CN117666321A - Virtual satellite common view real-time synchronization device and synchronization method thereof - Google Patents
Virtual satellite common view real-time synchronization device and synchronization method thereof Download PDFInfo
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Abstract
The invention discloses a virtual satellite common view real-time synchronization device which comprises a GNSS antenna module, wherein the GNSS antenna module is connected with an original observation data acquisition module, the original observation data acquisition module is also respectively connected with a local reference clock, a high-precision time interval measurement module and a virtual satellite common view time comparison module, the local reference clock is also respectively connected with the high-precision time interval measurement module, a time difference compensation module and a time signal generation module, the high-precision time interval measurement module is also connected with the time compensation module and the time signal generation module, and the time compensation module is also connected with the virtual satellite common view time comparison module and the time signal generation module. The invention also discloses a virtual satellite common view real-time synchronization method. The invention can realize high-precision real-time synchronization under the condition that a plurality of virtual satellite common view real-time synchronization devices are not connected.
Description
Technical Field
The invention belongs to the fields of satellite navigation time service, time frequency transmission and the like, and particularly relates to a virtual satellite common-view real-time synchronization device and a virtual satellite common-view real-time synchronization method.
Background
The high-precision real-time comparison and time synchronization technology is one of key technologies for establishing and maintaining space-time references, and is widely applied to the fields of science and engineering, such as array antennas, radar networking, power grids, finance and the like. Compared with other navigation systems, the navigation satellite system of the Beidou No. three global satellite navigation system consists of MEO satellite (middle orbit satellite) constellation, GEO satellite (geosynchronous orbit satellite) constellation and IGSO satellite (inclined geosynchronous orbit satellite) constellation, and the Beidou No. three global satellite navigation system receiver in the asiatic region can acquire the observation data of the GEO satellite all the time and all the weather, so that convenience is provided for all the time and the common view of the Beidou No. three global satellite navigation system receiver in the asiatic region.
In order to solve the defects that the real-time transmission of the common view time difference data through a communication link is required in the traditional GNSS common view time transfer and time synchronization, the invention provides a virtual satellite common view real-time synchronization device and a synchronization method thereof, wherein the virtual satellite common view real-time synchronization device selects one GEO satellite of 3 GEO satellites in a Beidou three-number global satellite navigation system as a virtual common view satellite for time reference in the asiatai region, and all the virtual satellite common view real-time synchronization devices select the same GEO common view satellite, so that the virtual satellite common view real-time synchronization device only synchronizes with the GEO common view satellite, the defect that the data are transmitted by the communication link common view time ratio in the traditional satellite common view is solved, the high-precision time synchronization is realized under the condition that no network exists in the asiatai region, and a key technical support is provided for building and maintaining the national strategy demand of space-time reference.
Compared with the traditional satellite common view technology, the virtual satellite common view real-time synchronization device and the synchronization method based on the Beidou GEO satellite provided by the invention solve the defect of dependence of the traditional common view time transmission technology on a communication link, and provide a new method for real-time high-precision time synchronization and time comparison in a network-free environment. The real-time high-precision virtual satellite common view time comparison method based on GEO satellites is designed, the virtual satellite common view real-time synchronization device is calibrated in real time to output the phase of 1PPS pulse according to virtual satellite common view time comparison data and real-time measurement hardware time difference, and finally high-precision time synchronization among a plurality of virtual satellite common view real-time synchronization devices under the condition of no network in the asia-Tai region is realized.
Disclosure of Invention
The invention aims to provide a virtual satellite common view real-time synchronization device and a virtual satellite common view real-time synchronization method aiming at the defect that the existing satellite common view technology depends on a data communication link.
