CN114647178A - Automatic atomic clock calibration method and system based on Beidou and ground reference transmission - Google Patents
Automatic atomic clock calibration method and system based on Beidou and ground reference transmission Download PDFInfo
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- 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
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- G—PHYSICS
- G04—HOROLOGY
- G04G—ELECTRONIC TIME-PIECES
- G04G5/00—Setting, i.e. correcting or changing, the time-indication
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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
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R40/00—Correcting the clock frequency
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The application relates to an atomic clock automatic calibration method, an atomic clock automatic calibration system, computer equipment and a storage medium based on Beidou and ground reference transmission. The method comprises the following steps: measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment; measuring a time difference signal of the rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver; constructing a measurement matrix of a Kalman filtering algorithm according to the frequency stability and the time difference signal; constructing state equations of a Kalman filtering algorithm with four parameters; the four parameters include: phase, frequency drift and frequency stability; and inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for Kalman filtering algorithm iteration, and outputting frequency control information to calibrate the rubidium atomic clock to be detected. The method can automatically calibrate the rubidium atomic clock.
Description
Technical Field
The application relates to the technical field of data processing, in particular to an atomic clock automatic calibration method and system based on Beidou and ground reference transmission.
Background
With the wide application of Beidou time service, the long-term stability and the high accuracy of the Beidou timing signal are utilized, the time deviation between the rubidium atomic clock and the satellite timing signal is measured, the frequency deviation and the frequency drift rate parameter of the rubidium atomic clock are calculated by adopting a Kalman filter, then the frequency accuracy of the rubidium atomic clock is automatically calibrated, and the high-accuracy frequency signal is obtained. The existing technology for calibrating the rubidium atomic clock by the Beidou satellite mainly adopts a method for estimating initial frequency accuracy, and calibrates the rubidium atomic clock by a Kalman filtering algorithm of three state parameters of phase, frequency and frequency drift.
However, the rubidium atomic clock is built in the high-precision time service/time keeping system, and due to the characteristic that the output frequency of the frequency source of the rubidium atomic clock has aging drift, namely, the output frequency accuracy of the rubidium atomic clock is deteriorated along with the change of time, the rubidium atomic clock needs to be periodically sent to a measuring yard, the frequency accuracy is measured by using a first-level frequency standard, and the rubidium atomic clock is manually calibrated, so that the calibration process and equipment are complicated, the time is long, and the overall use of the high-precision time service/time keeping system is influenced.
Disclosure of Invention
In view of the foregoing, it is necessary to provide an atomic clock automatic calibration method, system, computer device and storage medium based on beidou and ground reference transmission.
An automatic calibration method for an atomic clock based on Beidou and ground reference transmission comprises the following steps:
measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment;
measuring a time difference signal of the rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver;
constructing a measurement matrix of a Kalman filtering algorithm according to the frequency stability and the time difference signal;
constructing state equations of a Kalman filtering algorithm with four parameters; the four parameters include: phase, frequency drift and frequency stability;
and inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for Kalman filtering algorithm iteration, and outputting frequency control information to calibrate the rubidium atomic clock to be detected.
In one embodiment, the method further comprises the following steps: the frequency measurement equipment receives a ground reference signal and a rubidium atomic clock signal to be detected, and the initial frequency accuracy and the frequency stability of the rubidium atomic clock to be detected are obtained according to the ground reference signal and the rubidium atomic clock signal to be detected.
In one embodiment, the method further comprises the following steps: acquiring the state equation and a pre-constructed linear connection matrix; the element corresponding to the phase and frequency stability in the linear connection matrix is 1, and the element corresponding to the frequency and frequency drift is 0; and obtaining a measurement matrix according to the state equation and the linear connection matrix.
In one embodiment, the measurement matrix is represented as:
Z(k)＝x1(k)+x4(k)+n0(t)
where z (k) is H × X (k), H denotes a linear connection matrix, H (1001) is X denotes a multiplication operation of the matrix, X denotes a state equation, X (k) denotes a state value at the k-th observation, and X (k) is (X)1(k) x2(k) x3(k) x4(k))T，x1(k) Denotes the phase at the k-th observation, x2(k) Denotes the frequency, x, at the k-th observation3(k) Indicates the frequency drift, x, at the k-th observation4(k) Represents the frequency stability at the k-th observation (·)TRepresenting a transpose operation of a matrix, n0(t) is white noise with zero mean, k represents the observation number, and t represents the observation time.
