CN114442474A - Off-line data acquisition equipment time synchronization method based on Beidou time service - Google Patents
Off-line data acquisition equipment time synchronization method based on Beidou time service Download PDFInfo
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- CN114442474A CN114442474A CN202210123036.3A CN202210123036A CN114442474A CN 114442474 A CN114442474 A CN 114442474A CN 202210123036 A CN202210123036 A CN 202210123036A CN 114442474 A CN114442474 A CN 114442474A
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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- G—PHYSICS
- G04—HOROLOGY
- G04G—ELECTRONIC TIME-PIECES
- G04G7/00—Synchronisation
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Abstract
The invention provides an off-line data acquisition equipment time synchronization method based on Beidou time service, and belongs to the technical field of off-line equipment time service. The method comprises the following steps: obtaining Beidou time; according to the Beidou time, accurate time service is carried out on the computer; detecting whether an online offline data acquisition device exists on a connection interface of a computer; determining the type of the off-line data acquisition equipment, and calling corresponding preselected time service logic to time the off-line data acquisition equipment; and after time service is finished, carrying out consistency check on the time of the off-line data acquisition equipment, and judging whether the time service is successful. The invention can realize the unified time service of a plurality of off-line data acquisition devices, has high time service precision, thereby improving the accuracy of data acquisition time, and has low time service cost and high economy.
Description
Technical Field
The invention relates to the technical field of off-line equipment time service, in particular to a Beidou time service-based off-line data acquisition equipment time synchronization method.
Background
When carrying out data acquisition in the field, can use multiple collection equipment, carry out data and/or gather the data of different grade type in different positions, in order to guarantee that each collection equipment's time is unanimous, need carry out the time system and set up. The satellite navigation system based on all weather and globality is used for time service, and the accuracy is high. The united states has made an important progress in GPS Satellite timing, and has occupied an important weight in participating in international time comparison, and the timing of the BeiDou Navigation Satellite System (BDS) in china is in the catch-up phase along with the construction and improvement of the basic System. However, if each data acquisition device is configured with a Beidou module for time service, the data acquisition device is not suitable for both design and economic reasons.
Therefore, a unified time service method for the off-line data acquisition equipment is researched and developed, and especially time service based on the Beidou technology becomes a new effective solution for time service of the existing field acquisition equipment.
Disclosure of Invention
Therefore, the technical problem to be solved by the embodiment of the invention is to overcome the defect that the data acquisition equipment which needs to be used together cannot economically and accurately perform unified time service in the prior art, so that the time synchronization method of the off-line data acquisition equipment based on Beidou time service is provided.
Therefore, the invention provides an off-line data acquisition equipment time synchronization method based on Beidou time service, which comprises the following steps of:
obtaining Beidou time;
according to the Beidou time, accurate time service is carried out on a computer;
detecting whether an online offline data acquisition device exists on a connection interface of the computer;
determining the type of the off-line data acquisition equipment, and calling corresponding preselected time service logic to time the off-line data acquisition equipment;
and after time service is finished, carrying out consistency check on the time of the off-line data acquisition equipment, and judging whether the time service is successful.
Optionally, the observation residual error is determined according to the orbit error and the clock error of the Beidou satellite, the clock error of the computer and the observation error.
Optionally, obtaining observation information of a plurality of Beidou satellites includes:
receiving a Beidou satellite signal, and preprocessing the Beidou satellite signal, wherein the preprocessing comprises one or more of band-pass filtering, low-noise amplification, analog mixing, double-path AD orthogonal sampling and the like.
Optionally, the calculating, by using the observation information, each error term affecting the pseudo-range observation value includes:
and calculating at least part of error terms in the error terms by using observation information of different frequencies in the observation information, wherein the at least part of error terms comprises an ionosphere delay error and a troposphere delay error.
Optionally, obtaining observation information of a plurality of Beidou satellites includes:
screening satellite signals acquired by utilizing sampling pulses according to a signal-to-noise ratio, and screening out the satellite signals with the signal-to-noise ratio being greater than a preset threshold value;
and acquiring the observation information by using the satellite signals with the signal-to-noise ratios larger than a preset threshold value.