The above object of the present invention is achieved by the following technical means:
a virtual satellite common view real-time synchronization device comprises a GNSS antenna module, an original observation data acquisition module,
the original observation data acquisition module is used for acquiring GNSS signals of the navigation system through the GNSS antenna module, generating original pseudo-range observation data, original carrier phase observation data and broadcast ephemeris, transmitting the original pseudo-range observation data, the original carrier phase observation data and the broadcast ephemeris to the virtual satellite common view time comparison module, generating a receiver system time 1PPS pulse and transmitting the receiver system time 1PPS pulse to the high-precision time interval measurement module,
the high-precision time interval measuring module is used for receiving the local 1PPS pulse output by the time difference compensating module, generating hardware time difference data according to the time interval between the local 1PPS pulse and the local 1PPS pulse of the receiver system time and sending the hardware time difference data to the time difference compensating module,
the virtual satellite common-view time comparison module is used for calculating time deviation data between the system time of the receiver and the system time of the N-number GEO satellite in the original observation data acquisition module and outputting the time deviation data to the time difference compensation module;
the time difference compensation module is used for calculating the time synchronization error between the local 1PPS pulse and the selected N-number GEO satellite system time in real time according to the time deviation data and the hardware time difference data, and transmitting the time synchronization error to the time signal generation module, and calibrating the phase of the local 1PPS pulse output by the time signal generation module.
The virtual satellite common view real-time synchronization device further comprises a local reference clock, wherein the local reference clock provides a 10MHz clock for the original observation data acquisition module, the high-precision time interval measurement module and the time signal generation module respectively.
The time difference compensation module calculates the frequency deviation of the local reference clock in real time according to the time deviation data, outputs a frequency control signal to the local reference clock according to the frequency deviation of the local reference clock, and calibrates the frequency of the 10MHz signal output by the local reference clock.
The time deviation data as described above is acquired by:
the virtual satellite common-view time comparison module calculates the position of a GNSS antenna in real time by adopting a precise single-point positioning method according to the acquired original pseudo-range observation data, original carrier phase observation data and broadcast ephemeris of all navigation satellites, and then calculates time deviation data between the system time of a receiver and the system time of the N-number GEO satellite in the original observation data acquisition module according to the precise single-point positioning calculated GNSS antenna position, broadcast ephemeris, the selected original pseudo-range observation data and the original carrier phase observation data of the N-number GEO satellite.
The 10MHz clock signal output by the local reference clock as described above serves as the reference clock for the high precision time interval measurement module.
The time signal generating module generates the local 1PPS pulse by using a synchronous frequency division mode by using a 10MHz clock provided by a local reference clock.
A Beidou GEO-based virtual satellite common view real-time synchronization method comprises the following steps:
step 1, an original observation data acquisition module receives GNSS signals of a multi-navigation system through a GNSS antenna module, outputs original pseudo-range observation data, original carrier phase observation data and broadcast ephemeris to a virtual satellite common-view time comparison module, outputs receiver system time 1PPS pulses to a high-precision time interval measurement module, and takes the receiver system time 1PPS pulses as starting signals of the high-precision time interval measurement module;
step 2, the virtual satellite common view time comparison module calculates the GNSS antenna position of the virtual satellite common view real-time synchronization device in real time by using the original pseudo-range observation data, the original carrier phase observation data and the broadcast ephemeris output by the original observation data acquisition module, and then calculates the time deviation between the receiver system time and the N-number GEO satellite system time in the original observation data acquisition module in real time according to the calculated GNSS antenna position, the broadcast ephemeris, the original pseudo-range observation data and the original carrier phase observation data of the N-number GEO satellite by adopting a precise single point positioning method, and outputs the calculated time deviation data to the time difference compensation module;
step 3, the high-precision time interval measuring module takes a high-precision 10MHz clock signal provided by a local reference clock as a frequency reference source, takes a receiver system time 1PPS pulse output by the original observation data acquisition module as a start signal, takes a local 1PPS pulse output by the time signal generating module as an end signal, measures the time interval between the start signal and the end signal in real time as hardware time difference data, and outputs the measured hardware time difference data to the time difference compensation module;
step 4, the time difference compensation module calculates the time synchronization error between the local 1PPS pulse and the N-number GEO satellite system time in real time according to the time deviation data and the hardware time difference data, sends the time synchronization error to the time signal generation module, and calibrates the phase of the local 1PPS pulse output by the time signal generation module in real time, so as to realize high-precision time synchronization between the virtual satellite common view real-time synchronization device and the N-number GEO satellite, and meanwhile, the time difference compensation module calculates the frequency deviation of the local reference clock in real time according to the time deviation data, outputs a frequency control signal to the local reference clock according to the frequency deviation of the local reference clock, and calibrates the frequency of the 10MHz signal output by the local reference clock;
and 5, simultaneously selecting N-number GEO satellites as reference time sources by the multiple virtual satellite common view real-time synchronizing devices, and realizing time synchronization among the virtual satellite common view real-time synchronizing devices under the condition of not exchanging data.
