CN113721445B - Multi-region real-time dynamic time service method and device based on satellite navigation - Google Patents
Multi-region real-time dynamic time service method and device based on satellite navigation Download PDFInfo
- Publication number
- CN113721445B CN113721445B CN202110792158.7A CN202110792158A CN113721445B CN 113721445 B CN113721445 B CN 113721445B CN 202110792158 A CN202110792158 A CN 202110792158A CN 113721445 B CN113721445 B CN 113721445B
- Authority
- CN
- China
- Prior art keywords
- time
- reference station
- observation data
- satellite
- navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- 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
-
- G—PHYSICS
- G04—HOROLOGY
- G04F—TIME-INTERVAL MEASURING
- G04F5/00—Apparatus for producing preselected time intervals for use as timing standards
- G04F5/14—Apparatus for producing preselected time intervals for use as timing standards using atomic clocks
Abstract
The invention discloses a multi-region real-time dynamic time service method and a multi-region real-time dynamic time service device based on satellite navigation, which are applied to a time service system and comprise the following steps: each time reference station reproduces standard time, and sends first observation data obtained by observation to a data center after the navigation satellite is observed in real time; the data center receives the first observation data and sends the first observation data to each user side corresponding to the time reference station; and the user terminal corresponding to the time reference station carries out real-time observation on the navigation satellite to obtain second observation data, and determines the deviation between the local time and the standard time after receiving the broadcast ephemeris of the navigation satellite and the first observation data. Because the invention introduces a plurality of time reference stations, after the standard time is reproduced, the time reference stations can develop RTK time service to the corresponding user terminals, thereby being capable of serving short-distance user terminals around the time reference station, ensuring the time service precision and breaking through the distance limitation of the RTK time service of the standard time.
Description
Technical Field
The invention belongs to the technical field of satellite time service, and particularly relates to a multi-region real-time dynamic time service method and device based on satellite navigation.
Background
The precision time is an important technical basis for guaranteeing normal operation and rapid development of the modern society, and the GNSS (Global Navigation Satellite System) is a common means for realizing high-precision time service and has various advantages of all-time, all-weather, global coverage and the like.
With the popularization and promotion of precision products such as GNSS precision satellite orbits and satellite clock errors, carrier phase time transfer techniques represented by PPP time service (precision Point Positioning) are gradually developed and matured. In the related technology, the PPP time service technology is generally used for realizing time service of national standard time, but the PPP time service is seriously dependent on a real-time satellite orbit and a satellite clock error product, and particularly the reference time of the satellite clock error product is required to be accurately, continuously and seamlessly reduced to the standard time; in addition, the PPP time service solution requires complex system error correction and parameter estimation, and has a high technical threshold and calculation cost for the user side.
In addition, an RTK time service method also exists in the related art. When the distance between the user side and the standard time is close, the user side and the standard time can form single difference between stations based on the code pseudo range and the carrier phase observation value, the deviation between the local time of the user side and the reference time is obtained through calculation, and then the local time is adjusted to realize time service. However, the RTK time service is limited by the distance between the user terminal and the standard time, and the service range is limited.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a multi-region real-time dynamic time service method and device based on satellite navigation. The technical problem to be solved by the invention is realized by the following technical scheme:
in a first aspect, the present invention provides a multi-region real-time dynamic time service method based on satellite navigation, which is applied to a time service system, wherein the time service system comprises: the system comprises a plurality of time reference stations, a plurality of user terminals corresponding to the time reference stations and a data center;
the multi-region real-time dynamic time service method based on satellite navigation comprises the following steps:
each time reference station reproduces standard time, and sends first observation data obtained by observation to the data center after a navigation satellite is observed in real time;
the data center receives the first observation data and sends the first observation data to each user side corresponding to the time reference station;
and after receiving the broadcast ephemeris of the navigation satellite and the first observation data sent by the data center, determining the deviation of the local time of the user and the standard time according to the broadcast ephemeris, the first observation data and the second observation data.