Optionally, according to the big dipper time, carry out accurate time service to the computer, include:
acquiring observation information of a plurality of Beidou satellites;
calculating each error item influencing a pseudo-range observation value by using the observation information;
correcting the pseudo-range observation value by using each error item;
calculating an observation residual error according to the observation information;
calculating the time change rate of the observation residual errors according to the observation residual errors at adjacent moments;
if the observation residual error time change rate is smaller than a first preset threshold value, determining a difference value between the computer time and the Beidou time according to the corrected pseudo-range observation value and the position information of the computer;
and adjusting the computer time according to the difference value between the computer time and the Beidou time.
Optionally, the correcting the pseudorange observation value by using the error terms includes:
eliminating higher order terms of ionospheric errors to correct the pseudorange observations;
smoothing the pseudorange observations using carrier phase ambiguities.
Optionally, the determining the type of the offline data acquisition device and calling the corresponding preselected time service logic to time the offline data acquisition device includes:
s41: the computer sends a time setting instruction to the offline data acquisition equipment at a first moment, wherein the time setting instruction comprises time information of the first moment;
s42: the offline data acquisition equipment sets the system time as the time of the first moment after receiving the time setting instruction;
s43: the computer sends an acquisition time instruction to the offline data acquisition equipment at a second moment after the first moment;
s44: the computer receives the current time of the offline data acquisition equipment sent by the offline data acquisition equipment according to the acquisition time instruction;
s45: the computer calculates a first difference value between the current time and the second time, wherein the first difference value comprises computer sending and processing time, information transmission delay and time set and processed by offline data acquisition equipment;
s46: and if the first difference is within the allowable error range, finishing time service.
Optionally, after the computer calculates a first difference between the current time and the second time, the method further includes:
if the first difference exceeds the tolerance error range, the computer sets a deviation amount according to the first difference, a new time setting instruction is sent to the offline data acquisition equipment at a third moment after the second moment, and time information contained in the new time setting instruction is determined according to the third moment and the deviation amount;
after receiving the new set time command, the offline data acquisition device sets the system time as the time information included in the new set time command, and repeats the first difference acquisition process in steps S43 to S45.
Optionally, after the computer calculates a first difference between the current time and the second time, the method further includes:
if the first difference exceeds the allowable error range, the computer acquires a second difference between the current time and the time when the computer receives the current time;
the computer comparing a third difference between the second difference and a half of the time of the first difference;
if the third difference is larger than a second preset threshold, the computer executes time service on the off-line data acquisition equipment again;
otherwise, the computer sends a time setting instruction to the off-line data acquisition equipment again, and the time information included in the time setting instruction sent again is the sum of the time for sending the time setting instruction again and the first difference minus the second difference.
Optionally, before the computer sends the time setting instruction to the offline data acquisition device at the first time, the method further includes:
the computer sends an acquisition time instruction to the offline data acquisition equipment at a time T1 before the first time, and receives the current time LT1 of the offline data acquisition equipment sent by the offline data acquisition equipment according to the acquisition time instruction.
Optionally, after the time service is completed, consistency check is performed on the time of the offline data acquisition device, and whether the time service is successful is judged, including:
acquiring time difference values between the computer time and each off-line data acquisition device after time service is finished;
grouping the time difference values according to the type of the off-line data acquisition equipment and/or the type of a connection interface between the off-line data acquisition equipment and a computer;
and if at least two time difference values exist in the time difference value group, and a fourth difference value between any two time difference values in the time difference value group is smaller than a third preset threshold value, determining that the time of the offline data acquisition equipment corresponding to all the time difference values in the time difference value group has consistency.
Optionally, after grouping the time difference values according to the type of the offline data acquisition device and/or the type of a connection interface between the offline data acquisition device and a computer, the method further includes:
if only one time difference value exists in the time difference value group, determining a corresponding judgment threshold value according to the type of the off-line data acquisition equipment corresponding to the time difference value and/or the type of a connection interface between the off-line data acquisition equipment and the computer;
comparing the time difference value with a corresponding judgment threshold value;
and if the time difference is within the range limited by the judgment threshold, determining that the time of the offline data acquisition equipment corresponding to the time difference in the time difference group has consistency.