Compared with the prior art, the invention has the following beneficial effects:
1. compared with the traditional satellite common view time transmission technology, the virtual satellite common view real-time synchronization method provided by the invention does not need a communication link to transmit common view time comparison data, and provides a new method for high-precision time synchronization in air, offshore and other network-free environments;
2. the virtual satellite common view real-time synchronization device utilizes the obtained original pseudo-range observation data, original carrier phase observation data and broadcast ephemeris, adopts a precise single-point positioning method to calculate the position of the GNSS antenna in real time, so that the virtual satellite common view real-time synchronization device can realize dynamic time synchronization, and overcomes the defects that the traditional satellite common view technology is only used for time cost comparison and time synchronization between static measuring stations;
3. the virtual satellite common view real-time synchronization device takes the system time of a certain GEO satellite of the Beidou No. three global navigation system as a time comparison reference, and the plurality of virtual satellite common view real-time synchronization devices realize high-precision real-time synchronization through the GEO satellite;
4. compared with the existing precise single point positioning (PPP) high-precision real-time synchronization technology, the invention can realize high-precision synchronization between a plurality of virtual satellite common view real-time synchronization devices under the condition of no network in real time and high precision by only acquiring the original pseudo-range observation data and the original carrier phase observation data of the GNSS navigation system and broadcasting ephemeris.
Drawings
Fig. 1 is a schematic block diagram of the apparatus of the present invention.
Detailed Description
The following further detailed description of the present invention is provided to facilitate the understanding and practicing the present invention by those of ordinary skill in the art, and it is to be understood that the present invention is described and illustrated herein only and is not intended to be limiting of the present invention.
As shown in fig. 1, the virtual satellite common view real-time synchronization device includes: the system comprises an original observation data acquisition module, a virtual satellite common-view time comparison module, a high-precision time interval measurement module, a time difference compensation module, a local reference clock, a time signal generation module and a GNSS antenna module.
The original observation data acquisition module is respectively connected with a local reference clock, the GNSS antenna module, the virtual satellite common view time comparison module and the high-precision time interval measurement module, in this embodiment, the original observation data acquisition module is a multi-frequency multi-system receiver capable of receiving Beidou No. three global satellite navigation system signals, provides original pseudo-range observation data, original carrier phase observation data and broadcast ephemeris for the virtual satellite common view time comparison module, and is used for resolving the position of the GNSS antenna and resolving time deviation between the original observation data acquisition module and a selected N number (a certain GEO satellite number in the Beidou GEO satellites)) GEO satellite, the local reference clock provides a high-performance 10MHz clock signal for the original observation data acquisition module, and the GNSS antenna module outputs the received GNSS signals to the original observation data acquisition module.
The virtual satellite common view time comparison module is respectively connected with the original observation data acquisition module and the time difference compensation module, and utilizes the original pseudo-range observation data, the original carrier phase observation data and the broadcast ephemeris which are output by the original observation data acquisition module of all the acquired navigation satellites, calculates the GNSS antenna position of the virtual satellite common view real-time synchronization device in real time by adopting a precise single-point positioning method, and then calculates the time deviation data between the system time of a receiver and the system time of the N GEO satellite in the original observation data acquisition module in real time according to the calculated GNSS antenna position, the broadcast ephemeris, the original pseudo-range observation data of the selected N GEO satellite and the original carrier phase observation data, and outputs the calculated time deviation data to the time difference compensation module.