In one embodiment, the equation of state is expressed as:
wherein the content of the first and second substances,
representing the system state transition matrix, x representing the multiplication of the matrix, t representing the observation time, τ representing the observation time interval, and Δ x representing the observation error.
In one embodiment, the method further comprises the following steps: and the time difference measuring circuit measures and receives the output signal of the Beidou receiver and the output signal of the rubidium atomic clock, and obtains a time difference signal of the rubidium atomic clock to be detected according to the time difference between the output signal of the Beidou receiver and the output signal of the rubidium atomic clock.
In one embodiment, the method further comprises the following steps: obtaining an initial state value and an initial variance according to the frequency stability and the initial frequency accuracy; updating a prediction state value, a prediction variance and a Kalman gain according to the state equation, the initial state value and the initial variance to obtain a measurement result; obtaining an estimated variance and an estimated value according to the predicted state value, the measurement result, the predicted variance and the Kalman gain; inputting the estimated variance and the estimated value into a state equation for iterative updating, and obtaining an optimal estimated variance and an optimal estimated state value when the estimated variance is smaller than the frequency stability; and outputting frequency control information according to the optimal estimation state value so as to calibrate the rubidium atomic clock to be detected.
An atomic clock automatic calibration system based on Beidou and ground reference transfer, the system comprising:
the parameter measuring module is used for measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through the ground reference station and the frequency measuring equipment;
the signal measurement module is used for measuring a time difference signal of the rubidium atomic clock to be detected through the time difference measurement circuit and the Beidou receiver;
the measurement matrix construction module is used for constructing a measurement matrix of a Kalman filtering algorithm according to the frequency stability and the time difference signal;
the system comprises a state equation construction module, a state equation calculation module and a state equation calculation module, wherein the state equation construction module is used for constructing a state equation of a Kalman filtering algorithm with four parameters; the four parameters include: phase, frequency drift, and frequency stability.
And the automatic calibration module is used for inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for Kalman filtering algorithm iteration and outputting frequency control information so as to calibrate the rubidium atomic clock to be detected.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment;
measuring a time difference signal of the rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver;
constructing a measurement matrix of a Kalman filtering algorithm according to the frequency stability and the time difference signal;
constructing state equations of a Kalman filtering algorithm with four parameters; the four parameters include: phase, frequency drift and frequency stability;
and inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for Kalman filtering algorithm iteration, and outputting frequency control information to calibrate the rubidium atomic clock to be detected.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment;
measuring a time difference signal of the rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver;
constructing a measurement matrix of a Kalman filtering algorithm according to the frequency stability and the time difference signal;
constructing state equations of a Kalman filtering algorithm with four parameters; the four parameters include: phase, frequency drift and frequency stability;
and inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for Kalman filtering algorithm iteration, and outputting frequency control information to calibrate the rubidium atomic clock to be detected.
According to the automatic calibration method and system for the atomic clock based on Beidou and ground reference transmission, the initial accuracy of the frequency of the rubidium atomic clock is measured through the ground reference, so that accurate initial parameters can be provided for Beidou Kalman filtering, the iteration times are reduced, and the convergence time is shortened; the frequency stability of the rubidium atomic clock is measured through ground reference, and a four-parameter state equation of phase, frequency drift and stability is adopted, so that the prediction accuracy can be improved; after the data processor receives the initial frequency accuracy and the frequency stability, the frequency control parameters are calculated according to the time difference measurement value and the four-parameter state equation, and then the rubidium atomic clock can be automatically calibrated.
Drawings
FIG. 1 is a schematic flow chart of an atomic clock automatic calibration method based on Beidou and ground reference transmission in one embodiment;
FIG. 2 is a schematic diagram of the working principle of an atomic clock automatic calibration system based on Beidou and ground reference transmission in one embodiment;
FIG. 3 is a schematic flow chart of an atomic clock auto-calibration method based on Beidou and ground reference transmission in one embodiment;
FIG. 4 is a block diagram of an atomic clock auto-calibration system based on Beidou and ground reference transfer in one embodiment;
FIG. 5 is a diagram of the internal structure of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided an atomic clock automatic calibration method based on beidou and ground reference transmission, including the following steps:
and 102, measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment.