The technical scheme of the embodiment of the invention has the following advantages:
according to the time synchronization method for the off-line data acquisition equipment based on Beidou time service, provided by the embodiment of the invention, the computer system time is set according to the Beidou time, so that the computer time acquisition accuracy is improved, then the off-line data acquisition equipment is accurately time-serviced based on the computer time, the synchronism of the off-line data acquisition equipment system time and the Beidou time can be ensured, the problems that the off-line data acquisition equipment is incorrect in time and a plurality of off-line data acquisition equipment are inconsistent in time are solved, and the accuracy of the data acquisition time is improved. In addition, accurate time service is performed on the computer through the Beidou time, then accurate time service is performed on the off-line data acquisition devices based on the computer time, the time service cost of the off-line data acquisition devices can be reduced, and particularly, each off-line data acquisition device does not need to be provided with a satellite signal receiver, complicated calculation processing of satellite time service is not needed, and the requirement of a processor is reduced, so that the embodiment of the invention has the advantage of economy. In addition, the embodiment of the invention also improves the time service application range by preselecting different time service logics according to different off-line data acquisition equipment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flowchart illustrating a specific example of a time synchronization method for an offline data acquisition device based on Beidou time service in an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a specific example of a method for using a computer to time an offline data acquisition device according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating another exemplary method for timing an offline data acquisition device using a computer according to an embodiment of the present disclosure;
fig. 4 is a flowchart of a specific example of a method for performing consistency check on the time of the offline data acquisition device in the embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
In describing the present invention, it is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises" and/or "comprising," when used in this specification, are intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; the two elements can be directly connected, indirectly connected through an intermediate medium, or communicated with each other inside; either a wireless or a wired connection. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
The embodiment provides a time synchronization method for an offline data acquisition device based on Beidou time service, which comprises the following steps as shown in FIG. 1:
s1: obtaining Beidou time;
optionally, the beidou time may be obtained by analyzing GNRMC in the message using NEMA0183 protocol:
$GNRMC,<1>,<2>,<3>…
wherein <1> is UTC time, hhmmss (time minute second) format.
S2: according to the Beidou time, carrying out accurate time service on a computer;
s3: detecting whether an online offline data acquisition device exists on a connection interface of the computer;
the connection interface may include a USB interface, a network interface, and the like.
S4: determining the type of the off-line data acquisition equipment, and calling corresponding preselected time service logic to time the off-line data acquisition equipment;
namely, the preselection time service logic needs to be matched with the type of the off-line data acquisition equipment, and the preselection time service logic is designed in advance.
Optionally, detecting whether the connection interface has the online offline data acquisition device may specifically be implemented by a custom protocol. The protocol comprises the following steps: the computer sends a request for obtaining the equipment type, and the off-line data acquisition equipment immediately sends the equipment type information to the computer after receiving the request.
S5: and after time service is finished, carrying out consistency check on the time of the off-line data acquisition equipment, and judging whether the time service is successful.
Specifically, the time consistency of the offline data acquisition device can be determined according to the time difference between the computer time and the offline data acquisition device.
The main body for executing the above steps may be the computer.
According to the time synchronization method for the off-line data acquisition equipment based on Beidou time service, provided by the embodiment of the invention, the computer system time is set according to the Beidou time, so that the computer time acquisition accuracy is improved, then the off-line data acquisition equipment is accurately time-serviced based on the computer time, the synchronism of the off-line data acquisition equipment system time and the Beidou time can be ensured, the problems that the off-line data acquisition equipment is incorrect in time and a plurality of off-line data acquisition equipment are inconsistent in time are solved, and the data acquisition time accuracy is improved. In addition, accurate time service is performed on the computer through the Beidou time, then accurate time service is performed on the off-line data acquisition devices based on the computer time, the time service cost of the off-line data acquisition devices can be reduced, and particularly, each off-line data acquisition device does not need to be provided with a satellite signal receiver, complicated calculation processing of satellite time service is not needed, and the requirement of a processor is reduced, so that the embodiment of the invention has the advantage of economy. In addition, the embodiment of the invention also improves the time service application range by preselecting different time service logics according to different off-line data acquisition equipment.
