RU2133489C1 - System forming time corrections to time scales of points separated by space by signals of satellite radio navigation system - Google Patents

Abstract

FIELD: radio engineering, solving of problems related to synchronization of time scales of points separated by space. SUBSTANCE: proposed system includes subsystem of spacecraft of satellite radio navigation system and N points separated by space. Each point has reference generator, former of time scale and synchronization aid coupled to it. Each synchronization aid is linked through navigation radio channel to subsystem of spacecraft of satellite radio navigation system and has unit communicating with synchronization aids of other points. Each synchronization aid is inserted with reception meter of satellite radio navigation system, control unit, storage, correction extrapolation unit, correction comparison unit, unit testing quality of synchronization, unit averaging coordinates, unit averaging ensemble of corrections, unit smoothing time corrections and unit comparing them with reference values. Each synchronization aid receives signals of navigation radio channel and channel communicating with other synchronization aids and forms system corrections, relative corrections and character of quality of time corrections across its outputs. System provides for increased accuracy of determination and timely check of quality of system and relative corrections to local time scale of each of N points in absence of exact knowledge of coordinates of these points. EFFECT: increased accuracy of system. 2 dwg

Description

 The invention relates to radio engineering and can be used in single time systems, ground-based radio navigation systems, in spatially distributed monitoring and control systems for solving problems associated with the synchronization of time scales of spatially separated points.

 A large number of devices and systems are known that use different methods of synchronizing time scales (NW) of spatially separated points.

 For synchronization of ШВ use, in particular, transported clocks, as in a device for synchronizing clocks [1] according to RF patent N 2024042, class. G 04 C 11/00, accurate time signals transmitted over the air, as in watches with radio control [2] according to the application of Germany N 4230531. cl. G 04 C 11/02, radiation and double relay of the marker signal, as in the method of comparison of the BC [3] by a.s. USSR N 1644079, class G 04 C 11/02, or in the synchronization method of the ball screw [4] according to a.s. USSR N 1712942, class G 04 C 11/02.

 Recently, for synchronization of NW of spatially separated points, signals of the spacecraft subsystem (PKA) of satellite radio navigation systems (SRNS) have been used.

 Known, for example, a clock synchronization system on the radio channel [5] according to the patent of the Russian Federation N 2037172, class. G 04 C 13/00, 13/02, which contains a group of leading hours, a group of remote hours, a central clock, a SRNS synchronizer, an SRNS PKA, communication lines from a remote clock to a central clock, a communication line from a central clock to a leading clock and to a synchronizer SRNS, radio channel of time stamps of the leading hours, navigation radio channel PKA SRNS, radio channel of communication of the synchronizer and PKA SRNS.

 Each leading watch includes: system time scale receiving equipment (APSHV), BW comparison equipment (ASCB), BW binder (RPSHV) analyzer, memory unit (BP), program unit, control signal generator and a reference oscillator (OG) connected in series ), ShV local shaper (FShV), time signal shaper and radio transmitter.

 Each remote watch includes: a radio receiver, APShV, AHShV, RPShV, a time difference meter and series-connected exhaust gas and FShV.

 The composition of the central clock includes: a commutator of communication lines from a remote clock, a radio receiver, APShV, ASShV, RPShV, a time difference meter, a shaper of corrections and signs of reliability, a shaper of control signals, a key, and exhaust gas and FShV connected in series.

 At the leading watch with the use of exhaust gas and FSW, a BC is formed, from the signals of which the shaper of the time signals generates a marker signal, which is transmitted through the radio transmitter to the radio channel of the time labels of the leading hours. These timestamps are received by radios on the remote and central clocks.

 At the remote clock, according to the accepted time stamps, taking into account the a priori known propagation time in the time difference meter and RPShV, amendments to the remote clock hours are generated, which from the RPSH output go to the FSh of the remote clock and through the communication line from the remote clock to the central clock, where through the line switch they enter the shaper of corrections and signs of reliability and are used to control the quality of synchronization of the remote clock clock.

 Time stamps from the leading clock in the central clock, taking into account the propagation time, are compared in the time difference meter from the central clock of the central clock and based on the results obtained in the RPShV and the shaper of corrections and signs of reliability, corrections are made for the central clock of each of the leading hours, a group correction for the entire group of leading hours and the leading clock synchronization quality is monitored. Based on the results of the control, the control signal generator generates permission to transmit the BC correction signals for each of the leading hours, which, through the central clock key, are transmitted through the communication line to the power supply of the leading hours and then used in the program unit to generate the input signal of the control signal generator, the output signals of which They are used to control the frequency and phase of the exhaust gas of the driving clock, providing synchronization of their clocks relative to the group clocks formed on the central clock.

 After completing all the above procedures for preliminary synchronization of the master clock of the leading and remote clocks relative to the group clock on the central clock, the signals from the SRNS RCA are received on the navigation radio channel using the APSW and the current value of the SRNS system time is determined taking into account a priori known coordinates of the central clock, which is compared with BW of the central clock, and the received BW correction through RPShV enters the shaper of corrections and signs of reliability to clarify the group BW. In addition, this amendment is transmitted through the communication line to the SRNS synchronizer, where it is used to synchronize the system SRW SRN from the central clock hours, after which the radio communication channel of the synchronizer and the SRNS SRS of each spacecraft (SC) from the PSA is synchronized with the system SRN SRS.

 Then, at each watch from the leading and remote watch groups, using the APSHV and APShV included in them, signals are received from the PCA and the correction to its own HW is determined, which is then used for high-precision synchronization of the HW of the leading and remote watches between themselves and from the HW of the central clock.

 As follows from the above description, the system [5] contains a large number of heterogeneous blocks and communication lines and requires the sequential conduct of a large number of operations for the preliminary synchronization of the screw joint, which reduces the reliability of the system.

 In addition, the analysis of the quality of synchronization and the formation of signs of reliability in the system [5] is provided only at the central clock, which does not provide operational control of the reliability of synchronization of the screw guns at the leading and remote watches.

 A known system for generating time corrections for signals from a satellite radio navigation system to the time scales of spatially separated points, described in [6, p. 255, ..., 257, fig. 17.1, fig. 17.2]. It is accepted as a prototype. The block diagram of the prototype is shown in FIG. 2.

System - the prototype contains PKA 4 SRNS and N spatially spaced points (in Fig. 2 as an example presents the i-th and j-th points from the number of N points). Each of the points, including the i-th and j-th points, contains a series-connected exhaust gas 1 and FSV 2, the output of which is the output of the time scale (t _i or t _j ) of this point, the i-th or j-th, respectively, where i ≠ j ∋ (1, .., N), as well as a synchronization device (US) 3, which is connected via a navigation radio channel to a control panel 4 and contains a communication unit (BS) 5, the transceiver inputs and outputs of which are inputs and outputs of the channel communication of CSS 3 of this paragraph with similar CSS 3 of other paragraphs. At the same time, the master input US 3 is connected to the output of FSW 2. US 3 also contains APShV 16, the radio-frequency input of which is the input of receiving signals from the navigation radio channel US 3, the information input of APShV 16 is the input of entering the exact coordinates of this item into CSS 3 (for example, X _i , Y _i , Z _i for the i-th or X _j , Y _j , Z _j for the j-th points, respectively), and the output of APShV 16 is connected to the first input of APShV 17, the output of which is the output of system corrections CSS 3 τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ic}}$ for the i-th or τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{jc}}$ for the jth points) and, in addition, is connected to the information input of BS 5 and the first input of adder 18, the second inverse of which is connected to the information output of BS 5, and the output of adder 18 is the output of relative corrections (for example, τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ij}}$ for the i-th or τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ji}}$ for the jth points). In this case, the second input of the ASCW 17 is the master input of the CSS 3.

 System prototype works as follows.

The exact coordinates of this point (for example, X _i , Y _i , Z _i for the i-th point) are entered into the APSW 16 of each point. Signals from PKA 4 are received at the APShV radio frequency input 16. The signal of each SC from the PKA 4 contains a time stamp, the reception time of which (Δt _AP ) is recorded in APSHV 16 relative to the similar time stamp of its internal reference ШВ. In addition, information that determines the current position of the spacecraft in orbit, digitization of the transmitted time stamp and correction coefficients that provide the calculation of the discrepancy of the time stamp transmitted from the spacecraft with the corresponding time stamp of the systemic NW SRNS are transmitted in the service information of the signal of each spacecraft from the spacecraft 4. Using the received information and the entered exact coordinates of the point in APShV 16, the corrections are calculated for the propagation of the signal along the path between the spacecraft from the PKA 4-APShV 16 (τ _p ) and for the discrepancy of the transmitted time stamp with the time stamp of the system SRW SRNS (τ _c ). The digitization of the internal reference ШВ АПШВ 16 is brought into correspondence with the digitization of the adopted time stamp and the value of the correction Δt _c to the internal ШВ t _АП ПШВ 16 relative to the system ШВ СРНС is fixed
Δt _c = Δt _AP - τ _p + τ _c . (1)
At the output of the APShV 16 a systematic joint
t _c = t _AP + Δt _c (2)
At the same time, at each point, for example, i-th, in FSW 2 using the reference frequency signal from the exhaust gas 1, a local SC t _{i is formed} . The signals from the outputs FShV 2 and APShV 16 are fed to the corresponding inputs of the AShV 17, where a system correction is formed (relative to the system ШВ) for the ШВ of this item
τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ic}}$ = t _c -t _i . (3)
The correction τ _{ic of the} output of the ASHV 17 is transmitted to the first input of the adder 18 and to the information input of the BS 5, from the transceiver input - the output of which, through the communication channel, the correction τ _ic goes to the transceiver inputs - the outputs of BS 5 of other points. At the same time, BS 5 of this paragraph takes the value of the correction from other points, for example, from the jth one, which comes from the information output of BS 5 to the second inverse input of the adder 18, at the output of which a relative correction of the form
τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ij}}$ = τ _ic -τ _jc = t _j -t _i . (4)
Thus, in the prototype system, through the use of signals from PKA 4 in CSS 3, it is possible to generate corrections to the local BW on each of the N spatially separated points of the system both with respect to the system BW (system corrections) and with respect to the BW of any of the N points of the system ( relative amendments).

 However, in the prototype system, these tasks are solved only if there is an a priori assignment of the exact coordinates of each of the N points, which limits the use of the prototype system to the case where N points of the system are located in places with known exact coordinates. Also, in the prototype system, the current error in determining the amendments is not controlled, which reduces their reliability. In addition, the amendments formed in the prototype system have low accuracy due to the structural features of the system.

 To confirm the last statement, let us consider in more detail the characteristics of the amendments formed in the prototype system.

Each determination of Δt _AP in APShV 16 is made with an error Δ _ISM , due to the presence of noise in the signals received from the PKA 4, and the errors of the measurement procedures. In addition, the actual delay of the signal on the spacecraft path from the PKA 4-APShV 16 composition differs from the calculated value of τ _p by Δ _p due to the influence of non-ideal path parameters (deviations in the ionosphere, troposphere, etc.). The corrections τ _p and τ _{c are} also calculated with errors Δ _pp and Δ _pc , which are caused by errors in describing the position of the spacecraft in orbit, errors in setting correction coefficients for calculating the current mismatch between the SC of the SC and the system of the SC, and errors in setting the coordinates of the point where corrections are being determined . As a result, the specific value of a single determination of t _c in APShV 16 will have the following form
t _c = t _AP + Δt _c = t _0c + Δ _ism + Δ _pp + Δ _pc + Δ _p , (5)
where t _0c is the true value of the systemic screw.

In addition, according to (2) and (5), the determination of t _c in APShV 16 is carried out, as follows from the structure of the prototype system, using the internal reference scale APShV 16 t _AP , the current values of which differ from the values of t of the local BW point by a certain amount Δ _BW (t)
t _AP = t + Δ _BW (t). (6)
Then, according to (3), taking into account (5) and (6), we obtain at the ith point
τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ic}}$ = τ _0ic + Δ _Σic , (7)
where Δ _Σic = Δ _WBi + Δ _ism + Δ _ppi + Δ _pci ,
τ _0ic is the true value of the system correction to the IW of the i-th point.

(11)
Заявляемое изобретение направлено на расширение возможностей использования системы формирования временных поправок, в частности на случай, когда N пунктов системы расположены в местах с априорно неизвестными точными координатами, повышение точности и достоверности формируемых поправок.Accordingly, for the jth item
τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{jc}}$ = τ _0jc + Δ _Σjc . (eight)
As a result, according to (4), (7) and (8), the value of the relative correction τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ij}}$ will be determined as
τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ij}}$ = t _j -t _i + (Δ _Σj + Δ _Σi ) = τ _0ij + Δ _ij . (nine)
In addition to the considered components of the error in determining the time corrections in the prototype system, there are also components Δ _zic and Δ _zij due to the delay in determining these corrections due to delays in APShV 16, ASChV 17, BS 5, adder 18 and in the communication channel between the individual points of the system . As a result, we get
τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ic}}$ = τ _0ic + Δ _Σi + Δ _zic , (10)

(eleven)
The invention is aimed at expanding the possibilities of using a system for generating temporary amendments, in particular for the case when N points of the system are located in places with a priori unknown exact coordinates, increasing the accuracy and reliability of the generated amendments.

 The tasks are solved due to the fact that in the system for generating time corrections according to the signals of the satellite radio navigation system to the time scales of spatially separated points, containing a subsystem of spacecraft of the satellite radio navigation system and N spatially separated points, each of which contains a reference generator and a time scaler connected in series , the output of which is the output of the timeline of this item, as well as a synchronization device, which of the navigation radio channel is connected to the spacecraft subsystem of the satellite radio navigation system and contains a communication unit, the transceiver inputs - the outputs of which are the inputs - the outputs of the communication channel of this synchronization device with the synchronization devices of other points, and the timing input of the synchronization device is connected to the output of the time scaler, each a synchronization device introduced the receiver of the satellite radio navigation system, a control unit, a memory unit, an extrapolation unit corrections, corrections comparison unit, synchronization quality control unit, coordinate ensemble averaging unit, corrections ensemble averaging unit, time corrections smoothing unit and reference values comparison unit, wherein the radio frequency input of the receiver is a signal input of the navigation radio channel of the synchronization device, the reference input of the receiver is connected to the output reference generator, time stamp output of the internal time scale of the receiver is connected to the installation input of the time scale former, inf the radiation input of which is connected through the first bus of information exchange with information inputs - outputs of the receiver and communication unit, as well as with the first information inputs - outputs of the memory unit and control unit, the input of which is the input of the synchronization device, and the second information inputs are outputs of the control unit and the memory block are connected by the second bus of information exchange with information inputs - outputs of the corrections extrapolation block, corrections comparison block, synch quality control block onization, coordinate averaging block, corrections ensemble averaging block, time corrections smoothing block and reference values comparison blocks, the executive outputs of corrections extrapolation blocks, corrections comparison blocks and synchronization quality control blocks are respectively the outputs of system corrections, relative corrections and the quality attribute of time corrections synchronization devices.

 The invention, the possibility of its implementation and solving the technical problems is illustrated by the drawings, presented in FIG. 1 and 2, where in FIG. 1 shows a structural diagram of the inventive system in one of the possible embodiments, and in FIG. 2 is a structural diagram of a prototype system.

 The inventive system for generating time corrections according to the signals of the satellite radio navigation system to the time scales of spatially spaced points contains (Fig. 1) N spatially spaced points (in Fig. 1, as an example, the i-th and j-th points are among the N points), each of which contains a reference oscillator (OG) 1 and a time scaler (FSW) 2 connected in series, the output of which is the BC output of this item and connected to the timing input of the synchronization device (DC) 3, for which the signal input The navigation radio channel is connected through the navigation radio channel to the spacecraft subsystem (PKA) 4 of the satellite radio navigation system (SRNS), each CSS 3 contains a communication unit (BS) 5, the transceiver inputs and outputs of which are the inputs and outputs of the communication channel of this CSS 3 with CSS 3 other points, and the information input - the output of BS 5 is connected via the first bus of information exchange with the information input - the output of the receiver-receiver (PI) 6 of the satellite radio navigation system, with the first information inputs - output by the control unit (BU) 7 and the memory unit (BP) 8 and with the information input FSHV 2, the installation input of which is connected to the time stamp output of the internal ШВ ПИ 6, the reference input of which is connected to the output of ОГ 1, and the radio-frequency input ПИ 6 is an input receiving signals of the navigation radio channel US 3, and the driving input BU 7 is the driving input US 3, and the second information inputs - outputs BU 7 and BP 8 are connected by a second bus of information exchange with each other and with information inputs - outputs of the extrapolation block of amendments (BEP) 9, block comparison equalizer (BSP) 10, synchronization quality control block (BCC) 11, coordinate averaging block (BOC) 12, time correction smoothing block (BSVP) 13, averaging ensemble averaging block (BUAP) 14 and reference value comparison block (BSOZ) 15 moreover, the executive outputs of BEP 9, BSP 10 and BKKS 11 are the outputs of system amendments, relative amendments and the quality attribute of temporary amendments CSS 3 of this paragraph.

 All elements of the inventive system can be implemented using standard or well-known blocks, devices, systems.

 As PKA 4, the current subsystem of spacecraft SRNS GLONASS or NAVSTAR can be used.

 Implementation of exhaust gas 1 is possible in the form of a frequency standard 17H746 Sapphire.

 FSHV 2 can be performed on the basis of control and synchronization equipment (AUS) of the ground-based transmitting station E711 of the RSDN-10 domestic pulse-phase radio navigation system (decimal number OTs2.702.075) or a similar AUS of the Chaika pulse-phase radio navigation system, decimal number OTs1. 400.350.

 BS 5, depending on the implementation of the communication channel between the US 3 different points (telephone line or radio channel) can be respectively performed using a ZyXEL1496P modem or a radio station (for example, a KB of type P130 or P140 type range).

 Implementation of PI 6 is possible through the use, for example, of a standard SRNS PI such as Star Finder GPS 700, or Skipper-M, or GNSS-300, or ASN-16, or GG24 Machine Control Board, or the like.

 BU 7, BP 8, BEP 9, BSP 10, BKKS 11, BOK 12, BSVP 13, BUAP 14 and BSOZ 15 can be implemented using a standard personal computer using the appropriate user programs as part of the mathematical software. A personal computer, such as a Pentium, or 486DX4, or Baguette, or Breeze. Algorithms that implement the functions of the respective blocks are discussed below, when describing the operation of the claimed system.

 Corresponding data exchange buses and inputs - outputs of blocks can be implemented on the basis of standard ports and communication lines. In particular, the first bus of information exchange between blocks 2, 5, 6, 7, 8 can be performed using an interface like RS -232, or according to GOST 18977-79 RTM 1495-75, or according to GOST 26765.52-87. Implementation of the second data exchange bus is possible in the form of a system bus of a PC of class ISA or PSA.

 The executive outputs of BEP 9, BSP 10 and BKKS 11, as well as the control input BU 7 can be performed using standard COM ports of the RS-232 type.

 The inventive system operates as follows.

Signals from PKA 4 are received at the RF RF input PI 6 of each of the N points. According to the standard procedure, PI 6 searches and captures signals from the spacecraft that are part of the PKA 4, performs radio navigation measurements of the primary radio navigation parameters according to the signal of each synchronized spacecraft, reads and writes service information contained in the signals of these spacecraft and based on these data determines the coordinates of the item (for example, X, Y, Z) on which PI 6 is located. The procedures used for this are known and described in a large number of sources, in particular in [6, p. 105, ..., 141, 213, ..., 248, 317, ..., 327]. The obtained coordinates, for example, X _i , Y _i , Z _i for the i-th point, are transmitted from the information input-output of PI 6 through the first bus of information exchange to the first information input-output of BP 8, where they are stored. The coordinates are determined with errors Δ _xi , Δ _yi , Δ _zi , the components of which, the causes of their occurrence and the nature of the a priori distributions are known and described, in particular, in [6, p. 114, 115, 136, ..., 141, 248 , ..., 254, 273, ..., 282, 299, ..., 311].

и дисперсия σ² _xi координат соответствующего i-го пункта, определенные как

(12)
где l - порядковый номер отсчета координаты;
m - объем массива выборки;
X_il - значение l-го отсчета координаты на i-м пункте.As an array of coordinate measurements is accumulated in BP 8, it is transmitted through the second bus of information exchange to BOC 12, where the coordinates are averaged and the parameters of the posterior distribution for each coordinate are estimated. In the simplest case, this is a mathematical expectation

and variance σ ² _{xi of} coordinates of the corresponding i-th point, defined as

(12)
where l is the ordinal number of the coordinate reference;
m is the volume of the sample array;
X _il is the value of the l-th coordinate coordinate at the i-th point.

In this case, the averaging time T _os.k (and, correspondingly, the value of m) is selected based on the known parameters of the a priori distribution of the error components Δ _{xi (Yi, Zi)} and, depending on the navigation determination algorithm used in PI 6, can be from several hours to several days.

The monitoring of the _Tos.k is carried out in BU7, to the input of which the current time samples t _{i are} received from the FSW 2 output, which forms the local SC of the i-th point from the clock signal from OG 1. In particular, such control can be based on checking
Δt _i = t _i -t _ioк ≤ T _oc.к , (13)
where t _ioк is the start time of the coordinate averaging procedure.

According to the results of the check at Δt _i = T _oc.к by the command transmitted via the second bus of information exchange from BU7 to BOC 12, the value of σ $\genfrac{}{}{0ex}{}{\text{2}}{\text{Xi (Yi, Zi)}}$ or σ _{Xi, (Yi, Zi)} is transferred from BOC 12 to BSOZ 15, where it is compared with some reference value Δ _o , which is transmitted to BSOZ 15 from BP 8 by the same command, where it is set in advance based on the condition for minimizing the contribution of the uncertainty coordinates of the i-th point to the error of the subsequent determination of system and relative time corrections τ _ic and τ _ij . As a rule, it is sufficient to ensure σ _{X (Y, Z)} within 0.5 - 0.1 m, so that the contribution of this component to the errors in determining the time corrections can be neglected.

в качестве истинных координат i-го пункта (X_0i, Y_0i, Z_0i). Затем по команде от БУ 7 производится передача по первой шине информационного обмена значений X_0i, Y_0i, Z_0i из БП 8 в ПИ 6, после чего определяются временные поправки τ_ic и τ_ij согласно описанной ниже процедуре.If the condition
σ _{Xi (Yi, Zi)} ≤ Δ _o (14)
if it is not performed, then according to the corresponding signal coming from BSOZ 15, in BU 7, the averaging time T _{os.k is increased} and the procedure of averaging coordinates in BOK 12 is extended according to (12), after which condition (14) is again checked in BSOZ 15 . When it is executed, control unit 7 generates a command to enter in BP 8 from BOC 12 the obtained averaged values

as the true coordinates of the i-th item (X _0i , Y _0i , Z _0i ). Then, on a command from BU 7, the values X _0i , Y _0i , Z _0i are transferred from the BP 8 to PI 6 via the first bus of information exchange, after which time corrections τ _ic and τ _{ij are} determined according to the procedure described below.

(19)
где a₀, a₁, a₂ - коэффициенты интерполирующего полинома,
τ_ici - отсчеты системной поправки,
L - объем массива отсчетов τ_ici.
Решение системы уравнений (19) относительно неизвестных а₀, а₁, а₂ в БСВП 13 дает их оценки а₀ ^*, а₁ ^*, а₂ ^* и соответственно l-е значения интерполирующей функции
τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ici}}$ = a $\genfrac{}{}{0ex}{}{\text{*}}{\text{0}}$ +a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1}}$ l+a $\genfrac{}{}{0ex}{}{\text{*}}{\text{2}}$ l². (20)
Затем определяется апостериорная ошибка оценки временной поправки

(21)
и среднее на интервале сглаживания значение системной поправки

(22)
Полученные значения a₀ ^*, a₁ ^*, a₂ ^*, ε_Σiμ, τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ic}}$ передаются из БСВП 13 в БП 8, где запоминаются вместе с кодом их временной привязки, соответствующим времени получения среднего в массиве L отсчета τ_icl.
Следует отметить, что получение оценки τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ic}}$ в виде среднего на интервале сглаживания значения приводит к ее запаздыванию относительно текущего значения t_i на половину интервала сглаживания
Т_L=L•Т_l, (23)
где T_l - дискрет времени получения отсчетов τ_icl на выходе ПИ 6.The internal time scale t _AP PI 6 is formed using a signal from the output of exhaust gas 1 to the reference input PI 6. Moreover, t _AP and the local IW of the i-th point t _i formed by FSV 2 coincide with each other up to a certain constant
Δ _ШВ0 = (η + λ) T _MV , (15)
where T _MV - the period of the time stamps of the internal joint vent at the corresponding output of PI 6,
η = 1,2,3 .... - defines an integer T _MV in Δ _ШВ0 ,
λ ≤ 1 - determines the magnitude of the multiplicity T _MV and Δ _ШВ0 .
When a time stamp signal is supplied from the output of ПИ 6 to the input of the FSV 2 installation, the boundaries of the corresponding intervals t _i at the output of the FSV 2 are combined with the time stamps of the ПИ 6, which ensures λ = 0 in (15). In addition, the digitization code of the internal ШВ ПИ6 with its information the input-output through the first bus of information exchange enters the information input of FSW 2 and is entered in FSV 2 for digitizing the time stamps of the local FSW t _i , which provides η = 0 in (15).
Further, in PI 6, as in APShV 16 of the prototype system, the correction Δt _{c is} determined according to (1). But, since in (15) η = λ = 0, t _AP = t _i , therefore
Δ _ШВi = 0 and Δt _c = τ _ic (16)
Moreover, according to (7) and (16)
τ _ic = τ _0ic + ε _Σi , (17)
where ε _Σi = Δ _ism + Δ _ppi + Δ _p0i .
Accordingly, at the jth paragraph
τ _jc = τ _0jc + ε _Σj (18)
Each sample of the system correction τ _icl from the information input-output of PI 6 is transmitted through the first bus of information exchange to the first information input-output of BP 8, where it is written to the array of measurements of system corrections along with the time code for its receipt. As an array of measurements of system corrections is accumulated in BP 8, these samples are transmitted along the second bus of information exchange to BSVP 13, where, using standard procedures, for example, the least squares method, Kalman filtering, etc., they are averaged and the parameters of the posterior distribution are averaged, as which the coefficients of the a priori chosen interpolating function and variance are usually used. In particular, when the second-order polynomial is used as an interpolating function, the system of equations is obtained using the least squares method

(19)
where a ₀ , a ₁ , a ₂ are the coefficients of the interpolating polynomial,
τ _ici - samples of the system correction,
L is the volume of the sample array τ _ici .
The solution of the system of equations (19) with respect to the unknowns a ₀ , a ₁ , and ₂ in BSVP 13 gives their estimates of a ₀ ^* , ₁ ^* , and ₂ ^* and, accordingly, the lth values of the interpolating function
τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ici}}$ = a $\genfrac{}{}{0ex}{}{\text{*}}{\text{0}}$ + a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1}}$ l + a $\genfrac{}{}{0ex}{}{\text{*}}{\text{2}}$ l ² . (20)
Then, the posterior error of the estimation of the time correction is determined

(21)
and the average over the smoothing interval, the value of the system correction

(22)
The obtained values a ₀ ^* , a ₁ ^* , a ₂ ^* , ε _Σiμ, τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ic}}$ transmitted from BSVP 13 to BP 8, where they are stored together with their time reference code corresponding to the time of obtaining the average count τ _icl in the array L.
It should be noted that obtaining the estimate of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ic}}$ in the form of an average value on the smoothing interval, leads to its delay relative to the current value t _i by half the smoothing interval
T _L = L • T _l , (23)
where T _l is the discrete time of obtaining samples τ _icl at the output of PI 6.

передается на исполнительный выход БЭП 9

(24)
Ошибка ε_i определения τ_ic в (17) на каждом μ-ом сеансе работы ПИ 6 по сигналу некоторого КА из состава ПКА 4 может быть представлена в общем случае в виде суммы двух составляющих
ε_iμ = m_iμ+σ_iμ, (25)
где m_iμ - смещение τ_ic на μ-ом сеансе,
σ_iμ - составляющая ошибки, флюктуирующая на μ-ом сеансе.In order to reduce the dynamic error of the formation of a system correction of the value of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ic}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{2}}$ transmitted from BSVP 13 to BEP 9, where the correction value τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ic}}$ extrapolated to a given interval and in the form of a current estimate of the system correction

transmitted to the executive output of BEP 9

(24)
The error ε _{i of the} determination of τ _ic in (17) at each μth session of operation of PI 6 by the signal of some spacecraft from the composition of PKA 4 can be represented in the general case as the sum of two
ε _iμ = m _iμ + σ _iμ , (25)
where m _iμ is the displacement τ _ic at the _μth session,
σ _iμ is the error component fluctuating in the μth session.

в БСВП 13 в соответствии с (21) будет усредняться только составляющая σ_iμ и ε_iμ можно записать как

(26)
В то же время, как следует из [6, стр. 110,..., 114, 136,..., 138, 251, 299, . .., 305 ] значение m_iμ для разных сеансов определения

случайно. Поэтому появляется возможность усреднения m_iμ на основе использования, ансамбля оценок τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ , полученных по сигналам различных КА из состава ПКА 4, либо по сигналу одного КА с разносом на интервал времени, превышающий интервал корреляции m_iμ.
На каждом сеансе определения системной поправки в БП 8 записываются значения τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1iμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{2iμ}}$ и код времени их получения (t_iμ). После набора в БП 8 массива этих данных для М сеансов в БУ 7 определяется среднее значение времени определения системной поправки, например как

(27)
Далее каждое из М значений τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ передается из БП 8 в БЭП 9, где оно экстраполируется на момент времени t_icp в соответствии с выражением

(28)
Затем значения τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{eiμ}}$ из БЭП 9 передаются в БУАП 14, где производится усреднение параметров системной поправки по ансамблю из М поправок на момент времени t_icp

(29)
При этом в силу декорреляции составляющих ε_iμ в (26) для различных μ из M, ε_cpi определяется выражением

(30)
Полученные значения τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{cp}}$ , à $\genfrac{}{}{0ex}{}{\text{*}}{\text{1cp}}$ , à $\genfrac{}{}{0ex}{}{\text{*}}{\text{2cp}}$ передаются из БУАП 14 в БП8, где они запоминаются вместе с соответствующим значением t_cp. Затем они используются для формирования в БЭП 9 опорного значения τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{0iμ}}$ для каждой последующей системной поправки τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ в соответствии с выражением

(31)
Полученное значение τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{0iμ}}$ из БЭП 9 передается в БСОЗ 15, где оно в качестве опорного сравнивается с поступающим из БП 8 текущим значением τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ и определяется их взаимная "невязка", например как
χ_icμ = |τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{0iμ}}$ -τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ |. (32)
Значение невязки χ_icμ передается из БСОЗ 15 в БККС 11, где на основе ее сравнения с априорно установленным значением допустимого отклонения системной поправки (Δ_c) вырабатывается признак качества системной поправки, например как

(33)
Полученный признак качества системной поправки запоминается в БП 8 и передается на исполнительный выход БККС 11. Одновременно значения τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1iμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{2iμ}}$ , t_iμ, ε_iμ и K_icμ с первого информационного входа-выхода БП 8 через первую шину информационного обмена поступают на информационные входы БС 5, с приемопередающего входа-выхода которого по каналу связи они передаются на приемопередающий вход-выход БС 5, входящего в состав УСЗ другого пункта (например, j-го) (на фиг. 1 БС 5 j-го пункта не показан).The factors determining the appearance of these components in the estimation of τ _ic at the output of PI 6 are considered in detail in [6, p. 255, ..., 263]. As a result, with each determination session

in BSVP 13 in accordance with (21) only the component σ _iμ will be averaged and ε _iμ can be written as

(26)
At the same time, as follows from [6, p. 110, ..., 114, 136, ..., 138, 251, 299,. .., 305] the value of m _iμ for different determination sessions

accidentally. Therefore, it becomes possible to average m _iμ using the ensemble of estimates of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ obtained by the signals of various spacecraft from the composition of the PKA 4, or by the signal of one spacecraft with a separation for a time interval exceeding the correlation interval m _iμ .
At each session of determining the system correction in BP 8, the values of τ are recorded $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1iμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{2iμ}}$ and the time code for their receipt (t _iμ ). After entering in BP 8 an array of these data for M sessions in BU 7, the average value of the time to determine the system correction is determined, for example, as

(27)
Next, each of the M values of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ transferred from BP 8 to BEP 9, where it is extrapolated to time t _icp in accordance with the expression

(28)
Then the values of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{eiμ}}$ from BEP 9 are transferred to BUAP 14, where the parameters of the system correction are averaged over the ensemble of M corrections at time t _icp

(29)
Moreover, due to the decorrelation of the components ε _iμ in (26) for various μ from M, ε _cpi is determined by the expression

(thirty)
The obtained values of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{cp}}$ , à $\genfrac{}{}{0ex}{}{\text{*}}{\text{1cp}}$ , à $\genfrac{}{}{0ex}{}{\text{*}}{\text{2cp}}$ transferred from BUAP 14 to BP8, where they are stored together with the corresponding value of t _cp . Then they are used to form reference value τ in BEP 9 $\genfrac{}{}{0ex}{}{\text{*}}{\text{0iμ}}$ for each subsequent system correction τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ according to the expression

(31)
The resulting value of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{0iμ}}$ from BEP 9 it is transferred to BSOZ 15, where it is compared with the current value τ coming from BP 8 $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ and their mutual "discrepancy" is determined, for example, as
χ _icμ = | τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{0iμ}}$ -τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ |. (32)
The residual value χ _icμ is transferred from BSOZ 15 to BKKS 11, where, based on its comparison with the a priori established value of the permissible deviation of the system correction (Δ _c ), a sign of the quality of the system correction is developed, for example, as

(33)
The obtained quality attribute of the system correction is stored in BP 8 and transmitted to the executive output of BCKS 11. At the same time, the values of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1iμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{2iμ}}$ , t _iμ , ε _iμ and K _icμ from the first information input-output of the BP 8 through the first bus of information exchange go to the information inputs of the BS 5, from the transceiver input-output of which through a communication channel they are transmitted to the transceiver input-output of the BS 5, which is included in the composition of the HSS of another point (for example, the jth) (in Fig. 1 BS 5 of the jth point is not shown).

(34)
Одновременно в БСП 10 из БП 8 поступают значения ε_jμ и ε_iμ и формируется текущая оценка "невязки" относительной поправки, например как

(35)
Полученное значение χ_ijμ из БСП 10 передается в БККС 11, где на основе ее сравнения с априорно установленным значением допустимого отклонения относительной поправки (Δ_отн) вырабатывается признак качества относительной поправки, например как

(36)
Одновременно значения τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ijμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1ijμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{2ijμ}}$ из БСП 10 передается в БЭП 9, где относительная поправка экстраполируется на текущий момент времени. Полученное значение оценки относительной поправки

из БЭП 9 передается в БСП 10, куда поступает К_ij из БККС 11, который передается также на исполнительный выход БККС 11.The values of τ arriving at the BS 5 transceiving input-output of this i-th item from the BS 5 transceiving input-output of another item (for example, the j-th) $\genfrac{}{}{0ex}{}{\text{*}}{\text{jcμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1jμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{2jμ}}$ , t _jμ , ε _jμ and K _cj from the information input-output of the BS 5 through the first bus of information exchange go to the first information input-output of the BP 8, where they are stored. Then the accepted value of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ using a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1jμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1jμ}}$ , t _jμ , t _{iμ is} extrapolated to BEP 9 at time t _iμ and transferred from BEP 9 to BSP 10, where τ from BP 8 $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ . In BSP 10, the extrapolated value of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{jcμ}}$ compares with τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{icμ}}$ and the relative correction parameters are determined

(34)
At the same time, the values of ε _jμ and ε _iμ are received from BP 8 from the BSP 10 and the current estimate of the "residual" of the relative correction is formed, for example,

(35)
The obtained value of χ _ijμ from BSP 10 is transferred to BCCS 11, where on the basis of its comparison with the a priori established value of the permissible deviation of the relative correction (Δ _rel ), a quality indicator of the relative correction is developed, for example, as

(36)
At the same time, the values of τ $\genfrac{}{}{0ex}{}{\text{*}}{\text{ijμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{1ijμ}}$ , a $\genfrac{}{}{0ex}{}{\text{*}}{\text{2ijμ}}$ from BSP 10 is transferred to BEP 9, where the relative correction is extrapolated to the current time. The resulting value of the relative amendment estimates

from BEP 9 it is transferred to BSP 10, where K _ij from BKKS 11 is received, which is also transmitted to the executive output of BKKS 11.

Формируемые на исполнительных выходах БЭП 9 и БСП 10 системные и относительные поправки с учетом признака качества, формируемого на исполнительном выходе БККС 11, затем используются, в зависимости от поставленной задачи, либо для синхронизации местной шкалы времени пункта, либо для соответствующего смещения моментов формирования сигналов, которые синтезируются на данном пункте в соответствии с функциональным назначением последнего.In BSP 10, with a satisfactory quality assessment (for example, K _ij = 1), permission is issued to transfer the received assessment to the executive output of BSP 10

The system and relative corrections generated at the executive outputs of BEP 9 and BSP 10, taking into account the quality criterion formed at the executive output of BKS 11, are then used, depending on the task, either to synchronize the local time scale of the item, or to correspondingly shift the moments of signal formation, which are synthesized at this point in accordance with the functional purpose of the latter.

Thus, the introduction of the claimed system of new blocks and new relationships between them provides:
in accordance with (12) and (14) - high-precision determination of the coordinates of each of the N points of the system, which removes the requirements for accurate a priori knowledge of these coordinates to solve the synchronization problem of BC N spatially separated points;
in accordance with (33) and (36) - quality control of the generated systemic and relative amendments to the local BW of each of the N points of the system;
improving the accuracy of determining systemic and relative corrections, which follows from (25) and (34), taking into account (16), (24), (26) and (35).

 The combination of these positive features of the claimed system provides the expansion of opportunities for its use, increasing the accuracy and reliability of the current amendments to the local time scale of each of the N points of the system.

 From the review it is seen that the claimed system is technically feasible, solves the tasks and can find application in synchronization systems for screw ballast N of spatially separated points for single-time systems, ground-based radio navigation systems, spatially distributed monitoring and control systems, etc.

Sources of information
1. Pat. RF 2024042, class G 04 C 11/02. publ. 11/30/94.

2. German application 4230531, cl. G 04 C 11/02. publ. 11/18/93
3. AC CCCP 1644079, CL G 04 C 11/02, publ. 04/23/91
4. AC CCCP 1712942, cl. G 04 C 11/02. Publ. 02/15/92.

 5. Pat. RF 2037172, cl. G04C 13/00, 13/02, publ. 06/09/95.

 6. Network satellite radio navigation systems / V.S.Shebshaevich, P.P. Dmitriev, N.V. Ivantsevich et al. / Ed. V.S.Shebshaevich. - M.: Radio and Communications, 1993, p. 255, .... 257, fig. 17.1, fig. 17.2 (prototype).

Claims (1)

 A system for generating time corrections according to the signals of the satellite radio navigation system to the time scales of spatially separated points, containing a subsystem of spacecraft of the satellite radio navigation system and N spatially separated points, each of which contains a reference oscillator and a shaper of the time scale, the output of which is the output of the time scale of this item , as well as a synchronization device, which is connected to the sub-channel via a navigation radio channel the theme of the spacecraft of the satellite radio navigation system and contains a communication unit, the transceiver inputs and outputs of which are inputs and outputs of the communication channel of this synchronization device with synchronization devices of other points, and the input of the synchronization device is connected to the output of the shaper of the time scale, characterized in that in each device synchronization introduced the receiver of the satellite radio navigation system, the control unit, the memory unit, the block extrapolation amendments, the comparison unit pop equalizer, synchronization quality control block, coordinate averaging block, corrections ensemble averaging block, time corrections smoothing block and reference values comparison unit, moreover, the radio frequency input of the receiver is a signal input of the navigation radio channel of the synchronization device, the reference input of the receiver is connected to the output of the reference generator, output time stamps of the internal time scale of the receiver is connected to the input of the shaper of the time scale, the information input of which is connected en through the first bus of information exchange with information inputs and outputs of the receiver and communication unit, as well as with the first information inputs and outputs of the memory unit and the control unit, the input of which is the input of the synchronization device, and the second information inputs and outputs of the control unit and the memory unit connected by the second bus of information exchange with the information inputs and outputs of the corrections extrapolation unit, corrections comparison unit, synchronization quality control unit, coordinate averaging unit nat, the averaging unit of the corrections ensemble, the time correction smoothing unit, and the comparison unit with reference values, and the executive outputs of the correction extrapolation unit, the correction comparison unit, and the synchronization quality control unit are respectively the outputs of the system corrections, relative corrections, and the quality attribute of the time corrections of the synchronization device.

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