In one embodiment of the present invention, the standard time is the standard time of a time-keeping laboratory participating in UTC calculation in china.
In an embodiment of the invention, the navigation satellite is a beidou three-model global satellite navigation system.
In one embodiment of the invention, the time reference station comprises a communicatively coupled atomic clock and receiver.
In one embodiment of the invention, the receiver is externally connected with the frequency and pulse-per-second time signal output by the atomic clock.
In one embodiment of the present invention, the step of each of the time reference stations reproducing a standard time comprises:
synchronizing the time of the atomic clock to the standard time by utilizing an optical fiber bidirectional time frequency transmission technology;
and the receiver receives the frequency and the pulse time per second signal output by the atomic clock and synchronizes the receiver clock to the standard time according to the frequency and the pulse time signal.
In an embodiment of the present invention, the step of determining a deviation between the local time of the device itself and the standard time according to the broadcast ephemeris, the first observation data, the second observation data, and the standard time includes:
determining a single-difference pseudo-range observation value and a carrier phase observation value of the time reference station and a corresponding user terminal to the navigation satellite according to the broadcast ephemeris, the first observation data and the second observation data;
and performing parameter estimation on the single differential code pseudo-range observed value and the carrier phase observed value by using Kalman filtering to obtain the deviation between the local time of the target user and the standard time.
In one embodiment of the invention, single differential pseudorange observations from the time reference station and the corresponding target user for the navigation satellite are determined as follows:
wherein the content of the first and second substances,
representing single-differenced pseudorange observations for navigation satellite k for the ith time reference station and its corresponding client j,
represents the distance, delta, of the ith time reference station and the corresponding client terminal j to the navigation satellite k i,j (t) represents the relative clock difference between the ith time reference station and its corresponding client terminal j,
and c represents the single difference code pseudo-range measurement noise of the ith time reference station and the corresponding client j to the navigation satellite k, and the vacuum speed of light.
In an embodiment of the present invention, the single-difference carrier-phase observed value of the time reference station and the corresponding user terminal for the navigation satellite is determined according to the following formula:
wherein the content of the first and second substances,
represents the single-difference carrier phase observed value of the ith time reference station and the corresponding user terminal j for the navigation satellite k,
represents the single difference carrier phase measurement noise of the ith time reference station and the corresponding user terminal j to the navigation satellite k,
and the single difference carrier phase ambiguity of the ith time reference station and the corresponding user end j to the navigation satellite k is shown, and the lambda represents the carrier wavelength.
In a second aspect, the present invention provides a multi-region real-time dynamic time service device based on satellite navigation, which is applied to a time service system, wherein the time service system includes: the system comprises a plurality of time reference stations, a plurality of user terminals corresponding to the time reference stations and a data center;
the multi-region real-time dynamic time service device based on satellite navigation comprises:
the sending module is used for enabling each time reference station to reproduce standard time, observing a navigation satellite in real time and sending first observation data obtained by observation to the data center;
the receiving module is used for enabling the data center to receive the first observation data and sending the first observation data to each user side corresponding to the time reference station;
and the determining module is used for enabling a user terminal corresponding to the time reference station to perform real-time observation on the navigation satellite to obtain second observation data, and determining the deviation of the local time of the user terminal from the standard time according to the broadcast ephemeris, the first observation data and the second observation data after receiving the broadcast ephemeris of the navigation satellite and the first observation data sent by the data center.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a multi-region real-time dynamic time service method and a multi-region real-time dynamic time service device based on satellite navigation, which are applied to a time service system, wherein the time service system comprises: the time reference stations are introduced, the distance between each time reference station and standard time is longer, and after the standard time is reproduced, the time reference stations further develop RTK time service to the corresponding user sides, so that short-distance user sides around the time reference stations can be served, the distance limit of RTK time service in the standard time is broken through, and the RTK time service of remote multiple areas is realized while the time service precision is ensured.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a flowchart of a multi-region real-time dynamic time service method based on satellite navigation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a multi-region real-time dynamic time service method based on satellite navigation according to an embodiment of the present invention;