Optionally, according to the big dipper time, carry out accurate time service to the computer, include:
acquiring observation information of a plurality of Beidou satellites;
specifically, a sampling pulse may be generated, and observation information in the received satellite signal, including at least one of a satellite signal transmission time, a doppler shift, and a carrier phase, may be acquired using the sampling pulse.
Calculating each error item influencing a pseudo-range observation value by using the observation information;
the error terms comprise satellite clock error, ionosphere delay error, troposphere delay error and the like.
Correcting the pseudo-range observation value by using each error item;
calculating an observation residual error according to the observation information;
calculating the time change rate of the observation residual errors according to the observation residual errors at adjacent moments;
if the observation residual error time change rate is smaller than a first preset threshold value, determining a difference value between the computer time and the Beidou time according to the corrected pseudo-range observation value and the position information of the computer;
and adjusting the computer time according to the difference value between the computer time and the Beidou time.
Optionally, the pseudo-range observation equation is:
wherein, (X, y, z) is the coordinate of the computer at epoch time, (X)si,Ysi,Zsi) The coordinate of the i (i ═ 1,2,3,4 …) th Beidou satellite at the epoch time is Δ tsiClock error, Δ t, of the ith Beidou satelliteuIs the computer clock error (i.e. between the computer time and the Beidou time)Difference), c is the speed of light, εothiOther delays, ε, for the ith Beidou satellitei＝Ii+Ti+δmuli,εiIs the observation error of the ith Beidou satelliteiIonospheric delay, T, for the ith Beidou satelliteiTropospheric delay, δ, for the ith Beidou satellitemuliThe multipath delay of the ith Beidou satellite is λ, the carrier wavelength and N, the carrier phase ambiguity (i.e. the integer ambiguity in the carrier phase observation).
Specifically, the observation residual error is determined according to the orbit error and the clock error of the Beidou satellite, the clock error of the computer and the observation error. The clock error of the Beidou satellite can be determined through satellite signals.
Other delays may include delays caused by one or more of ephemeris error, thermal noise, solid tide, sea tide, polar motion, earth rotation, relativistic effects, antenna phase center bias, phase wrapping error, and the like.
In the embodiment of the invention, the observation residual time change rate is limited to be smaller than the first preset threshold value, so that abnormal observation quantity can be eliminated, the problem of time service accuracy reduction caused by the abnormal observation quantity is avoided, and the time service accuracy is improved.
According to the method, the problem that an ionospheric delay model value Iklobuchar is inaccurate can be effectively solved by using observed pseudo-range measured values of a plurality of Beidou satellites and jointly calculating ionospheric delay and computer clock error according to a least square algorithm, and the estimated computer clock error is high in precision, so that the time service precision is improved.
In other alternative embodiments, the location information of the computer may be predetermined prior to the time service. Ionospheric and tropospheric delays can also be corrected using the model.
Optionally, the difference between the computer time and the beidou time is determined according to the corrected pseudo-range observation value and the position information of the computer, and specifically, the difference can be obtained by calculating according to the following calculation formula:
the relevant parameters are referred to above.
Optionally, obtaining observation information of a plurality of Beidou satellites includes:
the method comprises the steps of receiving a Beidou satellite signal, preprocessing the Beidou satellite signal, and specifically comprises band-pass filtering, low-noise amplification, analog mixing, double-path AD (analog-digital) orthogonal sampling and the like. And (3) carrying out complex phase rotation digital down-conversion, demodulation and de-spread on the signals acquired by AD to obtain data codes, satellite clock correction parameters, ephemeris parameters and almanac parameters.
Optionally, the calculating, by using the observation information, each error term affecting the pseudo-range observation value includes:
and calculating at least part of error terms in the error terms by using observation information of different frequencies in the observation information, wherein the at least part of error terms comprises an ionosphere delay error and a troposphere delay error.
Further optionally, the acquiring observation information of a plurality of Beidou satellites includes:
screening satellite signals acquired by utilizing sampling pulses according to a signal-to-noise ratio, and screening out the satellite signals with the signal-to-noise ratio being greater than a preset threshold value;
and acquiring the observation information by using the satellite signals with the signal-to-noise ratios larger than a preset threshold value.