The rubidium atomic clock is a high-precision and high-reliability synchronous clock product, and the clock organically combines a high-stability rubidium oscillator and a GPS high-precision time service, frequency measurement and time synchronization technology, so that the rubidium oscillator outputs frequency taming and synchronizing to a GPS satellite cesium atomic clock signal, the long-term stability and accuracy of the frequency signal are improved, and a high-precision time frequency standard of a cesium clock magnitude can be provided. The ground reference station is a ground fixed observation station which continuously observes satellite navigation signals for a long time and transmits observation data to a data center in real time or at regular time through a communication facility. The convergence time of calibration of the rubidium atomic clock can be shortened by measuring the accuracy of the initial frequency of the rubidium atomic clock to be detected through ground reference.
And step 104, measuring a time difference signal of the rubidium atomic clock to be detected through the time difference measuring circuit and the Beidou receiver.
And 106, constructing a measurement matrix of the Kalman filtering algorithm according to the frequency stability and the time difference signal.
The frequency stability identifies the stability of the operating frequency of the oscillator, and Kalman filtering (Kalman filtering) is an algorithm that uses a linear system state equation to optimally estimate the system state by inputting and outputting observation data through the system. The optimal estimation can also be seen as a filtering process, since the observed data includes the effects of noise and interference in the system.
And step 108, constructing a state equation of the Kalman filtering algorithm with four parameters.
The four parameters comprise phase, frequency drift and frequency stability, the frequency stability of the rubidium atomic clock is measured through a ground reference, the frequency stability parameter is added in the state parameter, and the Kalman filtering prediction accuracy can be improved.
And step 110, inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for Kalman filtering algorithm iteration, and outputting frequency control information to calibrate the rubidium atomic clock to be detected.
In the atomic clock automatic calibration method based on Beidou and ground reference transmission, the initial accuracy of the frequency of the rubidium atomic clock is measured through the ground reference, so that accurate initial parameters can be provided for Beidou Kalman filtering, the iteration times are reduced, and the convergence time is shortened; the frequency stability of the rubidium atomic clock is measured through ground reference, and a four-parameter state equation of phase, frequency drift and stability is adopted, so that the prediction error can be reduced, and the prediction accuracy is improved; after the data processor receives the initial frequency accuracy and the frequency stability, the frequency control parameters are calculated according to the time difference measurement value and the four-parameter state equation, and then the rubidium atomic clock can be automatically calibrated.
In one embodiment, the measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected by the ground reference station and the frequency measuring equipment comprises: the frequency measuring equipment receives the ground reference signal and the rubidium atomic clock signal to be detected, and the initial frequency accuracy and the frequency stability of the rubidium atomic clock to be detected are obtained according to the ground reference signal and the rubidium atomic clock signal to be detected. In this embodiment, specifically, the frequency measurement device receives a 10MHz signal transmitted by the rubidium atomic clock to be detected, measures the initial frequency accuracy and the frequency stability of the rubidium atomic clock to be detected with the 10MHz signal transmitted by the ground reference as a reference, and transmits the measured value to the data processor. The accuracy of the initial frequency of the rubidium atomic clock is measured through a ground reference, and accurate initial parameters are provided for Kalman filtering, so that the iteration times are reduced, and the convergence time is shortened.
In one embodiment, constructing a measurement matrix of a kalman filter algorithm based on the frequency stability and the time difference signal includes: acquiring a state equation and a pre-constructed linear connection matrix; the element corresponding to the phase and frequency stability in the linear connection matrix is 1, and the element corresponding to the frequency and frequency drift is 0; obtaining a measurement matrix according to the state equation and the linear connection matrix; the measurement matrix is represented as:
Z(k)＝x1(k)+x4(k)+n0(t)
where z (k) is H × X (k), H denotes a linear connection matrix, H (1001), X denotes a multiplication operation of the matrix, X denotes a state equation, X (k) denotes a state value at the k-th observation, and X (k) is (X) at the k-th observation1(k) x2(k) x3(k) x4(k))T，x1(k) Denotes the phase at the k-th observation, x2(k) Denotes the frequency, x, at the k-th observation3(k) Indicates the frequency drift, x, at the k-th observation4(k) Represents the frequency stability at the k-th observation (·)TRepresenting a transpose operation of a matrix, n0(t) is white noise with zero mean, k represents an observation number, and t represents an observation time.