FIG. 3 is another schematic diagram of a multi-region real-time dynamic time service method based on satellite navigation according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating the results of bidirectional time-frequency transfer of optical fibers according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a SE22 short-baseline dual-frequency RTK time service result provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of the XIA6 short baseline dual-frequency RTK timing result provided by the embodiment of the present invention;
FIG. 7 is a schematic diagram of frequency stability of SE22 short baseline dual-frequency RTK time service provided by an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a multi-region real-time dynamic time service device based on satellite navigation according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
Fig. 1 is a flowchart of a multi-region real-time dynamic time service method based on satellite navigation according to an embodiment of the present invention, and fig. 2 is a schematic diagram of a multi-region real-time dynamic time service method based on satellite navigation according to an embodiment of the present invention. Referring to fig. 1-2, an embodiment of the present invention provides a multi-region real-time dynamic time service method based on satellite navigation, which is applied to a time service system, where the time service system includes: the system comprises a plurality of time reference stations, a plurality of user terminals corresponding to the time reference stations and a data center;
the multi-region real-time dynamic time service method based on satellite navigation comprises the following steps:
s1, reproducing standard time by each time reference station, observing a navigation satellite in real time, and sending first observation data obtained by observation to a data center;
s2, the data center receives the first observation data and sends the first observation data to each user side corresponding to the time reference station;
and S3, the user terminal corresponding to the time reference station carries out real-time observation on the navigation satellite to obtain second observation data, and after receiving the broadcast ephemeris of satellite navigation and the first observation data sent by the data center, the user terminal determines the deviation of the local time and the standard time according to the broadcast ephemeris, the first observation data and the second observation data.
In this embodiment, the multi-region real-time dynamic time service method based on satellite navigation is applied to a time service system, and the time service system may include: the system comprises a plurality of time reference stations, a plurality of user terminals corresponding to the time reference stations and a data center. Specifically, each Time reference station realizes reproduction of standard Time by using an optical fiber bidirectional Time frequency transmission technology, and optionally, the standard Time is provided by a Time-keeping laboratory participating in UTC (Coordinated Universal Time) calculation in china. In the step S1, after the standard time recurs at each time reference station, the navigation satellite is observed in real time to obtain first observation data, and the first observation data is sent to the data center. Furthermore, the data center receives first observation data sent by the time reference stations and sends the first observation data to the user side corresponding to each time reference station, so that the user side determines the deviation between the local time and the standard time according to the first observation data, second observation data obtained by observing the navigation satellite in real time by the user side and the broadcast ephemeris, and further time service is realized.
Exemplarily, the navigation satellite in this embodiment is a beidou three-size global satellite navigation system.
It should be understood that, because a plurality of time base stations are introduced into the time service system, the distance between each time base station and the standard time is long, after the standard time is reproduced, the time base stations further develop RTK time service to corresponding user terminals, so that short-distance user terminals around the time base station can be served, the distance limit of the standard time RTK time service is broken through, and the RTK time service of remote multiple zones is realized. In addition, the time reference station in the embodiment reproduces standard time provided by a time-keeping laboratory participating in UTC calculation in China, so that the precision and the accuracy of the multi-region real-time dynamic time service method based on satellite navigation are effectively guaranteed.
In this embodiment, the time reference station includes an atomic clock and a receiver, which are communicatively connected, and optionally, the receiver is externally connected to the frequency and pulse-per-second time signal output by the atomic clock.
Optionally, the step of each time reference station reproducing the standard time includes:
synchronizing the time of an atomic clock to standard time by utilizing an optical fiber bidirectional time frequency transmission technology;
the receiver receives the frequency and pulse-per-second time signals output by the atomic clock and synchronizes the receiver clock to standard time according to the frequency and pulse-per-second time signals.
