way one-way pseudorange DOWR inter-satellite range timing principle;
FIG. 2 is a schematic diagram of a multi-satellite inter-satellite pulse-per-second and clock synchronization implementation of the present invention;
FIG. 3 is a block diagram of a clock synchronization hardware implementation of the method for implementing the inter-satellite pulse-per-second and clock synchronization of multiple satellites according to the present invention;
FIG. 4 is a flow chart of a method for implementing the second pulse and clock synchronization between multiple stars according to the present invention;
FIG. 5 is a schematic diagram showing the phase relationship between the communication working clock and the constant temperature crystal oscillator clock in the implementation method of the multi-satellite inter-satellite second pulse and clock synchronization of the present invention;
fig. 6 is a schematic diagram of the phase compensation principle in the implementation method of the multi-satellite inter-satellite pulse-per-second and clock synchronization of the present invention.
Detailed Description
The invention discloses a method for realizing synchronization of multi-satellite inter-satellite second pulse and clock, which provides synchronous second pulse and synchronous clock for distributed detection of satellite formation flight, wherein the time synchronization precision among satellites can reach within 3.3ns, and the method is particularly suitable for high-orbit and deep space orbits without GPS coverage. A method for realizing the synchronization of the second pulse and the clock between the multi-satellite is basically characterized in that a main satellite and a sub-satellite are both provided with a pressure-controlled constant-temperature crystal oscillator, the time difference between the two satellites is firstly measured, and then the constant-temperature crystal oscillator of the sub-satellite is adjusted to have the same frequency and the same direction as the constant-temperature crystal oscillator of the main satellite through frequency modulation and phase modulation; each subsatellite is aligned with the main star, so that the pulse per second and the clock synchronization among the multiple stars are realized.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and examples.
Example 1
The invention provides a method for realizing synchronization of multi-satellite inter-satellite second pulse and clock, which provides synchronous second pulse and synchronous clock for distributed detection of formation flight of satellites, and fig. 2 is a schematic diagram for realizing synchronization of multi-satellite inter-satellite second pulse and clock. The method specifically comprises the following steps:
1) the method comprises the steps that a main satellite and a sub-satellite are both provided with a pressure-controlled constant-temperature crystal oscillator, the time difference of the two satellites is measured based on a two-way one-way pseudo range principle, the constant-temperature crystal oscillator of the sub-satellite is subjected to frequency modulation and phase modulation through a digital-to-analog (DA) conversion chip (DAC), and the sub-satellite constant-temperature crystal oscillator is adjusted to be in the same frequency and direction as the main satellite; after the initial phase is generated, each subsatellite Pulse Per Second (PPS for short) is aligned with the main satellite;
2) the inter-satellite communication working frequency of the main satellite and the sub-satellite is obtained by the constant-temperature crystal oscillator frequency through a phase-locked loop (PLL) of the FPGA, and the output second pulse is compensated according to the phase relation between the inter-satellite communication working frequency and the constant-temperature crystal oscillator frequency, so that the PPS and the synchronous clock of each sub-satellite are aligned, and the phase is fixed.
3) Asymmetric forward links (main satellite to sub-satellite wireless links) and reverse links (sub-satellite to main satellite wireless links) are supported, i.e., the forward link and reverse link communication rates are not uniform.
The method for realizing the multi-satellite inter-satellite second pulse and clock synchronization in the invention is further explained below.
As shown in fig. 3, it is a clock synchronization hardware implementation block diagram of the implementation method of multi-satellite communication ranging of the present invention: the main satellite and the sub-satellite are both provided with a voltage-controlled constant-temperature crystal oscillator, the voltage-controlled adjusting ends of the voltage-controlled constant-temperature crystal oscillators of the main satellite and the sub-satellite are preset with an initial voltage value through the DA conversion chip, so that the frequencies of the electrified main satellite and the electrified sub-satellite are consistent as much as possible, and the time for subsequent frequency modulation and phase modulation can be reduced.
As shown in fig. 4, for the implementation process of the method for implementing multi-satellite communication ranging according to the present invention, first, a time difference between two satellites is measured based on a two-way one-way pseudorange principle, and then a DA conversion chip is used to perform frequency adjustment on a constant temperature crystal oscillator of a sub-satellite until Δ t is smaller than a set threshold; the initial phase generation is to measure the time difference of two stars based on the bidirectional one-way pseudo range principle, convert the time difference into frame, bit and phase counts, add the frame, bit and phase counts of the subsatellite to the frame, bit and phase counts of the subsatellite, and the primary satellite is unchanged, so that the second pulse alignment among multiple stars can be achieved; and then compensating the output pulse per second according to the phase relation between the inter-satellite communication working frequency and the constant-temperature crystal oscillator frequency to achieve the alignment of the PPS and the synchronous clock of each subsatellite and fix the phase. And finally, entering a phase tracking process. The inter-satellite data packet transmitted between the main satellite and the sub-satellite comprises sub-satellite frequency adjustment completion information and second pulse output information initiated by the main satellite in a unified manner. After receiving the information of the frequency adjustment of each subsatellite, the main satellite uniformly sends a pulse per second enabling signal to each subsatellite through inter-satellite communication, so that the main satellite and each subsatellite simultaneously output pulse per second.