In this embodiment, the input of the state equation of the four-parameter kalman filter is the time difference and the frequency stability between the reference second and the local second, and the measurement matrix is obtained by multiplying the linear connection matrix by the state equation of the four-parameter kalman filter. By adopting a four-parameter state equation of phase, frequency drift and stability, the prediction error of the Kalman calibration algorithm can be reduced, so that the prediction accuracy is improved.
In one embodiment, the equation of state is expressed as:
wherein the content of the first and second substances,
representing the system state transition matrix, x representing the multiplication of the matrix, t representing the observation time, τ representing the observation time interval, and Δ x representing the observation error. In the present embodiment, τ is 1 for a 1pps signal using a receiver. And predicting the optimal estimation state value by adopting a four-parameter state equation of phase, frequency drift and frequency stability, and improving the Kalman filtering prediction accuracy.
In one embodiment, the step of measuring the time difference signal of the rubidium atomic clock to be detected through the time difference measuring circuit and the Beidou receiver comprises the following steps: and the time difference measuring circuit measures and receives the output signal of the Beidou receiver and the output signal of the rubidium atomic clock, and obtains a time difference signal of the rubidium atomic clock to be detected according to the time difference between the output signal of the Beidou receiver and the output signal of the rubidium atomic clock.
Specifically, the time difference measuring circuit measures the time difference of 1PPS output by the Beidou receiver and 1PPS output by the rubidium atomic clock, and transmits the measured value to the data processor.
In one embodiment, as shown in fig. 3, inputting the frequency stability, the initial frequency accuracy, and the time difference signal into the processor for kalman filtering iteration, and outputting frequency control information to calibrate the rubidium atomic clock to be detected includes: obtaining an initial state value and an initial variance according to the frequency stability and the initial frequency accuracy; updating the prediction state value, the prediction variance and the Kalman gain according to the state equation, the initial state value and the initial variance to obtain a measurement result; obtaining an estimated variance and an estimated value according to the predicted state value, the measurement result, the predicted variance and the Kalman gain; inputting the estimated variance and the estimated value into a state equation for iterative updating, and obtaining an optimal estimated variance and an optimal estimated state value when the estimated variance is smaller than the frequency stability; and outputting frequency control information according to the optimal estimation state value so as to calibrate the rubidium atomic clock to be detected. In this embodiment, the measurement result may be obtained by a measurement matrix.
In a specific embodiment, as shown in fig. 2, a schematic diagram of a working principle of an atomic clock automatic calibration system based on transmission of beidou and ground reference is provided, a frequency measurement device takes a 10MHz signal transmitted by the ground reference as a reference, measures initial frequency accuracy and frequency stability of a rubidium atomic clock to be detected, transmits the measured value to a data processor, measures initial frequency accuracy of the rubidium atomic clock through the ground reference, can provide accurate initial parameters for kalman filtering in the data processor, reduces iteration times, shortens convergence time, a time difference measurement circuit measures a time difference between 1PPS output by a beidou receiver and 1PPS output by the rubidium atomic clock, obtains a time difference signal of the rubidium atomic clock to be detected, transmits the time difference signal to the data processor, processes parameters input to the processor through a kalman calibration algorithm in the data processor, and generating a frequency control signal to calibrate the rubidium atomic clock to be detected.
