CN114422066A - Navigation time calibration method and device and electronic equipment - Google Patents
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- H—ELECTRICITY
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- H04J3/00—Time-division multiplex systems
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- H04J3/06—Synchronising arrangements
- H04J3/0602—Systems characterised by the synchronising information used
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L7/00—Arrangements for synchronising receiver with transmitter
- H04L7/0016—Arrangements for synchronising receiver with transmitter correction of synchronization errors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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Abstract
The application provides a navigation time calibration method, a navigation time calibration device and electronic equipment; the navigation time calibration method comprises the following steps: receiving first time information when satellite navigation data is received; the first time information is time information provided by a clock source; calibrating second time information in the satellite navigation data according to the first time information; the second time information is time information carried in the satellite navigation data message; and outputting the calibrated satellite navigation data. According to the navigation time calibration method, the navigation time calibration device and the electronic equipment, time errors of satellite navigation in the using process can be reduced, and navigation accuracy is improved.
Description
Technical Field
The application belongs to the technical field of navigation, and particularly relates to a navigation time calibration method, a navigation time calibration device and electronic equipment.
Technical Field
Satellite navigation signals are a standard signal source with high precision. Generally, when a navigation satellite navigation receiver is used for navigation, the satellite navigation information received by the satellite navigation receiver includes not only geographical position information, but also high-precision time information.
However, in the use process of the current satellite navigation, certain time delay exists in data information transmission, so that certain errors exist in time information of the satellite navigation.
Disclosure of Invention
The application provides a navigation time calibration method, a navigation time calibration device and electronic equipment, which can reduce time errors of satellite navigation in a use process and improve navigation precision.
According to a first aspect of embodiments of the present application, there is provided a navigation time calibration method, including:
receiving first time information when satellite navigation data is received; the first time information is time information provided by a clock source;
calibrating second time information in the satellite navigation data according to the first time information; the second time information is time information carried in the satellite navigation data message;
and outputting the calibrated satellite navigation data.
According to the embodiment of the application, when satellite navigation data is received, first time information provided by a carrier or a clock source inside electronic equipment is received, and then the first time information is utilized to calibrate the time information in the satellite navigation data; and outputting the navigation data after time calibration, so that the time delay of the satellite navigation data in transmission can be avoided, and the time error of the satellite navigation in the use process can be reduced, thereby improving the time accuracy in the navigation data and improving the navigation precision.
In addition, in the embodiment of the application, the high-precision clock source and the navigation receiver are integrated together, so that the occupied size of equipment can be reduced, the production and manufacturing cost is saved, and the use difficulty is also reduced.
In an alternative design, calibrating the second time information in the satellite navigation data according to the first time information includes:
and periodically calibrating the second time information by a preset time length according to the first time information.
That is to say, in the embodiment of the present application, the second time information in the satellite navigation data is calibrated at a predetermined frequency, so that the accuracy of the second time information in the satellite navigation data can be maintained in real time (at least within a preset time length), and thus, the requirement for the accuracy of the navigation time can be met, and the cost can be effectively reduced.
In an optional design, the second time information is square wave data, and the preset time length is less than or equal to the frequency of the square wave data.
In the embodiment of the present application, the preset time length is set to be less than or equal to the frequency of the square wave data, that is, at least one time of time calibration is performed in each period of the square wave data, so that the accuracy of time in the navigation data can be improved, and the navigation precision can be improved.
In an alternative design, the predetermined length of time is 1/5M-1/15M seconds.
Therefore, the time in the navigation data is calibrated at high frequency, so that the accuracy of the time in the navigation data can be improved, and the navigation precision is improved.
In an alternative embodiment, the predetermined time period is 1/10 msec.
According to a second aspect of the embodiments of the present application, there is provided a navigation time calibration apparatus, including:
the receiving module is used for receiving first time information when the satellite navigation data are received; the first time information is time information provided by a clock source;
the calibration module is used for calibrating second time information in the satellite navigation data according to the first time information; the second time information is time information carried in the satellite navigation data message;
and the output module is used for outputting the calibrated satellite navigation data.
According to the embodiment of the application, when the satellite navigation data is received through the receiving module, first time information provided by a carrier or a clock source inside the electronic equipment is received, and then the calibration module calibrates the time information in the satellite navigation data by using the first time information; the output module outputs the navigation data after time calibration, so that time delay of the satellite navigation data in transmission can be avoided, time error of satellite navigation in the using process can be reduced, time accuracy in the navigation data can be improved, and navigation precision is improved.
In addition, in the embodiment of the application, the high-precision clock source and the navigation receiver are integrated together, so that the occupied size of equipment can be reduced, the production and manufacturing cost is saved, and the use difficulty is also reduced.