In the embodiment of the invention, the satellite signals are screened, and then the observation information is obtained according to the screened satellite signals, so that the accuracy of the observation information can be improved, and the time service precision is further improved.
In other alternative embodiments, the satellite signals may be filtered according to the strength of the satellite signals at the same time.
In an alternative specific embodiment, a weight of observation information obtained according to the satellite signal may be determined according to the signal-to-noise ratio and/or the signal strength of the satellite signal, and then subsequent time service may be performed based on the observation information after weighted summation.
Optionally, the correcting the pseudorange observation value by using the error terms includes:
eliminating higher order terms of ionospheric errors to correct the pseudorange observations;
smoothing the pseudorange observations using carrier phase ambiguities.
The carrier phase ambiguity N can be calculated according to the following formula:
where λ is the carrier wavelength, L is the carrier phase observed quantity, and other parameters are referred to above.
In the embodiment of the invention, the pseudo-range observation value is smoothed by utilizing the carrier phase observation quantity, so that pseudo-range observation noise in the pseudo-range observation quantity can be reduced, and the time service precision is improved.
Specifically, the pseudorange observations may be smoothed by the following equation:
wherein, Prt、Prt-1Smoothing pseudo-range observed values for the carrier at time t and time t-1, alpha being a smoothing constant, lambda being the carrier wavelength, Nt，Nt-1The carrier phase is at the time t and the time t-1.
In addition, before adjusting the computer time according to the difference between the computer time and the Beidou time, the method further comprises the following steps:
calculating the clock drift value of the computer through the Doppler, the speed and the like of the Beidou satellite;
adjusting the computer time according to the difference between the computer time and the Beidou time, comprising:
and determining and adjusting the computer time according to the difference value and the clock drift value.
The determining and adjusting of the computer time according to the difference value and the clock drift value may specifically be determining an accurate Beidou time corresponding to observation information acquisition of sampling pulses generated by the computer according to the difference value and the clock drift value, then calculating a clock pulse number required at the time of the Beidou time for a whole second, and when the counter counts the pulse number, the hardware gives a pulse signal, namely PPS, so as to realize high-precision time service.
Optionally, as shown in fig. 2, the determining the type of the offline data acquisition device and calling a corresponding pre-selected time service logic to time the offline data acquisition device, that is, step S4, includes:
s41: the computer sends a time setting instruction to the offline data acquisition equipment at a first moment (T2), wherein the time setting instruction comprises time information of the first moment;
s42: the offline data acquisition equipment sets the system time as the time of the first moment after receiving the time setting instruction;
s43: the computer sends the acquisition time instruction to the offline data acquisition equipment at a second moment after the first moment;
s44: the computer receives the current time of the offline data acquisition equipment sent by the offline data acquisition equipment according to the acquisition time instruction;
s45: the computer calculates a first difference value between the current time and the second time, wherein the first difference value comprises computer sending and processing time, information transmission delay and time set and processed by offline data acquisition equipment;
s46: and if the first difference is within the allowable error range, finishing time service.
Further optionally, as shown in fig. 3, after the computer calculates the first difference between the current time and the second time, that is, after step S45, the method further includes:
s47: if the first difference exceeds the tolerance error range, the computer sets a deviation amount according to the first difference, a new time setting instruction is sent to the offline data acquisition equipment at a third moment after the second moment, and time information contained in the new time setting instruction is determined according to the third moment and the deviation amount;
s48: after receiving the new set time command, the offline data acquisition device sets the system time as the time information included in the new set time command, and repeats the first difference obtaining process in steps S43 to S45.
For example, the deviation amount b may be set to Δ t/2, where Δ t is the first difference.
It should be understood by those skilled in the art that, in step S48, the step S43 to S45 are repeated to specifically determine that: and the computer sends the acquisition time instruction to the off-line data acquisition equipment again, acquires the latest time of the off-line data acquisition equipment, calculates the difference (which can be called as a fifth difference) between the latest time and the retransmission acquisition time instruction, finishes time service if the difference is within an allowable error range, and otherwise, repeats the same time setting process of the steps S47 and S48.