The high-precision time interval measuring module is respectively connected with the original observation data acquiring module, the local reference clock, the time signal generating module and the time difference compensating module, the original observation data acquiring module generates a receiver system time 1PPS pulse through analyzing the GNSS signals, inputs the receiver system time 1PPS pulse into the high-precision time interval measuring module, takes the receiver system time 1PPS pulse as a starting signal of the high-precision time interval measuring module, the local reference clock outputs a high-performance 10MHz clock signal as a reference clock of the high-precision time interval measuring module, the local 1PPS pulse output by the time signal generating module is taken as an ending signal of the high-precision time interval measuring module, the time interval of the starting signal and the ending signal is measured in real time by the high-precision time interval measuring module and taken as hardware time difference data, and the measured hardware time difference data is output to the time difference compensating module.
The time difference compensation module is respectively connected with the virtual satellite common-view time comparison module, the high-precision time interval measurement module, the local reference clock and the time signal generation module, the virtual satellite common-view time comparison module outputs time deviation data between the original observation data acquisition module which is calculated in real time and the N-number GEO satellite to the time difference compensation module, the high-precision time interval measurement module outputs hardware time difference data between the receiver system time 1PPS pulse which is output by the original observation data acquisition module and the local 1PPS pulse which is output by the time signal generation module to the time difference compensation module, the time difference compensation module calculates the time synchronization error between the local 1PPS pulse and the N-number GEO satellite system time in real time according to the time deviation data and the hardware time difference data, preferably, when calculating the time synchronization error, the inherent delay of the navigation system needs to be considered, and sends the time synchronization error to the time signal generation module, and the real-time calibration time signal generation module outputs the phase of the local 1PPS pulse which is output by the time signal generation module, the high-precision time synchronization between the virtual satellite common-view real time synchronization device and the N-number GEO satellite, and the time clock, and the time difference compensation module calculates the frequency of the local reference clock according to the time deviation data, and the frequency of the local reference clock frequency is controlled by the frequency, and the frequency of the local reference clock frequency is output by the frequency reference clock.
The local reference clock is respectively connected with the original observation data acquisition module, the high-precision time interval measurement module, the time difference compensation module and the time signal generation module, outputs a high-performance 10MHz clock as a reference clock source of the original observation data acquisition module, the high-precision time interval measurement module and the time signal generation module, and provides a 10MHz signal for an external time consumption terminal of the device. The time difference compensation module outputs a frequency control signal to calibrate the frequency of the local reference clock output 10MHz clock, so that the frequency accuracy of the local reference clock output 10MHz clock is improved.
The time signal generation module is respectively connected with the high-precision time interval measurement module, the time difference compensation module and the local reference clock, the time signal generation module generates local 1PPS pulse by taking a 10MHz clock provided by the local reference clock as a standard and outputs the local 1PPS pulse to the high-precision time interval measurement module and an external time terminal of the device, and the time difference compensation module performs phase calibration on the local 1PPS pulse output by the time signal generation module according to the calculated time synchronization error, so that the high-precision time synchronization between the device and the N-number GEO satellite is realized, and finally the high-precision time synchronization between the devices is realized.
The GNSS antenna module is connected with the original observation data acquisition module, receives the GNSS signals of the Beidou No. three global navigation system and other multi-system GNSS signals, amplifies the GNSS signals with low noise, and outputs the GNSS signals of the multi-frequency multi-navigation system to the original observation data acquisition module.