It should be understood that although the various steps in the flow charts of fig. 1-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 4, there is provided an atomic clock automatic calibration system based on beidou and ground reference transmission, including: a parameter measurement module 402, a signal measurement module 404, a measurement matrix construction module 406, a state equation construction module 408, and an auto-calibration module 410, wherein:
the parameter measuring module 402 is configured to measure the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through a ground reference station and a frequency measuring device;
the signal measurement module 404 is configured to measure a time difference signal of the rubidium atomic clock to be detected through the time difference measurement circuit and the Beidou receiver;
a measurement matrix construction module 406, configured to construct a measurement matrix of a kalman filter algorithm according to the frequency stability and the time difference signal;
the state equation constructing module 408 is configured to construct a state equation of a kalman filtering algorithm with four parameters; the four parameters include: phase, frequency drift, and frequency stability.
And the automatic calibration module 410 is configured to input the frequency stability, the initial frequency accuracy and the time difference signal into the processor to perform kalman filtering algorithm iteration, and output frequency control information to calibrate the rubidium atomic clock to be detected.
In one embodiment, the parameter measurement module 402 is further configured to receive a ground reference signal and a rubidium atomic clock signal to be detected by the frequency measurement device, and obtain an initial frequency accuracy and a frequency stability of the rubidium atomic clock to be detected according to the ground reference signal and the rubidium atomic clock signal to be detected.
In one embodiment, the measurement matrix construction module 406 is further configured to obtain a state equation and a pre-constructed linear connection matrix; the element corresponding to the phase and frequency stability in the linear connection matrix is 1, and the element corresponding to the frequency and frequency drift is 0; and obtaining a measurement matrix according to the state equation and the linear connection matrix.
In one embodiment, the measurement matrix construction module 406 is further configured to express the measurement matrix as:
Z(k)＝x1(k)+x4(k)+n0(t)
where z (k) is H × X (k), H denotes a linear connection matrix, H (1001), X denotes a multiplication operation of the matrix, X denotes a state equation, X (k) denotes a state value at the k-th observation, and X (k) is (X) at the k-th observation1(k) x2(k) x3(k) x4(k))T，x1(k) Denotes the phase at the k-th observation, x2(k) Denotes the frequency at the k-th observation, x3(k) Indicates the frequency drift, x, at the k-th observation4(k) Represents the frequency stability at the kth observation, (. cndot.)TRepresenting a transpose operation of a matrix, n0(t) is zero mean whiteNoise, k denotes an observation number, and t denotes an observation time.
In one embodiment, the equation of state construction module 408 is further configured to express the equation of state as:
wherein the content of the first and second substances,
represents a system state transition matrix, x represents a multiplication operation of the matrix, t represents an observation time, τ represents an observation time interval, and Δ x represents an observation error.
In one embodiment, the signal measurement module 404 is further configured to measure and receive an output signal of a Beidou receiver and an output signal of a rubidium atomic clock by a time difference measurement circuit, and obtain a time difference signal of the rubidium atomic clock to be detected according to a time difference between the output signal of the Beidou receiver and the output signal of the rubidium atomic clock.
In one embodiment, the automatic calibration module 410 is further configured to obtain an initial state value and an initial variance according to the frequency stability and the initial frequency accuracy; updating the prediction state value, the prediction variance and the Kalman gain according to the state equation, the initial state value and the initial variance to obtain a measurement result; obtaining an estimated variance and an estimated value according to the predicted state value, the measurement result, the predicted variance and the Kalman gain; inputting the estimated variance and the estimated value into a state equation for iterative updating, and obtaining an optimal estimated variance and an optimal estimated state value when the estimated variance is smaller than the frequency stability; and outputting frequency control information according to the optimal estimation state value so as to calibrate the rubidium atomic clock to be detected.
For specific limitations of the atomic clock automatic calibration system based on the transmission of the Beidou and the ground reference, reference may be made to the above limitations of the atomic clock automatic calibration method based on the transmission of the Beidou and the ground reference, and details are not repeated here. All modules in the atomic clock automatic calibration system based on Beidou and ground reference transmission can be completely or partially realized through software, hardware and combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, a display screen, and an input system connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize an automatic calibration method of the atomic clock based on Beidou and ground reference transmission. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input system of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the method in the above embodiments when the processor executes the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method in the above-mentioned embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An automatic atomic clock calibration method based on Beidou and ground reference transmission is characterized by comprising the following steps:
measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment;
measuring a time difference signal of the rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver;
constructing a measurement matrix of a Kalman filtering algorithm according to the frequency stability and the time difference signal;
constructing state equations of a Kalman filtering algorithm with four parameters; the four parameters include: phase, frequency drift and frequency stability;
and inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for Kalman filtering algorithm iteration, and outputting frequency control information to calibrate the rubidium atomic clock to be detected.