Optionally, before the computer sends the time setting instruction to the offline data acquisition device at the first time (T2), the method further includes:
the computer sends an acquisition time instruction to the offline data acquisition equipment at a time T1 before the first time, and receives the current time LT1 of the offline data acquisition equipment sent by the offline data acquisition equipment according to the acquisition time instruction.
The first time synchronization time may be very different, and this communication is mainly for testing whether the command is valid.
In other words, the preselection time service logic is that the computer sends an acquisition time instruction to the offline data acquisition equipment at the time of T1 to obtain the current time LT1 of the offline data acquisition equipment, and because the time is the first synchronization time, the difference is possibly large, and the communication is mainly used for testing whether the instruction is effective or not; sending a time setting instruction to the offline data acquisition equipment at the time T2, wherein the time setting instruction comprises time information at the time T2, and after receiving the instruction, the offline data acquisition equipment sets the system time to be T2; sending an acquisition time instruction to the offline data acquisition equipment at the time of T3 to obtain the current time LT3 of the offline data acquisition equipment, and calculating a difference value T which is T3-LT3, wherein the difference value T comprises computer sending and processing time, information transmission delay and offline data acquisition equipment setting and processing time; if t is within the allowable error range, the time service is finished; otherwise, taking T/2 as a deviation amount, sending a time setting instruction to the offline data acquisition equipment at the time T4, wherein the time information is T4+ T/2, setting the system time to be T4+ T/2 after the offline data acquisition equipment receives the command, and repeating the previous judgment.
In other optional specific embodiments, after the computer calculates a first difference between the current time and the second time, the method further includes:
if the first difference exceeds the allowable error range, the computer acquires a second difference between the current time and the time when the computer receives the current time;
the computer comparing a third difference between the second difference and a half of the time of the first difference;
if the third difference is larger than a second preset threshold, the computer executes time service on the off-line data acquisition equipment again;
otherwise, the computer sends a time setting instruction to the off-line data acquisition equipment again, and the time information included in the time setting instruction sent again is the sum of the time for sending the time setting instruction again and the first difference minus the second difference.
Optionally, as shown in fig. 4, after the time service is completed, performing consistency check on the time of the offline data acquisition device, and determining whether the time service is successful, that is, step S5, includes:
s51: acquiring time difference values between the computer time and each off-line data acquisition device after time service is finished;
s52: grouping the time difference values according to the type of the off-line data acquisition equipment and/or the type of a connection interface between the off-line data acquisition equipment and a computer;
s53: and if at least two time difference values exist in the time difference value group, and a fourth difference value between any two time difference values in the time difference value group is smaller than a third preset threshold value, determining that the time of the offline data acquisition equipment corresponding to all the time difference values in the time difference value group has consistency.
The offline data acquisition device corresponding to the time difference in the time difference group, that is, the time difference in the time difference group is the time difference between the offline data acquisition device corresponding to the time difference and the computer time.
Further optionally, after grouping the time difference values according to the type of the offline data acquisition device and/or the type of the connection interface between the offline data acquisition device and the computer, the method further includes:
if only one time difference value exists in the time difference value group, determining a corresponding judgment threshold value according to the type of the off-line data acquisition equipment corresponding to the time difference value and/or the type of a connection interface between the off-line data acquisition equipment and the computer;
comparing the time difference value with a corresponding judgment threshold value;
and if the time difference is within the range limited by the judgment threshold, determining that the time of the offline data acquisition equipment corresponding to the time difference in the time difference group has consistency.
And if and only if the time of all the off-line data acquisition equipment is determined to have consistency, the time service is judged to be successful. Otherwise, as long as the offline data acquisition equipment corresponding to the time difference values in one group of time difference value groups does not determine the time consistency, the time service is judged to fail.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (9)
1. A time synchronization method for an offline data acquisition device based on Beidou time service is characterized by comprising the following steps:
obtaining Beidou time;
according to the Beidou time, carrying out accurate time service on a computer;
detecting whether an online offline data acquisition device exists on a connection interface of the computer;
determining the type of the off-line data acquisition equipment, and calling corresponding preselected time service logic to time the off-line data acquisition equipment;
and after time service is finished, carrying out consistency check on the time of the off-line data acquisition equipment, and judging whether the time service is successful.