The bidirectional time frequency transmission technology is a time synchronization method with high precision, and the embodiment uses an optical fiber as a transmission medium of time information to unify the time of a time reference station with standard time. Specifically, in step S1, the time of the atomic clock of the receiver in the time reference station is synchronized with the standard time by using the optical fiber bidirectional time-frequency transmission technique, and then the receiver receives the frequency and the pulse per second time signal output by the atomic clock, thereby synchronizing the receiver clock to the standard time.
Of course, in some other embodiments of the present invention, the time reference station may also be synchronized with the standard time in other manners, for example, the time reference station unit implements standard time reproduction through high-precision GNSS timing, which is not limited in this application.
Optionally, in step S3, the step of determining a deviation between the local time of the self and the standard time according to the broadcast ephemeris, the first observation data, the second observation data, and the standard time includes:
determining a single differential code pseudo-range observation value and a carrier phase observation value of a time reference station and a corresponding user terminal to a navigation satellite according to the broadcast ephemeris, the first observation data and the second observation data;
and performing parameter estimation on the single differential code pseudo-range observed value and the carrier phase observed value by using Kalman filtering to obtain the deviation between the local time of the target user and the standard time.
Specifically, the single differential code pseudorange observed values of the time reference station and the corresponding target user for the satellite are as follows:
wherein the content of the first and second substances,
representing single-differenced pseudorange observations for navigation satellite k for the ith time reference station and its corresponding client j,
represents the distance, delta, of the ith time reference station and the corresponding client terminal j to the navigation satellite k i,j (t) represents the relative clock difference between the ith time reference station and the corresponding client j,
the single difference code pseudo-range measurement noise of the ith time reference station and the corresponding client j for the navigation satellite k is shown, and c represents the vacuum light speed.
The single-difference carrier phase observed value of the time reference station and the corresponding user terminal to the navigation satellite is as follows:
wherein, the first and the second end of the pipe are connected with each other,
representing the single-difference carrier phase observed value of the ith time reference station and the corresponding user terminal j to the navigation satellite k,
represents the single difference carrier phase measurement noise of the ith time reference station and the corresponding user terminal j to the navigation satellite k,
and the single difference carrier phase ambiguity of the ith time reference station and the corresponding user end j to the navigation satellite k is shown, and the lambda represents the carrier wavelength.
In this embodiment, after the carrier phase observation value and the single differential code pseudo-range observation value of the time reference station and the corresponding user terminal for the navigation satellite are obtained, the single differential code pseudo-range observation value and the carrier phase observation value are subjected to parameter estimation by using kalman filtering, so that the deviation between the local time of the target user and the standard time is obtained.
Specifically, the parameter estimation is performed by using extended kalman filtering, and the linearized state equation and observation equation are as follows:
X k ＝Φ k,k-1 X k-1 +W k-1 (1)
Z k ＝H k X k +v k (2)
in the formula, X k Is a state vector of phi k,k-1 Being a state transition matrix, Z k Is a linearized vector of observations, H k To design a matrix, W k-1 Is process noise, v k To observe the noise, the variance of the process noise is denoted as Q k The variance of the observed noise is noted as R k 。
The optimal estimate of the state vector and its variance-covariance are:
P k ＝(I-K k H k )P k/k-1 (4)
wherein, K k For the gain matrix:
P k/k-1 Variance-covariance as a predictor
It should be noted that the state vector parameters estimated in the RTK time service include the receiver position, the relative clock error, and the carrier phase ambiguity. If a receiver position is introduced that is known or resolved by RTK positioning, only the relative clock difference and carrier phase ambiguity parameters are included in the estimated state vector. According to the difference of the dynamic performance of the user receiver, the receiver position parameter can be set as a dynamic parameter and a static parameter, and the dynamic parameter and the static parameter correspond to different state transition matrixes.