In an optional design, the calibration module is further configured to periodically calibrate the second time information for a preset time length according to the first time information.
That is to say, in the embodiment of the present application, the calibration module calibrates the second time information in the satellite navigation data with a predetermined frequency, so that the accuracy of the second time information in the satellite navigation data can be maintained in real time (at least within a preset time length), and thus, the requirement for the accuracy of the navigation time can be met, and the cost can be effectively reduced.
In an optional design, the second time information is square wave data, and the preset time length is less than or equal to the frequency of the square wave data.
In an alternative design, the predetermined length of time is 1/5M-1/15M seconds.
In an alternative embodiment, the predetermined time period is 1/10 msec.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, comprising:
the system comprises a processor and a memory, wherein the memory is stored with computer executable instructions;
the processor, when executing the computer-executable instructions, implements the navigation method provided in any of the alternative designs of the first aspect of the embodiments of the present application.
According to a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium storing a plurality of instructions, the instructions being suitable for being loaded by a processor to execute the navigation method provided in any one of the optional design manners of the first aspect of the embodiments of the present application.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flowchart of an implementation of a navigation time calibration method according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of another implementation of a navigation time calibration method provided in an embodiment of the present application;
FIG. 3 is a block diagram of a navigation time calibration apparatus according to an embodiment of the present application;
fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the embodiments of the present application, 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 at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Satellite navigation (Satellite navigation) employs a technique in which navigation satellites are used to navigate and locate users on the ground, sea, air, and space. Common satellite navigation systems include a Global Positioning System (GPS), a beidou navigation System, and the like.
Generally, a satellite navigation receiver is required to be arranged in a carrier for utilizing satellite navigation, and after receiving navigation information/navigation data sent by an artificial satellite, the satellite navigation receiver analyzes the received navigation information/navigation data and outputs and presents the analyzed result to a user, thereby realizing navigation. Generally, a certain time is consumed in the process of transmitting and analyzing navigation information/navigation data, so that a certain time delay exists in navigation.
In some application fields, such as power systems, bank systems, military industry and medical treatment, high-precision navigation information may be required, and certain requirements are imposed on the time delay of the navigation information.
Fig. 1 is a flowchart of an implementation of a navigation time calibration method according to an embodiment of the present disclosure.
Referring to fig. 1, an embodiment of the present application provides a navigation time calibration method, which is applied to an electronic device, where the electronic device may be an aforementioned automobile (e.g., a new energy vehicle or a conventional fuel vehicle), a mobile phone, a pad, and the like, and it should be noted that, in the embodiment of the present application, the electronic device is shown as an automobile as a specific example, and it is understood that the automobile is merely an exemplary illustration, and does not limit a specific type or form of the electronic device; additionally, in some possible examples, the electronic device may also be an aircraft such as an airplane, helicopter, or even a missile. The method comprises the following steps:
Specifically, in the embodiment of the present application, a post-clock source, such as an atomic clock or a clock module, is integrated in the electronic device, and the post-clock source can provide accurate time information, which is also referred to as reference time information or standard time information in some cases.
When the electronic device uses navigation, for example, a user opens navigation software through a vehicle computer, or opens navigation software through a mobile phone, and the like, at this time, the electronic device starts to receive satellite navigation data sent by a navigation satellite, for example, to locate a current position and the like. At this time, the electronic device receives time information provided by the clock source.
Specifically, in the embodiment of the present application, the first time information provided by the clock source or the clock module may be compared with the time information carried in the satellite navigation data message, so as to calculate the time delay error between the first time information and the time information, generally, the time information provided by the clock source or the clock module in the electronic device is transmitted between hardware, the transmission speed of the time information is close to the light speed, and the time delay error is small, which may be regarded as accurate time. After the delay error is calculated, calibrating the second time information in the satellite navigation data according to the delay error, for example, subtracting the time corresponding to the delay error, thereby obtaining the accurate time.
In other possible examples, the first time information provided by the clock source or the time module is compared with the time information written in the satellite navigation data message to determine whether the time delay exists, and when the determination result is that the second time information in the satellite navigation data has the time delay, the first time information provided by the clock source or the time module can be directly written into the position of the time information corresponding to the satellite navigation data message to cover the second time information, so that accurate navigation time information is obtained.
And step 103, outputting the calibrated satellite navigation data.
Therefore, in the navigation process, accurate geographic position navigation and high-precision navigation time information can be obtained, the navigation accuracy can be improved in the aspects of automatic driving, driving assistance, space flight and the like, and the navigation time error is reduced.