2. The method of claim 1, wherein the measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected by the ground reference station and the frequency measurement equipment comprises:
the frequency measurement equipment receives a ground reference signal and a rubidium atomic clock signal to be detected, and the initial frequency accuracy and the frequency stability of the rubidium atomic clock to be detected are obtained according to the ground reference signal and the rubidium atomic clock signal to be detected.
3. The method of claim 1, wherein constructing a measurement matrix for a kalman filter algorithm based on the frequency stability and the moveout signal comprises:
acquiring the state equation and a pre-constructed linear connection matrix; the element corresponding to the phase and frequency stability in the linear connection matrix is 1, and the element corresponding to the frequency and frequency drift is 0;
and obtaining a measurement matrix according to the state equation and the linear connection matrix.
4. The method of claim 3, wherein the measurement matrix is represented as:
Z(k)＝x1(k)+x4(k)+n0(t)
where z (k) is H × X (k), H denotes a linear connection matrix, H (1001), X denotes a multiplication operation of the matrix, X denotes a state equation, X (k) denotes a state value at the k-th observation, and X (k) is (X) at the k-th observation1(k) x2(k) x3(k) x4(k))T，x1(k) Denotes the phase at the k-th observation, x2(k) Denotes the frequency, x, at the k-th observation3(k) Represents the frequency drift, x, at the k-th observation4(k) Represents the frequency stability at the kth observation, (. cndot.)TRepresenting a transpose operation of a matrix, n0(t) is white noise with zero mean, k represents an observation number, and t represents an observation time.
5. The method of claim 4, wherein the equation of state is expressed as:
wherein the content of the first and second substances,
representing the system state transition matrix, x representing the multiplication of the matrix, t representing the observation time, τ representing the observation time interval, and Δ x representing the observation error.
6. The method of claim 1, wherein the measuring the time difference signal of the rubidium atomic clock to be detected through the time difference measuring circuit and a Beidou receiver comprises:
and the time difference measuring circuit measures and receives the output signal of the Beidou receiver and the output signal of the rubidium atomic clock, and obtains a time difference signal of the rubidium atomic clock to be detected according to the time difference between the output signal of the Beidou receiver and the output signal of the rubidium atomic clock.
7. The method of claim 1, wherein the inputting the frequency stability, the initial frequency accuracy, and the time difference signal into a processor for kalman filtering algorithm iteration, and outputting frequency control information to calibrate the rubidium atomic clock to be detected comprises:
obtaining an initial state value and an initial variance according to the frequency stability and the initial frequency accuracy;
updating a prediction state value, a prediction variance and a Kalman gain according to the state equation, the initial state value and the initial variance to obtain a measurement result; obtaining an estimated variance and an estimated value according to the predicted state value, the measurement result, the predicted variance and the Kalman gain;
inputting the estimated variance and the estimated value into a state equation for iterative updating, and obtaining an optimal estimated variance and an optimal estimated state value when the estimated variance is smaller than the frequency stability;
and outputting frequency control information according to the optimal estimation state value so as to calibrate the rubidium atomic clock to be detected.
8. An atomic clock automatic calibration system based on Beidou and ground reference transmission is characterized by comprising:
the parameter measuring module is used for measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through the ground reference station and the frequency measuring equipment;
the signal measurement module is used for measuring a time difference signal of the rubidium atomic clock to be detected through the time difference measurement circuit and the Beidou receiver;
the measurement matrix construction module is used for constructing a measurement matrix of a Kalman filtering algorithm according to the frequency stability and the time difference signal;
the system comprises a state equation construction module, a state equation calculation module and a state equation calculation module, wherein the state equation construction module is used for constructing a state equation of a Kalman filtering algorithm with four parameters; the four parameters include: phase, frequency drift, and frequency stability.
And the automatic calibration module is used for inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for Kalman filtering algorithm iteration and outputting frequency control information so as to calibrate the rubidium atomic clock to be detected.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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