A Beidou GEO-based virtual satellite common view real-time synchronization method comprises the following steps:
step 1, an original observation data acquisition module receives GNSS signals of a plurality of navigation systems such as a Beidou III navigation system, GPS, GLONASS, GALILEO and the like through a GNSS antenna module, outputs original pseudo-range observation data, original carrier phase observation data and broadcast ephemeris of Beidou MEO satellites, GEO satellites, IGSO satellites and other navigation systems to a virtual satellite common-view time comparison module, outputs receiver system time 1PPS pulses to a high-precision time interval measurement module, and takes the receiver system time 1PPS pulses as starting signals of the high-precision time interval measurement module;
step 2, the virtual satellite common view time comparison module calculates the GNSS antenna position of the virtual satellite common view real-time synchronization device in real time by using the original pseudo-range observation data, the original carrier phase observation data and the broadcast ephemeris output by the original observation data acquisition module, and then calculates the time deviation between the receiver system time and the N-number GEO satellite system time in the original observation data acquisition module in real time according to the calculated GNSS antenna position, the broadcast ephemeris, the original pseudo-range observation data and the original carrier phase observation data of the N-number GEO satellite by adopting a precise single point positioning method, and outputs the calculated time deviation data to the time difference compensation module;
step 3, the high-precision time interval measuring module takes a high-precision 10MHz clock signal provided by a local reference clock as a frequency reference source, takes a receiver system time 1PPS pulse output by the original observation data acquisition module as a start signal, takes a local 1PPS pulse output by the time signal generating module as an end signal, measures the time interval between the start signal and the end signal in real time as hardware time difference data, and outputs the measured hardware time difference data to the time difference compensation module;
step 4, the time difference compensation module calculates the time synchronization error between the local 1PPS pulse and the N-number GEO satellite system time in real time according to the time deviation data and the hardware time difference data, preferably, when calculating the time synchronization error, the inherent delay of the navigation system needs to be considered, the time synchronization error is transmitted to the time signal generation module, the phase of the local 1PPS pulse output by the time signal generation module is calibrated in real time, the high-precision time synchronization between the virtual satellite common view real-time synchronization device and the N-number GEO satellite is realized, meanwhile, the time difference compensation module calculates the frequency deviation of the local reference clock in real time according to the time deviation data, outputs a frequency control signal to the local reference clock according to the frequency deviation of the local reference clock, and calibrates the frequency of the 10MHz signal output by the local reference clock;
and 5, simultaneously selecting N-number GEO satellites as reference time sources by the multiple virtual satellite common view real-time synchronizing devices, namely the virtual satellite common view satellites, and realizing high-precision time synchronization among the virtual satellite common view real-time synchronizing devices under the condition of not exchanging data.
The invention fully utilizes the real-time visual convenience condition of a plurality of GEO satellites of the Beidou No. three global navigation system in the asia-Tai region, takes one GEO of the Beidou No. three global navigation system as a time comparison reference, the virtual time synchronization device selects the same GEO satellite as a time local reference, synchronizes the virtual time synchronization device to the selected GEO satellite based on the virtual satellite common view real-time synchronization method, solves the limiting factor that the traditional satellite common view method needs a data link to transmit common view data, realizes high-precision time synchronization between the virtual satellite common view real-time synchronization devices under the condition of no network,
according to the invention, the multi-navigation system multi-frequency receiver (original observation data acquisition module) is utilized to acquire original pseudo-range observation data and original carrier phase observation data, and an ionosphere elimination combination equation is established by utilizing a precise single-point positioning method, so that the antenna position of the virtual satellite common view real-time synchronization device is solved in real time, and the defect that the traditional satellite common view is only used for time comparison between static measuring stations is overcome.
It should be noted that the specific embodiments described in this application are merely illustrative of the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or its scope as defined in the accompanying claims.
Claims (7)
1. The virtual satellite common view real-time synchronization device comprises a GNSS antenna module, and is characterized by also comprising an original observation data acquisition module,
the original observation data acquisition module is used for acquiring GNSS signals of the navigation system through the GNSS antenna module, generating original pseudo-range observation data, original carrier phase observation data and broadcast ephemeris, transmitting the original pseudo-range observation data, the original carrier phase observation data and the broadcast ephemeris to the virtual satellite common view time comparison module, generating a receiver system time 1PPS pulse and transmitting the receiver system time 1PPS pulse to the high-precision time interval measurement module,
the high-precision time interval measuring module is used for receiving the local 1PPS pulse output by the time difference compensating module, generating hardware time difference data according to the time interval between the local 1PPS pulse and the local 1PPS pulse of the receiver system time and sending the hardware time difference data to the time difference compensating module,
the virtual satellite common-view time comparison module is used for calculating time deviation data between the system time of the receiver and the system time of the N-number GEO satellite in the original observation data acquisition module and outputting the time deviation data to the time difference compensation module;
the time difference compensation module is used for calculating the time synchronization error between the local 1PPS pulse and the selected N-number GEO satellite system time in real time according to the time deviation data and the hardware time difference data, and transmitting the time synchronization error to the time signal generation module, and calibrating the phase of the local 1PPS pulse output by the time signal generation module.