According to the embodiment of the application, when satellite navigation data is received, first time information provided by a carrier or a clock source inside electronic equipment is received, and then the first time information is utilized to calibrate the time information in the satellite navigation data; the time is output after being calibrated, so that the time delay of the satellite navigation data in transmission can be avoided, the time error of the satellite navigation in the use process can be reduced, the time accuracy in the navigation data can be improved, and the navigation precision can be improved.
In addition, in the embodiment of the application, the high-precision clock source and the navigation receiver are integrated together, so that the occupied size of equipment can be reduced, the production and manufacturing cost is saved, and the use difficulty is also reduced.
Fig. 2 is a flowchart of another implementation of a navigation time calibration method according to an embodiment of the present application.
Referring to fig. 2, in an alternative design of the embodiment of the present application, a method for calibrating navigation time includes the following steps:
step 201, receiving first time information when receiving satellite navigation data; the first time information is time information provided by a clock source.
Step 202, calibrating the second time information periodically with a preset time length according to the first time information.
That is to say, in the embodiment of the present application, the second time information in the satellite navigation data is calibrated at a predetermined frequency, so that the accuracy of the second time information in the satellite navigation data can be maintained in real time (at least within a preset time length), and thus, the requirement for the accuracy of the navigation time can be met, and the cost can be effectively reduced.
Specifically, in this embodiment of the application, the second time information is square wave data, and the preset time length is less than or equal to the frequency of the square wave data.
That is, in the embodiment of the present application, the second time information is calibrated at a certain frequency.
In the embodiment of the present application, the preset time length is set to be less than or equal to the frequency of the square wave data, that is, at least one time of time calibration is performed in each period of the square wave data, so that the accuracy of time in the navigation data can be improved, and the navigation precision can be improved.
In some specific examples, the first time information may calibrate the second time information at a frequency of 5MHz-15 MHz. In other words, the preset length of time may be 1/5M-1/15M seconds.
It should be noted that the numerical values and numerical ranges referred to in this application are approximate values, and there may be some error due to the manufacturing process, and the error may be considered to be negligible by those skilled in the art.
Therefore, the time in the navigation data is calibrated at high frequency, so that the accuracy of the time in the navigation data can be improved, and the navigation precision is improved.
In some specific examples, the first time information may calibrate the second time information at a frequency of 10MHz, that is, the preset time length is 1/10 msec.
And step 203, outputting the calibrated satellite navigation data.
It should be noted that, in the embodiment of the present application, step 201 and step 203 may be implemented in the same manner as step 101 and step 103 in the foregoing embodiment. Specifically, reference may be made to the foregoing detailed description about step 101 and step 103, which is not described in detail in this embodiment.
Fig. 3 is a block diagram of a navigation time calibration apparatus according to an embodiment of the present application.
Referring to fig. 3, an embodiment of the present application provides a navigation time calibration apparatus 30, including:
a receiving module 31, configured to receive first time information when receiving satellite navigation data; the first time information is time information provided by a clock source;
a calibration module 32, configured to calibrate second time information in the satellite navigation data according to the first time information received by the receiving module 31; the second time information is time information carried in the satellite navigation data message;
and an output module 33, configured to output the satellite navigation data calibrated by the calibration module 32.
In the embodiment of the application, when receiving the satellite navigation data, the receiving module 31 receives first time information provided by a carrier or a clock source inside the electronic device, and then the calibration module 32 calibrates the time information in the satellite navigation data by using the first time information; the output module 33 outputs the navigation data after time calibration, so that time delay of the satellite navigation data in transmission can be avoided, time error of satellite navigation in the using process can be reduced, time accuracy in the navigation data can be improved, and navigation precision is improved.
In addition, in the embodiment of the application, the high-precision clock source and the navigation receiver are integrated together, so that the occupied size of equipment can be reduced, the production and manufacturing cost is saved, and the use difficulty is also reduced.
In an optional design, the calibration module 32 is further configured to periodically calibrate the second time information for a preset time length according to the first time information received by the receiving module 31.
That is to say, in the embodiment of the present application, the calibration module 32 calibrates the second time information in the satellite navigation data at a predetermined frequency, so that the accuracy of the second time information in the satellite navigation data can be maintained in real time (at least within a preset time length), and thus the requirement for the accuracy of the navigation time can be met, and the cost can be effectively reduced.
In an optional design, the second time information is square wave data, and the preset time length is less than or equal to the frequency of the square wave data.
In an alternative design, the predetermined length of time is 1/5M-1/15M seconds.
In an alternative embodiment, the predetermined time period is 1/10 msec.