2. The method of claim 1, wherein said accurately timing a computer according to said Beidou time comprises:
acquiring observation information of a plurality of Beidou satellites;
calculating each error item influencing a pseudo-range observation value by using the observation information;
correcting the pseudo-range observation value by using each error item;
calculating an observation residual error according to the observation information;
calculating the time change rate of the observation residual errors according to the observation residual errors at adjacent moments;
if the observation residual error time change rate is smaller than a first preset threshold value, determining a difference value between the computer time and the Beidou time according to the corrected pseudo-range observation value and the position information of the computer;
and adjusting the computer time according to the difference value between the computer time and the Beidou time.
3. The method of claim 2, wherein the obtaining observation information for a plurality of Beidou satellites comprises:
screening satellite signals acquired by utilizing sampling pulses according to a signal-to-noise ratio, and screening out the satellite signals with the signal-to-noise ratio being greater than a preset threshold value;
and acquiring the observation information by using the satellite signals with the signal-to-noise ratios larger than a preset threshold value.
4. The method of claim 2, wherein said correcting the pseudorange observations with the error terms comprises:
eliminating higher order terms of ionospheric errors to correct the pseudorange observations;
smoothing the pseudorange observations using carrier phase ambiguities.
5. The method according to claim 1, wherein the determining the type of the offline data acquisition device and calling the corresponding pre-selected time service logic to time the offline data acquisition device comprises:
s41: the computer sends a time setting instruction to the offline data acquisition equipment at a first moment, wherein the time setting instruction comprises time information of the first moment;
s42: the offline data acquisition equipment sets the system time as the time of the first moment after receiving the time setting instruction;
s43: the computer sends an acquisition time instruction to the offline data acquisition equipment at a second moment after the first moment;
s44: the computer receives the current time of the off-line data acquisition equipment sent by the off-line data acquisition equipment according to the acquisition time instruction;
s45: the computer calculates a first difference value between the current time and the second time, wherein the first difference value comprises computer sending and processing time, information transmission delay and time set and processed by offline data acquisition equipment;
s46: and if the first difference is within the allowable error range, finishing time service.
6. The method of claim 5, wherein after the computer calculates the first difference between the current time and the second time, further comprising:
if the first difference exceeds the tolerance error range, the computer sets a deviation amount according to the first difference, a new time setting instruction is sent to the offline data acquisition equipment at a third moment after the second moment, and time information contained in the new time setting instruction is determined according to the third moment and the deviation amount;
after receiving the new set time command, the offline data acquisition device sets the system time as the time information included in the new set time command, and repeats the first difference obtaining process in steps S43 to S45.
7. The method of claim 5, wherein after the computer calculates the first difference between the current time and the second time, further comprising:
if the first difference exceeds the allowable error range, the computer acquires a second difference between the current time and the time when the computer receives the current time;
the computer comparing a third difference between the second difference and a half of the time of the first difference;
if the third difference is larger than a second preset threshold, the computer executes time service on the off-line data acquisition equipment again;
otherwise, the computer sends a time setting instruction to the off-line data acquisition equipment again, and the time information included in the time setting instruction sent again is the sum of the time for sending the time setting instruction again and the first difference minus the second difference.
8. The method of claim 5, wherein prior to the computer sending a set time command to the offline data collection device at the first time, further comprising:
the computer sends an acquisition time instruction to the offline data acquisition equipment at a time T1 before the first time, and receives the current time LT1 of the offline data acquisition equipment sent by the offline data acquisition equipment according to the acquisition time instruction.
9. The method according to claim 1, wherein after the time service is finished, the time of the offline data acquisition device is subjected to consistency check to judge whether the time service is successful or not, and the method comprises the following steps:
acquiring time difference values between the computer time and each off-line data acquisition device after time service is finished;
grouping the time difference values according to the type of the off-line data acquisition equipment and/or the type of a connection interface between the off-line data acquisition equipment and a computer;
and if at least two time difference values exist in the time difference value group, and a fourth difference value between any two time difference values in the time difference value group is smaller than a third preset threshold value, determining that the time of the offline data acquisition equipment corresponding to all the time difference values in the time difference value group has consistency.
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