Fig. 3 is another schematic diagram of a multi-region real-time dynamic time service method based on satellite navigation according to an embodiment of the present invention. Referring to fig. 3, the multi-region real-time dynamic time service method based on satellite navigation is further described below with reference to experiments.
(1) Control experiment implemented by unit atomic clock of time reference station
UTC (NTSC) located in a Tong home is used as a standard time source, an SEPT station connected with a time laboratory in a western-safety field area is used as a time reference station, an atomic clock on the time reference station is a high-performance passive hydrogen atomic clock, and is synchronized with UTC (NTSC) in real time through an optical fiber bidirectional time frequency transmission link; meanwhile, the iGMAS analysis center and the Xian data center are used as data centers, and first observation data are provided for the user side. Illustratively, the user side is a docking XIA6 and SE22 station, and a short-baseline RTK time service test is carried out by using the observation values of the new system signals B1C and B2a of the Beidou third satellite.
Experiment time: 10 days 7 month 2020-20 month 2020 (DOY: 192-202)
Fig. 4 is a schematic diagram illustrating the results of bidirectional time frequency transmission of an optical fiber according to an embodiment of the present invention. And the SEPT atomic clock of the time reference station is compared with standard time in real time through an optical fiber bidirectional time frequency transmission technology, and the sampling rate of a comparison result is 1Hz. As shown in fig. 4, the time deviation peak-to-peak value of the time reference station atomic clock and UTC (NTSC) is less than 1ns, most of the time periods are within ± 0.2ns, and the standard deviation is 0.13ns, so that the time reference station atomic clock can be driven to the standard time with high accuracy in real time.
(2) Short baseline experiment
Test time: year 2021, month 4, 19 and year 2021, month 4, 30 (DOY: 109-121)
Still with SEPT as the time reference station, SE22 stations and XIA6 stations as clients, the base length between SEPT and XIA6/SE22 is 32.85km. Fig. 5 shows the timing accuracy of SE22 in three modes of short baseline dual-frequency RTK kalman filtering, static state and fixed station coordinates, and fig. 6 shows the timing accuracy of XIA6 in three modes of short baseline dual-frequency RTK kalman filtering, static state and fixed station coordinates. As shown in FIGS. 5-6, the RTK time service results of SE22 and XIA6 receivers have substantially the same trend due to the fact that SE22 and XIA6 are circumscribed by the same standard time. In the experiment, because the signal transmission cable is longer and passes through multi-stage frequency division and pulse division equipment, the external time signals of the two receivers have delay of about 700ns, but the time service results within 12 days are continuous and stable; in addition, the standard deviation of the short-baseline time service of the SE22 station in the three modes is 0.19ns, 0.18ns and 0.17ns respectively, and the standard deviation of the short-baseline time service of the XIAA 6 station in the three modes is 0.18ns, 0.17ns and 0.16ns respectively.
Fig. 7 shows the frequency stability of the SE22 short baseline time service result, and it can be seen that the fixed station coordinate mode has the best short-term frequency stability, but the dynamic mode is the worst, the frequency stability of the fixed station coordinate mode and the static mode is almost the same over an average time of 1000s, and the ten thousand second stability of the three modes of the short baseline time service enters the E-15 order. Obviously, the multi-region real-time dynamic time service method based on satellite navigation provided by the invention has higher time service precision.
The beneficial effects of the invention are that:
the invention provides a multi-region real-time dynamic time service method and a multi-region real-time dynamic time service device based on satellite navigation, which are applied to a time service system, wherein the time service system comprises: the time reference stations are introduced, the distance between each time reference station and standard time is longer, and after the standard time is reproduced, the time reference stations further develop RTK time service to the corresponding user sides, so that short-distance user sides around the time reference stations can be served, the distance limit of RTK time service in the standard time is broken through, and the RTK time service of remote multiple areas is realized while the time service precision is ensured.