The navigation time calibration method is applied to a navigation time calibration device; the navigation time calibration device can be located in any electronic equipment with navigation time calibration capability. In some examples, the electronic device may be the aforementioned user device of an automobile, computer, cell phone, airplane, or the like; in other examples, the electronic device may be a server or the like. In the embodiments of the present application, an electronic device is taken as an example for description.
In the embodiment of the present application, the receiving module 31 and the first Processing module 32 in the navigation time calibration apparatus 30 can be implemented by a Central Processing Unit (CPU), a Digital Signal Processor (DSP), a Micro Control Unit (MCU), or a Programmable Gate Array (FPGA) in practical application.
It should be noted that: in the navigation time calibration device provided in the above embodiment, only the division of the program modules is exemplified when the navigation time calibration is performed, and in practical applications, the processing distribution may be completed by different program modules according to needs, that is, the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the navigation time calibration device and the navigation time calibration method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.
It should be noted that: the navigation time calibration device provided in the foregoing embodiment is only exemplified by the division of the program modules when performing the navigation time calibration, and in practical applications, the above processing distribution may be completed by different program modules according to needs, that is, the internal structure of the device is divided into different program modules to complete all or part of the above-described processing. In addition, the navigation time calibration device and the navigation time calibration method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.
The embodiment of the application also provides the electronic equipment. Fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure. Referring to fig. 4, the electronic device includes a processor 41 and a memory 41 for storing a computer program capable of running on the processor 42, and the processor 41 is configured to implement the steps of the embodiment of the present application applied to the navigation time calibration method when running the computer program.
Optionally, the various components in the electronic device are coupled together by a bus system 43. It will be appreciated that the bus system 43 is used to enable communications among the components. The bus system 43 includes a power bus, a control bus, and a status signal bus in addition to the data bus. For clarity of illustration, however, the various buses are labeled as bus system 43 in fig. 4.
It will be appreciated that the memory 42 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced Synchronous Dynamic Random Access Memory), Synchronous linked Dynamic Random Access Memory (DRAM, Synchronous Link Dynamic Random Access Memory), Direct Memory (DRmb Random Access Memory). The memory 42 described in embodiments herein is intended to comprise, without being limited to, these and any other suitable types of memory.
The method disclosed in the above embodiments of the present application may be applied to the processor 41, or implemented by the processor 41. The processor 41 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 41. The processor 41 described above may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. Processor 41 may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in memory 42, and processor 41 reads the information in memory 42 and performs the steps of the navigation time calibration method or the model training method in conjunction with its hardware.
In an exemplary embodiment, the present application further provides a computer readable storage medium, such as a memory 42, comprising a computer program, which is executable by a processor 41 of a network device to perform the steps of the aforementioned navigation time calibration method and model training method. The computer readable storage medium can be Memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface Memory, optical disk, or CD-ROM; or may be various devices including one or any combination of the above memories.
Embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the navigation time calibration method or the model training method described in the embodiments of the present application.
The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.
Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict.
The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A navigation time calibration method, comprising:
receiving first time information when satellite navigation data is received; the first time information is time information provided by a clock source;
calibrating second time information in the satellite navigation data according to the first time information; the second time information is time information carried in the satellite navigation data message;
and outputting the calibrated satellite navigation data.
2. The method of claim 1, wherein calibrating the second time information in the satellite navigation data according to the first time information comprises:
and periodically calibrating the second time information according to the first time information by a preset time length.
3. The method of claim 2, wherein the second time information is square wave data, and the predetermined time duration is less than or equal to a frequency of the square wave data.
4. The navigation time calibration method of claim 3, wherein the preset length of time is 1/5M-1/15M seconds.
5. A navigation time calibration device, comprising:
the receiving module is used for receiving first time information when the satellite navigation data are received; the first time information is time information provided by a clock source;
a calibration module for calibrating second time information in the satellite navigation data according to the first time information; the second time information is time information carried in the satellite navigation data message;
and the output module is used for outputting the calibrated satellite navigation data.
6. The navigation time calibration device of claim 5,
the calibration module is further configured to periodically calibrate the second time information for a preset time length according to the first time information.
7. The apparatus according to claim 6, wherein the second time information is square wave data, and the predetermined time length is less than or equal to the frequency of the square wave data.
8. The navigation time calibration device of claim 7, wherein the preset length of time is 1/5M-1/15M seconds.
9. An electronic device, comprising:
a processor, a memory, the memory having stored therein computer-executable instructions;
the processor, when executing the computer-executable instructions, implements the navigation method of any one of claims 1-4.
10. A computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the navigation method of any one of claims 1-4.
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| CN117254870A (en) * | 2023-11-17 | 2023-12-19 | 深圳市麦谷科技有限公司 | Time calibration method and device, storage medium and electronic equipment |
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