2. The virtual satellite common view real time synchronization apparatus of claim 1, further comprising a local reference clock, wherein the local reference clock provides a 10MHz clock for the raw observation data acquisition module, the high precision time interval measurement module, and the time signal generation module, respectively.
3. The device according to claim 2, wherein the time difference compensation module calculates the frequency deviation of the local reference clock in real time according to the time deviation data, outputs a frequency control signal to the local reference clock according to the frequency deviation of the local reference clock, and calibrates the frequency of the 10MHz signal output by the local reference clock.
4. A virtual satellite common view real time synchronization apparatus according to claim 3, wherein the time offset data is obtained by:
the virtual satellite common-view time comparison module calculates the position of a GNSS antenna in real time by adopting a precise single-point positioning method according to the acquired original pseudo-range observation data, original carrier phase observation data and broadcast ephemeris of all navigation satellites, and then calculates time deviation data between the system time of a receiver and the system time of the N-number GEO satellite in the original observation data acquisition module according to the precise single-point positioning calculated GNSS antenna position, broadcast ephemeris, the selected original pseudo-range observation data and the original carrier phase observation data of the N-number GEO satellite.
5. The device of claim 4, wherein the 10MHz clock signal output by the local reference clock is used as the reference clock for the high precision time interval measurement module.
6. The apparatus according to claim 5, wherein the time signal generating module generates the local 1PPS pulse by synchronous frequency division with a 10MHz clock provided by a local reference clock.
7. The virtual satellite common view real-time synchronization method based on Beidou GEO is characterized by comprising the following steps of:
step 1, an original observation data acquisition module receives GNSS signals of a multi-navigation system through a GNSS antenna module, outputs original pseudo-range observation data, original carrier phase observation data and broadcast ephemeris to a virtual satellite common-view time comparison module, outputs receiver system time 1PPS pulses to a high-precision time interval measurement module, and takes the receiver system time 1PPS pulses as starting signals of the high-precision time interval measurement module;
step 2, the virtual satellite common view time comparison module calculates the GNSS antenna position of the virtual satellite common view real-time synchronization device in real time by using the original pseudo-range observation data, the original carrier phase observation data and the broadcast ephemeris output by the original observation data acquisition module, and then calculates the time deviation between the receiver system time and the N-number GEO satellite system time in the original observation data acquisition module in real time according to the calculated GNSS antenna position, the broadcast ephemeris, the original pseudo-range observation data and the original carrier phase observation data of the N-number GEO satellite by adopting a precise single point positioning method, and outputs the calculated time deviation data to the time difference compensation module;
step 3, the high-precision time interval measuring module takes a high-precision 10MHz clock signal provided by a local reference clock as a frequency reference source, takes a receiver system time 1PPS pulse output by the original observation data acquisition module as a start signal, takes a local 1PPS pulse output by the time signal generating module as an end signal, measures the time interval between the start signal and the end signal in real time as hardware time difference data, and outputs the measured hardware time difference data to the time difference compensation module;
step 4, the time difference compensation module calculates the time synchronization error between the local 1PPS pulse and the N-number GEO satellite system time in real time according to the time deviation data and the hardware time difference data, sends the time synchronization error to the time signal generation module, and calibrates the phase of the local 1PPS pulse output by the time signal generation module in real time, so as to realize high-precision time synchronization between the virtual satellite common view real-time synchronization device and the N-number GEO satellite, and meanwhile, the time difference compensation module calculates the frequency deviation of the local reference clock in real time according to the time deviation data, outputs a frequency control signal to the local reference clock according to the frequency deviation of the local reference clock, and calibrates the frequency of the 10MHz signal output by the local reference clock;
and 5, simultaneously selecting N-number GEO satellites as reference time sources by the multiple virtual satellite common view real-time synchronizing devices, and realizing time synchronization among the virtual satellite common view real-time synchronizing devices under the condition of not exchanging data.
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