Fig. 5 is a schematic diagram of a phase relationship between a communication working clock and a constant temperature crystal oscillator clock in the implementation method of multi-satellite inter-satellite pulse-to-second and clock synchronization according to the present invention. The working frequency of the communication between the main satellite and the sub satellite is obtained by the constant temperature crystal oscillator frequency through PLL of FPGA. The communication working clock is 120MHz, the constant temperature crystal oscillator is 80MHz, the common multiple of the clock and the constant temperature crystal oscillator is 240MHz, and then the 120MHz and the 80MHz have three phase relations. The second pulse is generated by a communication clock, and even if the second pulse is aligned, the synchronous clock of 80MHz has 3 phase relations with the second pulse; clocks of multi-star constant temperature crystal oscillators cannot be synchronized.
Fig. 6 is a schematic diagram illustrating a phase compensation principle in the implementation method of the multi-satellite inter-satellite pulse-per-second and clock synchronization according to the present invention. The working frequency of the inter-satellite communication is set as a multiple of the two frequency division of the constant-temperature crystal oscillator;
the phase relation between the inter-satellite communication working frequency and the constant-temperature crystal oscillator frequency can sample the two frequency divisions of the constant-temperature crystal oscillator through the inter-satellite communication working frequency, and the phase compensation quantity is determined according to the sampling result.
The phase compensation amount is determined as follows: the constant-temperature crystal oscillator frequency is f0, the frequency after frequency halving is f _ com ═ f0/2, the communication working frequency is fs ═ N × f _ com (N is an integer), the phase relation between fs and f _ com is X, wherein (N-1) is more than or equal to the integer of X being more than or equal to 0; the initial phase of the subsatellite is N0 when the initial phase is generated; the compensation quantity Y of the main star is X, and the compensation quantity Z of the sub star is N M- (N0+ X), wherein M is the minimum integer which ensures that Z is greater than 0.
Taking fig. 6 as an example, the frequency of the constant temperature crystal oscillator is 80MHz, the frequency of the constant temperature crystal oscillator is 40MHz for two divisions, and the communication working clock is 120 MHz; if the constant temperature crystal oscillator frequency and the communication working clock of each satellite are respectively aligned with 40MHz, the second pulse is aligned with 40MHz, and the second pulse is aligned when being generated through the initial phase, the constant temperature crystal oscillator frequency and the second pulse among multiple satellites can be completely synchronized. Specifically, in this example, the communication operating frequency is 120MHz, the 40MHz signal is sampled, and there are two possibilities for the 40MHz signal, so there are several possibilities for the value taken by the communication operating frequency, as shown in fig. 6, if the sampling value is 110 or 001 for three cycles, it indicates that compensation is not needed, and the two possibilities are directly aligned; if the sampling value is 101 or 010, the alignment is carried out after 2 120MHz periods are compensated.
When the multi-satellite inter-satellite second pulse and clock synchronization are realized, debugging is divided into two steps, firstly, phase compensation is not carried out, and the multi-satellite second pulses are aligned; then, the phase compensation quantity is added to achieve the alignment of the pulse per second and the synchronous clock.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A method for realizing the synchronization of the pulse per second and the clock among the satellites is used for providing the synchronous pulse per second and the synchronous clock for the distributed detection of the formation of the satellites, the satellites adopt a master-slave networking mode and comprise a main satellite and a plurality of sub-satellites, and the method is realized based on a constant-temperature crystal oscillator and a DA conversion chip which are deployed in each satellite; the method comprises the following steps:
based on a bidirectional one-way pseudo range principle, the time difference between the main satellite and each subsatellite is obtained through subsatellite measurement and calculation;
each subsatellite is used for carrying out frequency modulation and phase modulation on the constant-temperature crystal oscillator of the subsatellite through a DA conversion chip, so that the constant-temperature crystal oscillator of the subsatellite and the constant-temperature crystal oscillator of the main satellite are in the same frequency and the same direction;
based on the time difference between the main satellite and each sub-satellite, each sub-satellite generates an initial phase, so that the second pulse of the sub-satellite is aligned with the second pulse of the main satellite;
according to the phase relation between the inter-satellite communication working frequency and the constant-temperature crystal oscillator frequency, the main satellite and each subsatellite carry out phase compensation on the second pulse, so that the second pulse of each subsatellite is synchronously aligned with the clock of the main satellite, and the phase is fixed.