Fig. 8 is a schematic structural diagram of a multi-region real-time dynamic time service device based on satellite navigation according to an embodiment of the present invention. As shown in fig. 8, the present invention further provides a multi-region real-time dynamic time service device based on satellite navigation, which is applied to a time service system, wherein the time service system includes: the system comprises a plurality of time reference stations, a plurality of user terminals corresponding to the time reference stations and a data center;
the multi-region real-time dynamic time service device based on satellite navigation comprises:
the sending module 810 is configured to enable each time reference station to reproduce standard time, perform real-time observation on a navigation satellite, and send first observation data obtained through observation to a data center;
a receiving module 820, configured to enable the data center to receive the first observation data and send the first observation data to each user side corresponding to the time reference station;
the determining module 830 is configured to enable a user end corresponding to the time reference station to perform real-time observation on the navigation satellite to obtain second observation data, and determine a deviation between local time and standard time according to the broadcast ephemeris, the first observation data, and the second observation data after receiving the broadcast ephemeris of the navigation satellite and the first observation data sent by the data center.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
It should be noted that, the device according to the embodiment of the present invention is a device that applies the multi-region real-time dynamic time service method based on satellite navigation, and all embodiments of the multi-region real-time dynamic time service method based on satellite navigation are applicable to the device, and can achieve the same or similar beneficial effects.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
While the present application has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a review of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A multi-region real-time dynamic time service method based on satellite navigation is characterized in that the method is applied to a time service system, and the time service system comprises: the system comprises a plurality of time reference stations, a plurality of user terminals corresponding to the time reference stations and a data center;
the multi-region real-time dynamic time service method based on satellite navigation comprises the following steps:
each time reference station reproduces standard time, and after a navigation satellite is observed in real time, first observation data obtained through observation are sent to the data center;
the data center receives the first observation data and sends the first observation data to each user side corresponding to the time reference station;
a user end corresponding to the time reference station carries out real-time observation on the navigation satellite to obtain second observation data, and after receiving a broadcast ephemeris of the navigation satellite and first observation data sent by the data center, the user end determines the deviation of local time of the user end and the standard time according to the broadcast ephemeris, the first observation data and the second observation data; the first observation data and the second observation data are observation data at the same time or different times.
2. The multi-region real-time dynamic time service method based on satellite navigation as claimed in claim 1, wherein the standard time is standard time of a time-keeping laboratory participating in UTC calculation in china.
3. The multi-region real-time dynamic time service method based on satellite navigation according to claim 1, wherein the navigation satellite is a Beidou third-order global satellite navigation system.
4. The multi-region real-time dynamic time service method based on satellite navigation as claimed in claim 1, wherein the time reference station comprises an atomic clock and a receiver which are connected in a communication mode.
5. The multi-region real-time dynamic time service method based on satellite navigation is characterized in that the receiver is externally connected with a frequency and a pulse per second time signal output by the atomic clock.
6. The multi-region real-time dynamic time service method based on satellite navigation according to claim 5, wherein the step of reproducing the standard time by each time reference station comprises:
synchronizing the time of the atomic clock to the standard time by utilizing an optical fiber bidirectional time frequency transmission technology;
and the receiver receives the frequency and the pulse time per second signal output by the atomic clock and synchronizes the receiver clock to the standard time according to the frequency and the pulse time signal.
7. The multi-region real-time dynamic time service method based on satellite navigation according to claim 1, wherein the step of determining the deviation between the local time of the method itself and the standard time according to broadcast ephemeris, first observation data, second observation data and the standard time comprises:
determining a single-difference pseudo-range observation value and a carrier phase observation value of the time reference station and a corresponding user terminal to the navigation satellite according to the broadcast ephemeris, the first observation data and the second observation data;
and performing parameter estimation on the single differential code pseudo-range observed value and the carrier phase observed value by using Kalman filtering to obtain the deviation between the local time of the target user and the standard time.