2. The method for implementing the inter-satellite pulse-per-second and clock synchronization of the multi-satellite according to claim 1, wherein before the step of measuring and calculating the time difference between the main satellite and each sub-satellite by the sub-satellite based on the two-way one-way pseudo range principle, the method further comprises presetting an initial voltage value of the constant temperature crystal oscillator through a DA conversion chip of each sub-satellite, so that the frequencies of the constant temperature crystal oscillators of the main satellite and the sub-satellite after being powered on are kept consistent as much as possible, thereby reducing the time for frequency modulation and phase modulation.
3. The method of claim 1, wherein each subsatellite performs an initial phase generation based on the time difference between the main satellite and each subsatellite, so that the second pulse of the subsatellite is aligned with the second pulse of the main satellite; the method specifically comprises the following steps:
based on the time difference between the main satellite and each sub-satellite, each sub-satellite converts the corresponding time difference into a frame count, a bit count and a phase count, and adds the frame count, the bit count and the phase count to the frame count, the bit count and the phase count of the sub-satellite, and the corresponding count of the main satellite is kept unchanged, so that the second pulse of each sub-satellite is aligned with the second pulse of the main satellite.
4. The method for realizing the synchronization of the pulses per second and the clocks between the multiple satellites according to the claim 1, wherein the main satellite and each of the subsategories perform phase compensation on the pulses per second according to the phase relation between the working frequency of the inter-satellite communication and the frequency of the constant temperature crystal oscillator, so that the pulses per second of each of the subsategories are aligned with the clocks of the main satellite synchronously and have fixed phases; the method specifically comprises the following steps:
sampling the constant-temperature crystal oscillator frequency division by the inter-satellite communication working frequency, wherein the constant-temperature crystal oscillator frequency is f0, the inter-satellite communication working frequency fs is N times of the constant-temperature crystal oscillator frequency division f _ com, the phase relation of fs and f _ com is X, and X is an integer which satisfies the condition that (N-1) is more than or equal to X and more than or equal to 0;
the main star carries out phase compensation on the second pulse, the compensation quantity Y is equal to X, and the compensation quantity Z of the sub-star to the phase is equal to N M- (N0+ X), wherein N0 is the initial phase of the sub-star when the initial phase is generated; m is the smallest integer that results in Z > 0.
5. The method of claim 1, further comprising: each satellite needs to send the local phase compensation amount to the opposite satellite through an inter-satellite link, and the phase compensation amount is added into the time difference when the phase tracking is carried out.
6. The method of claim 1, wherein the master satellite and each of the subsategories comprise a forward link and a reverse link, wherein the forward link is used for the master satellite to send the inter-satellite data packets to the subsategories in a broadcast manner, and the reverse link is used for the subsategories to send the inter-satellite data packets to the master satellite in a point-to-point manner; the forward link and reverse link communication rates are not identical.
7. The method of claim 6, wherein the inter-satellite data packet of the reverse link includes subsatellite frequency adjustment completion information; the forward link inter-satellite data packet comprises: a second pulse output enable signal; and after receiving the frequency adjustment completion information of each subsatellite, the main satellite uniformly sends a pulse per second output enabling signal to each subsatellite through the forward link, so that the main satellite and each subsatellite simultaneously output pulse per second.
8. The method of claim 1, wherein the primary satellite and the plurality of secondary satellites simultaneously implement inter-satellite communication ranging and clock synchronization by using frequency division multiplexing communication.
9. The method for realizing the intersatellite pulse-per-second and clock synchronization of the multi-satellite system according to claim 1, wherein the pulse-per-second and clock synchronization comprises two steps, firstly, the phase compensation is not carried out, and the multi-satellite pulse-per-second is aligned; then, the phase compensation quantity is added to achieve the aim that the pulse per second and the synchronous clock are simultaneously aligned.
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| 武欣: "基于GPS的宽频带地震仪时间同步系统设计", 《基于GPS的宽频带地震仪时间同步系统设计》 * |
| 赵建强: "分布式系统高精度时间同步技术研究", 《分布式系统高精度时间同步技术研究》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114006377A (en) * | 2021-11-08 | 2022-02-01 | 北京四方继保自动化股份有限公司 | Method for realizing synchronous control of multiple power electronic devices by adopting PPS (pulse-width modulation) signals |
| CN114422008A (en) * | 2021-12-15 | 2022-04-29 | 中国人民解放军军事科学院国防科技创新研究院 | Multi-satellite cooperative ground-to-ground communication system and communication method |
| CN114422008B (en) * | 2021-12-15 | 2023-10-13 | 中国人民解放军军事科学院国防科技创新研究院 | Multi-star cooperative ground communication system and communication method |
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| CN113608428B (en) | 2022-07-12 |
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