8. The multi-region real-time dynamic time service method based on satellite navigation according to claim 7, wherein the single-difference pseudorange observed values of the time reference station and the corresponding target user for the navigation satellite are determined according to the following formula:
wherein the content of the first and second substances,
representing the single differential code pseudorange observed values of the ith time reference station and the corresponding client j for the navigation satellite k,
represents the distance delta of the ith time reference station and the corresponding user terminal j to the navigation satellite k i,j (t) represents the relative clock difference between the ith time reference station and the corresponding client j,
and c represents the single difference code pseudo-range measurement noise of the ith time reference station and the corresponding client j to the navigation satellite k, and the vacuum speed of light.
9. The multi-region real-time dynamic time service method based on satellite navigation according to claim 8, wherein the single-difference carrier phase observed value of the navigation satellite between the time reference station and the corresponding user terminal is determined according to the following formula:
wherein the content of the first and second substances,
representing the single-difference carrier phase observed value of the ith time reference station and the corresponding user terminal j to the navigation satellite k,
representing the single difference carrier phase measurement noise of the ith time reference station and the corresponding user terminal j to the navigation satellite k,
and the single difference carrier phase ambiguity of the ith time reference station and the corresponding user end j to the navigation satellite k is shown, and the lambda represents the carrier wavelength.
10. The utility model provides a multizone real time kinematic time service device based on satellite navigation which characterized in that is applied to the time service system, the time service system includes: the system comprises a plurality of time reference stations, a plurality of user terminals corresponding to the time reference stations and a data center;
the multi-region real-time dynamic time service device based on satellite navigation comprises:
the sending module is used for enabling each time reference station to reproduce standard time, observing a navigation satellite in real time and sending first observation data obtained by observation to the data center;
the receiving module is used for enabling the data center to receive the first observation data and send the first observation data to each user side corresponding to the time reference station;
and the determining module is used for enabling the user end corresponding to the time reference station to perform real-time observation on the navigation satellite to obtain second observation data, and determining the deviation of the local time of the user end and the standard time according to the broadcast ephemeris, the first observation data and the second observation data after receiving the broadcast ephemeris of the navigation satellite and the first observation data sent by the data center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110792158.7A CN113721445B (en) | 2021-07-13 | 2021-07-13 | Multi-region real-time dynamic time service method and device based on satellite navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110792158.7A CN113721445B (en) | 2021-07-13 | 2021-07-13 | Multi-region real-time dynamic time service method and device based on satellite navigation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113721445A CN113721445A (en) | 2021-11-30 |
| CN113721445B true CN113721445B (en) | 2023-03-10 |
Family
ID=78673233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110792158.7A Active CN113721445B (en) | 2021-07-13 | 2021-07-13 | Multi-region real-time dynamic time service method and device based on satellite navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113721445B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104125029A (en) * | 2013-04-23 | 2014-10-29 | 广州南方卫星导航仪器有限公司 | Beidou precise time service technology |
| CN106707317A (en) * | 2016-12-01 | 2017-05-24 | 上海埃威航空电子有限公司 | Regional position differential positioning method and system |
| CN107390510A (en) * | 2017-08-22 | 2017-11-24 | 中国科学院国家授时中心 | Beidou navigation satellite precise time service unified approach based on carrier phase observable |
| CN109507690A (en) * | 2018-11-09 | 2019-03-22 | 中国科学院国家授时中心 | National standard time subnanosecond grade time service method based on GNSS |
| CN112799107A (en) * | 2020-12-28 | 2021-05-14 | 中国科学院国家授时中心 | Dynamic time service system and method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2388264A (en) * | 2002-01-10 | 2003-11-05 | Roke Manor Research | GPS based networked time synchronised unit |
| CN105867108A (en) * | 2016-06-20 | 2016-08-17 | 中国科学院国家授时中心 | National standard time remote recurrence method |
| CN106292267B (en) * | 2016-07-28 | 2019-08-02 | 武汉纳时科技有限公司 | A kind of GNSS high-precision time service terminal system and time service method |
| CN109059751B (en) * | 2018-09-10 | 2020-08-07 | 中国科学院国家授时中心 | Deformation data monitoring method and system |
| US10887038B2 (en) * | 2018-09-28 | 2021-01-05 | Samsung Electronics Co., Ltd. | GNSS-based multi-modal clock correction |
| CN110501730A (en) * | 2019-08-23 | 2019-11-26 | 中国科学院国家授时中心 | Standard time subnanosecond grade time service method based on RTK improved technology |
-
2021
- 2021-07-13 CN CN202110792158.7A patent/CN113721445B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104125029A (en) * | 2013-04-23 | 2014-10-29 | 广州南方卫星导航仪器有限公司 | Beidou precise time service technology |
| CN106707317A (en) * | 2016-12-01 | 2017-05-24 | 上海埃威航空电子有限公司 | Regional position differential positioning method and system |
| CN107390510A (en) * | 2017-08-22 | 2017-11-24 | 中国科学院国家授时中心 | Beidou navigation satellite precise time service unified approach based on carrier phase observable |
| CN109507690A (en) * | 2018-11-09 | 2019-03-22 | 中国科学院国家授时中心 | National standard time subnanosecond grade time service method based on GNSS |
| CN112799107A (en) * | 2020-12-28 | 2021-05-14 | 中国科学院国家授时中心 | Dynamic time service system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113721445A (en) | 2021-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2823697C (en) | Method and system for determining clock corrections | |
| AU2002356872B2 (en) | Base station time calibration using position measurement data sent by mobile stations during regular position location sessions | |
| US7639179B2 (en) | Transfer of position information to a mobile terminal | |
| JP4287476B2 (en) | Transfer of calibration time information in mobile terminals | |
| WO2012045261A1 (en) | Timing time service method and device using a navigational satellite | |
| US8010124B2 (en) | Methods, systems and computer program products for providing location determination information to an assisted location service | |
| US20060125685A1 (en) | AGPS system using NTP server and method for determining the location of a terminal using a NTP server | |
| JP2003533063A (en) | Method and apparatus for determining the position of a mobile terminal | |
| US20060244659A1 (en) | Positioning system, Information supply device, terminal device, control method of information supply device, control program of information supply device, and computer readable recording medium recording control program of information supply device | |
| JP2003513291A (en) | Method and apparatus for determining position using a small number of GPS satellites and synchronous and asynchronous base stations | |
| AU2002356872A1 (en) | Base station time calibration using position measurement data sent by mobile stations during regular position location sessions | |
| CN111123307B (en) | System and method for detecting dynamic performance of BDS user equipment | |
| CN115993617B (en) | GNSS system time deviation monitoring method | |
| CN111342888A (en) | Wireless feedback type pseudo satellite system time synchronization method and system | |
| CN112327335A (en) | GNSS receiver and satellite capturing and tracking method | |
| CN106597492B (en) | Satellite navigation receiver and method for resisting near-far effect and indoor positioning method thereof | |
| CN110716217A (en) | Array pseudo satellite indoor positioning method and system | |
| CN108459331A (en) | The time delay absolute Calibrating Method of multimodal satellite navigation receiver | |
| CN113325446A (en) | Multi-mode common-frequency GNSS carrier phase time transfer method and system | |
| CN113721445B (en) | Multi-region real-time dynamic time service method and device based on satellite navigation | |
| Garin et al. | Wireless assisted GPS-SiRF architecture and field test results | |
| CN210742507U (en) | Standard time frequency source device based on global navigation satellite system | |
| CN116047555A (en) | Positioning method and system based on Beidou PPP-B2B | |
| CN116224746A (en) | High-stability time reference establishment method for satellite-ground atomic clock fusion | |
| CN112731489A (en) | High-precision positioning method based on seamless fusion of BDS (brain-based distributed system) satellite-based foundation enhancement system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |