Method and system for taming rubidium atomic clock based on long wave timing signal

Abstract

The invention belongs to but is not limited to the technical field of time frequency, and discloses a method and a system for taming a rubidium atomic clock based on a long-wave timing signal, a mathematical model of the long-wave timing signal is established, the long-wave timing signal influenced by various factors is uniformly analyzed and modeled by analyzing the time-frequency characteristic of the long-wave timing signal, and the rubidium atomic clock is tamed. The long-wave time-varying signal with obvious fluctuation and periodic effects is corrected into a stable timing signal; constructing a time difference model of quadratic polynomial superposition periodic fluctuation terms for rubidium atomic clock taming, and correcting original time difference data of a rubidium clock and a long wave; and taming the rubidium atomic clock, and realizing taming of the rubidium atomic clock by using the corrected rubidium clock and the long wave time difference data in combination with a least square method. According to the invention, the problems of large short-term jitter and long-term obvious periodic effect of a long-wave timing signal are solved; the problem of fluctuation of time difference data of long waves and rubidium atomic clocks is reduced; and the application of long-wave timing in the aspect of atomic clock taming is expanded.

Description

Technical Field

[0001] The invention belongs to the technical field of time and frequency, and in particular relates to a method and system for taming a rubidium atomic clock based on a long-wave timing signal. Background Art

[0002] With the development of atomic frequency standard technology, in recent years, large-scale time and frequency systems at home and abroad have been limited in their application in various fields due to their high cost and harsh operating environment. Relatively speaking, the rubidium atomic clock (Rubidium), which has a price advantage, has become the first choice. However, the rubidium atomic clock has problems with frequency offset and aging, and cannot meet the accuracy requirements of the system. Therefore, it is necessary to tame the rubidium atomic clock technology so that it can maintain a high accuracy for a long time.

[0003] The GNSS (Global Navigation Satellite System) system can provide accurate timing services around the clock at low cost and simple to operate. Therefore, the GNSS system is often used in engineering to tame the rubidium atomic clock technology, but the GNSS system is vulnerable to deception and has poor anti-interference capabilities; in addition, it cannot function effectively in indoor, underground, underwater and other spaces due to limited signal transmission. In order to avoid the application risks of the GNSS system, in recent years, the technology of taming the rubidium atomic clock based on long-wave timing signals has begun to attract attention. This patented long-wave timing system adopts the LoranC (Loran-C navigation system) timing system.

[0004] The long-wave timing system has become the best choice for supplementing and backing up satellite navigation systems due to its extremely strong anti-interference performance and relatively stable signal characteristics. Therefore, in order to meet the challenges of maintaining time and frequency accuracy in complex scenarios, especially to solve the time synchronization problem in the case of GNSS system denial or failure, it is of great significance to study the long-wave based atomic clock taming algorithm, which will further promote the engineering application of land-based long-wave timing systems.

[0005] However, compared with the signals of the GNSS system, the propagation delay of the long-wave signal is affected by many factors such as the complex changes in electrical characteristics, and exhibits obvious time-varying characteristics. As a result, when the long-wave timing results are used to tame the rubidium atomic clock, the time difference data collected has the disadvantages of large jitter and long-term obvious periodic effect. At present, long-wave timing signals are rarely used to tame rubidium atomic clocks in engineering. Therefore, there is an urgent need for an algorithm based on long-wave timing signals to tame rubidium atomic clocks, so as to realize the function of long-wave timing signals to tame rubidium atomic clocks. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides a method for taming a rubidium atomic clock based on a long-wave timing signal, designs a corresponding rubidium atomic clock control system based on the method, and realizes the function of taming a rubidium atomic clock with a long-wave timing signal.

[0007] The present invention is implemented as follows: a method for taming a rubidium atomic clock based on a long-wave timing signal, comprising: S1, establish a mathematical model of long-wave timing signals, analyze the time-frequency characteristics of long-wave timing signals, conduct unified analysis and modeling of long-wave timing signals affected by various factors, and correct long-wave timing signals, correcting long-wave time-varying signals with obvious fluctuations and periodic effects into stable timing signals; S2, based on the mathematical model of long-wave timing signal, improve the time difference data model of rubidium atomic clock, construct the time difference model of quadratic polynomial superimposed periodic fluctuation term tamed by rubidium atomic clock, and correct the original time difference data of rubidium clock and long wave; S3, taming the rubidium atomic clock, using the corrected rubidium clock and long-wave time difference data combined with the least squares method to achieve the taming of the rubidium atomic clock.

[0008] The method for taming a rubidium atomic clock based on a long-wave timing signal specifically comprises: Step 1: mathematical model of long wave timing signal delay based on trigonometric function; By analyzing the frequency domain characteristics of the 1PPS (Pulse Per Second) signal output by the long-wave timing receiver and the UTC (Universal Time Coordinated) generated by the NTSC (National Time Service Center), the 1PPS signal time difference data (LoranC-UTC) output by UTC (NTSC) is converted to the frequency domain using FFT (Fast Fourier Transform) to observe whether the 1PPS signal output by the long-wave timing receiver has obvious periodic characteristics, and the mathematical model of the long-wave timing signal is established. The time difference data of the long-wave timing signal is corrected, and the long-wave time-varying signal with obvious fluctuation and periodic effects is corrected to a stable timing signal. Step 2, improving the rubidium atomic clock time difference data model and correcting the time difference data; According to the analysis results of step one: the time difference data of the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver also have obvious periodic fluctuation components. Therefore, based on the mathematical model of the long-wave timing signal, the rubidium atomic clock time difference model is transformed into a time difference model with quadratic polynomials superimposed on periodic fluctuation terms; the original time difference data is used to solve the periodic term parameters in the time difference model, and then the periodic term fitting data is deducted from the original data to obtain stable time difference data; Step 3: tame the rubidium atomic clock; According to the processing result of step 2, the parameters of the rubidium atomic clock are estimated by the least square method using the corrected stable time difference data, and the performance parameters of the rubidium atomic clock are calculated. Then, the ping-pong control algorithm is used to adjust the adjustment amount of the rubidium atomic clock and the output frequency of the rubidium atomic clock, thereby finally achieving the purpose of taming the rubidium atomic clock with the long-wave timing signal.

[0009] Furthermore, in the step 1, a multi-channel time interval counter is used to collect the 1PPS signal output by the UTC (NTSC) and the 1PPS signal output by the long wave timing receiver.

[0010] Furthermore, the conversion formula for converting the time domain time difference data to the frequency domain using FFT in step 1 is: , In the formula Indicates time difference data, A frequency spectrum representing the time difference data.

[0011] Furthermore, in step 1, a mathematical model of long-wave timing signal delay is established, which is expressed as follows: ; In the formula represents the number of periodic terms, represents the sampling time, represents the long wave delay data, represents the initial deviation, , , Respectively represent The amplitude, frequency and phase of each cycle, Represents the remaining residual.

[0012] Furthermore, in step 1, the time difference data of the long wave timing signal is corrected: , in, Represents the corrected long wave delay data.

[0013] Furthermore, in step 2, the Rubidium-LoranC time difference model is transformed into a time difference model with a quadratic polynomial superimposed with a periodic fluctuation term, which is expressed as follows: , in ， express The time difference between the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver at the moment, a represents the phase deviation at the initial moment, b represents the frequency deviation at the initial moment, and c represents the frequency drift. Represents the remaining residual.

[0014] Further, according to the FFT analysis results, if the time difference data contains multiple periodic terms, multiple trigonometric functions are constructed to model The formula is simplified to matrix form: , in represents the observed value, Represents the time difference data at the mth moment; represents the coefficient matrix, represents the mth moment, represents the frequency of the nth periodic term; represents the parameters to be estimated, represents the phase of the nth periodic term; represents the coefficient of the first periodic term; represents the coefficient of the nth periodic term; Substitute the original time difference data into the matrix equation system and solve the matrix equation system to obtain the parameters to be estimated, as shown in the following formula: ; From the original data By deducting the periodic fitting data from the equation, we can get the stable time difference data of the long wave and rubidium atomic clocks, as shown in the following formula: ; In the formula represents the corrected Rubidium-LoranC time difference data, Representation Matrix The transposed matrix of a represents the phase deviation at the initial moment; b represents the frequency deviation at the initial moment; c represents the frequency drift; represents the remaining residual, , , Respectively represent The amplitude, frequency and phase of each cycle, express The time difference between the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver at this moment.

[0015] Furthermore, in step 3, the Rubidium-LoranC time difference data corrected in step 2 is used to tame the rubidium atomic clock, and a performance parameter estimation model of the rubidium atomic clock is established by using the least squares method. It can be expressed in matrix form as: , in represents the coefficient matrix, represents the mth sampling moment; Indicates the required performance parameters of the rubidium clock; a represents the phase deviation at the initial moment; b represents the frequency deviation at the initial moment; c represents the frequency drift; represents the remaining residual, , , Respectively represent The amplitude, frequency and phase of each cycle, express The time difference between the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver; By solving the matrix equations, the performance parameters of the rubidium atomic clock are obtained, and then the ping-pong control algorithm is used to adjust the adjustment amount of the rubidium atomic clock, ultimately achieving the long-wave timing signal taming the rubidium atomic clock frequency standard.

[0016] Another object of the present invention is to provide a method for training a rubidium atomic clock based on a long-wave timing signal and a system for training a rubidium atomic clock based on a long-wave timing signal, comprising a long-wave timing receiver, a rubidium atomic clock, a multi-channel time interval counter and a computer; The output ends of the NTSC clock room, the long-wave timing receiver and the rubidium atomic clock are respectively connected to the input end of the multi-channel time interval counter, the output end of the multi-channel time interval counter is connected to the input end of the computer, and the output end of the computer is connected to the input end of the rubidium atomic clock.

[0017] Furthermore, the 1PPS signal output by the rubidium atomic clock, long-wave timing receiver and NTSC clock room is transmitted to a multi-channel time interval counter, and the time difference data output by the multi-channel time interval counter is transmitted to a computer, which adjusts the rubidium atomic clock based on the frequency adjustment amount.

[0018] First, the present invention establishes a mathematical model of long-wave timing signals, and effectively reduces the volatility problem of long-wave and rubidium atomic clock time difference data by constructing a time difference model of quadratic polynomial superimposed with periodic fluctuation terms; it also expands the application of long-wave timing in atomic clock training, and provides reliable guarantee for the timing system to maintain time and frequency accuracy in complex scenarios, especially to solve the time synchronization problem in the case of GNSS denial or failure.

[0019] Second, the present invention innovatively proposes an algorithm for taming rubidium atomic clocks based on long-wave timing signals, directly addressing the pain point of the existing rubidium atomic clocks' insufficient long-term stability. The algorithm constructs a mathematical model of the long-wave timing signal, deeply analyzes and accurately corrects its time-frequency characteristics, effectively smoothes out the fluctuations and periodic effects caused by various factors, and thus significantly enhances the long-term stability of the signal. We use a multi-channel time interval counter to synchronously capture the 1PPS signals of UTC (NTSC) and the long-wave timing receiver, and use FFT technology to go deep into the frequency domain, accurately identify and calibrate the main periodic terms, further consolidating the stability cornerstone of the long-wave signal.

[0020] On this basis, we optimized the rubidium atomic clock time difference data model, innovatively incorporated quadratic polynomials and periodic fluctuation terms, and deeply purified the original time difference data. By constructing and solving a set of matrix equations, using the least squares method to accurately estimate each parameter, we successfully stripped away the interference of the periodic term and achieved the stabilization of the long-wave and rubidium atomic clock time difference data. This not only effectively solved the frequency drift and periodic fluctuation problems of the rubidium atomic clock, but also greatly improved its time accuracy.

[0021] Subsequently, we used the corrected Rubidium-LoranC time difference data and the least square method to construct a rubidium atomic clock performance parameter estimation model, and used the ping-pong control algorithm for fine adjustment to achieve the ultimate calibration of the rubidium atomic clock frequency standard. This breakthrough algorithm not only pushes the frequency accuracy of the rubidium atomic clock to a new high, but also comprehensively improves its short-term and long-term frequency stability, making it shine in the field of precision time and frequency measurement.

[0022] The core of the present invention is to introduce a long-wave timing signal calibration mechanism. This initiative fundamentally makes up for the shortcomings of existing rubidium atomic clocks in terms of time and frequency stability, and achieves a technological leap. Specifically, the 10MHz frequency accuracy is improved from -5E-11 in the free state to -2.27E-13, and the frequency stability reaches 7.39E-13 in 100 seconds, and is as low as 2.18E-13 at 10,000 seconds. These remarkable improvements not only greatly enhance the reliability and accuracy of rubidium atomic clocks, but also open up a broad space for them in higher standard application scenarios, demonstrating the significant contribution and far-reaching impact of the present invention in the field of time and frequency measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a method for taming a rubidium atomic clock based on a long-wave timing signal provided by an embodiment of the present invention; Figure 2 It is a long wave time difference data acquisition block diagram provided by an embodiment of the present invention; Figure 3 This is a FFT analysis diagram of LoranC-UTC time difference data provided by an embodiment of the present invention; Figure 4 is a comparison diagram before and after calibration of the long wave timing signal provided by an embodiment of the present invention; Figure 5 is a comparison diagram of the stability of the long-wave timing signal before and after calibration provided by an embodiment of the present invention; Figure 6 is a block diagram of a rubidium atomic clock control system provided by an embodiment of the present invention; Figure 7 It is a comparison diagram of Rubidium-LoranC time difference data before and after processing provided by an embodiment of the present invention; Figure 8 This is a diagram showing the frequency stability results of the rubidium atomic clock after training provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] like Figure 1 As shown, the method for taming a rubidium atomic clock based on a long-wave timing signal provided in an embodiment of the present invention includes: S1, establish a mathematical model of long-wave timing signals, analyze the time-frequency characteristics of long-wave timing signals, conduct unified analysis and modeling of long-wave timing signals affected by various factors, and correct long-wave timing signals, correcting long-wave time-varying signals with obvious fluctuations and periodic effects into stable timing signals; S2, based on the mathematical model of long-wave timing signal, improve the time difference data model of rubidium atomic clock, construct the time difference model of quadratic polynomial superimposed periodic fluctuation term tamed by rubidium atomic clock, and correct the original time difference data of rubidium clock and long wave; S3, taming the rubidium atomic clock, using the corrected rubidium clock and long-wave time difference data combined with the least squares method to achieve the taming of the rubidium atomic clock.

[0026] The following are specific steps of the method for taming a rubidium atomic clock based on a long-wave timing signal provided by an embodiment of the present invention.

[0027] 1. Establishing the mathematical model of long-wave timing signal 1.1 Build a time difference data collection platform The multi-channel time interval counter is used to collect the 1PPS signal output by UTC (NTSC) and the 1PPS signal output by the long-wave timing receiver. Figure 2 Make the connections as shown.

[0028] 1.2 Analysis of long-wave timing signal characteristics In order to better display and analyze the characteristics of long-wave data, the frequency domain characteristics of the 1PPS signal output by the long-wave timing receiver and the 1PPS signal time difference data (LoranC-UTC) output by UTC (NTSC) are analyzed. The time domain time difference data is converted to the frequency domain using FFT to observe whether it has obvious periodic term characteristics. The conversion formula is: (1); In the formula Indicates time difference data, A frequency spectrum representing the time difference data.

[0029] Pick Figure 2 Taking the LoranC-UTC time difference data of one day as an example, the frequency domain characteristics are analyzed as follows Figure 3 As shown, it can be seen that there are obvious periodic items in the LoranC-UTC time difference data, the most obvious of which is the 24-hour period, corresponding to Figure 3 For point A in the figure, if the vertical axis amplitude of 10 is used as the threshold, we can get two other periodic terms of 12 hours and 8 hours, which correspond to points B and C in the figure respectively.

[0030] 1.3 Establishing the mathematical model of long-wave timing signal Based on the above steps, a mathematical model of long-wave timing signal delay based on trigonometric function is established, which is expressed as follows: (2); In the formula represents the number of periodic terms, represents the sampling time, represents the long wave delay data, represents the initial deviation, , , Respectively represent The amplitude, frequency and phase of each cycle, Represents the remaining residual.

[0031] 1.4 Correction of time difference data of long wave timing signal Based on the analysis in 1.3, the time difference data of the long-wave timing signal can be corrected using the following formula: (3); in, Represents the corrected long wave delay data.

[0032] by Figure 3 The vertical axis amplitude 10 is the threshold value, that is, , the comparison results before and after removing the three periodic terms are as follows Figure 4 As shown in Table 1, it can be seen that the stability of the long-wave timing signal is effectively improved by establishing the trigonometric function model, especially the long-term stability is improved from the previous 2.97E-12 (20000s) to 5.16E-13 (20000s), and 2.34E-12 (40000s) to 2.37E-13 (40000s), as shown in Table 1 and Figure 5 As shown, Figure 5 The blue curve represents the stability after calibration, and the purple curve represents the stability before calibration.

[0033] Table 1 Comparison of stability before and after long-wave calibration Allan variance Stability before long wave calibration Stability after long wave calibration 1s 1.21E-8 1.21E-8 100s 2.89E-11 2.89E-11 1000s 5.72E-12 5.71E-12 10000s 2.73E-12 1.21E-12 20000s 2.97E-12 5.16E-13 40000s 2.34E-12 2.37E-13 2. Improve the time difference data model of rubidium atomic clock and correct the time difference data According to the result of step one, on the basis of the mathematical model of long-wave timing signal, an algorithm for taming the rubidium atomic clock with long-wave timing signal is proposed.

[0034] 2.1. Establishing the long-wave and rubidium clock time difference data model To achieve the taming of rubidium atomic clocks by long-wave timing signals, we must first establish a time difference data model between long-wave and rubidium atomic clocks. Usually, the time difference between rubidium atomic clocks and Coordinated Universal Time (UTC) shows the following rules: (4); The time difference model parameters include: represents the rubidium clock error data, the constant term a represents the phase deviation at the initial moment, the first-order term parameter b represents the frequency deviation at the initial moment, and the second-order term parameter c represents the frequency drift and represents random noise.

[0035] according to Figure 6 Connect as shown to collect the original time difference data of the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver.

[0036] 2.2. Establishing an improved model for long-wave and rubidium clock time difference data According to the analysis results of the long-wave timing signal characteristics in step 1, it can be inferred that the time difference data (Rubidium-LoranC) between the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver contains both the characteristics of the rubidium atomic clock and the long-wave characteristics. Therefore, the Rubidium-LoranC time difference model can be transformed into a time difference model with a quadratic polynomial superimposed on a periodic fluctuation term, which is expressed as follows: (5); in express The time difference between the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver at the moment, represents the phase deviation at the initial moment, b represents the frequency deviation at the initial moment, and c represents the frequency drift. Represents the remaining residual.

[0037] According to the FFT analysis results, if the time difference data contains multiple periodic terms, multiple trigonometric functions are constructed to simplify the model into a matrix form: (6) in represents the observed value; Represents the time difference data at the mth moment; represents the coefficient matrix; represents the mth moment; represents the frequency of the nth periodic term; represents the parameter to be estimated; represents the phase of the nth periodic term; represents the coefficient of the first periodic term; represents the coefficient of the nth periodic term; Substitute the original time difference data into the matrix equation group and solve the matrix equation group, as shown in formula (7), to obtain the various parameters to be estimated: (7); From the original data By deducting the periodic fitting data from the equation, we can obtain the stable long-wave and rubidium atomic clock time difference data, as shown in equation (7):

[0038] (8); in represents the corrected Rubidium-LoranC time difference data. The time difference data before and after processing are as follows Figure 7 shown.

[0039] 3. Taming the Rubidium Atomic Clock The Rubidium-LoranC time difference data corrected in step 2 is used to tame the rubidium atomic clock, and the performance parameter estimation model of the rubidium atomic clock is established using the least squares method. (8) can be expressed in matrix form as: (9); in represents the coefficient matrix, represents the mth sampling moment; represents the desired performance parameters of the rubidium clock, a represents the phase deviation at the initial moment; b represents the frequency deviation at the initial moment; c represents the frequency drift.

[0040] By solving the matrix equations, the performance parameters of the rubidium atomic clock are obtained, and then the ping-pong control algorithm is used to adjust the adjustment amount of the rubidium atomic clock, and finally the long-wave timing signal is used to tame the rubidium atomic clock frequency standard. The frequency accuracy of the rubidium atomic clock outputting 10MHz is improved from -5E-11 (free state) to -2.27E-13; the frequency stability is 7.39E-13 (100s), 2.18E-13 (10000s), such as Figure 8 As shown, the stability comparison with the free-state rubidium atomic clock is shown in Table 2.

[0041] Table 2 Comparison of stability of rubidium atomic clock before and after taming Allan variance Stability after taming Free Rubidium Atomic Clock (Instruction Manual) 1s 1.69E-11 2E-11 10s 4.10E-12 1E-11 100s 7.39E-13 2E-12 1000s 2.76E-13 10000s 2.18E-13 20000s 1.63E-13 Application Example 1: Satellite Navigation System In satellite navigation systems, high-precision time synchronization is a key factor in ensuring positioning accuracy. Traditional rubidium atomic clocks have poor long-term stability due to frequency drift and periodic fluctuations, which affects the overall performance of the system. Through the method of the present invention, the long-wave timing signal is accurately calibrated with the rubidium atomic clock, which significantly improves the long-term stability and frequency accuracy of the rubidium atomic clock. After applying this technology, the rubidium atomic clock in the satellite navigation system can provide a more accurate time reference, reduce the accumulation of time errors, and improve the positioning accuracy and reliability of the entire navigation system. In addition, this improvement can also reduce satellite maintenance costs and extend the service life of the rubidium atomic clock.

[0042] Application Example 2: Communication Network Synchronization In modern communication networks, high-precision time synchronization is crucial to data transmission, network coordination and system performance. Especially in 5G networks and future 6G networks, microsecond or even nanosecond time synchronization accuracy becomes a necessary condition. The method of the present invention tames the rubidium atomic clock by introducing a long-wave timing signal, which significantly improves the time and frequency stability of the rubidium atomic clock. After being applied to communication network synchronization, high-precision time synchronization between network nodes can be ensured, the stability and accuracy of data transmission can be improved, delays and jitters can be reduced, and the needs of high-bandwidth, low-latency communication can be met. This is of great significance for fields such as financial transactions, smart grids, and the Internet of Things that have extremely high requirements for time synchronization.

[0043] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. A person of ordinary skill in the art will appreciate that the above-mentioned devices and methods can be implemented using computer executable instructions and / or contained in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the carrier medium. The device and its modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0044] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A method for taming a rubidium atomic clock based on a long-wave timing signal, characterized in that: include: Step 1: A mathematical model of long-wave timing signal delay based on trigonometric functions; by analyzing the frequency domain characteristics of the second pulse 1PPS signal output by the long-wave timing receiver and the UTC generated by NTSC, the 1PPS signal time difference data LoranC-UTC output by UTC; using the fast Fourier transform FFT to convert the time domain time difference data to the frequency domain to observe whether the 1PPS signal output by the long-wave timing receiver has obvious periodic term characteristics, establish a mathematical model of the long-wave timing signal, and correct the time difference data of the long-wave timing signal, and correct the long-wave time-varying signal with obvious fluctuation and periodic effects into a stable timing signal; Step 2, improving the rubidium atomic clock time difference data model and correcting the time difference data; according to the analysis results of step 1: the time difference data of the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver also have obvious periodic fluctuation components. On the basis of the mathematical model of the long-wave timing signal, the rubidium atomic clock time difference model is transformed into a time difference model with quadratic polynomials superimposed on periodic fluctuation terms; the original time difference data is used to solve the periodic term parameters in the time difference model, and then the periodic term fitting data is deducted from the original data to obtain stable time difference data; Step three, taming the rubidium atomic clock; according to the processing result of step two, the parameters of the rubidium atomic clock are estimated by the least square method using the corrected stable time difference data, the performance parameters of the rubidium atomic clock are calculated, and then the ping-pong control algorithm is used to adjust the adjustment amount of the rubidium atomic clock, adjust the output frequency of the rubidium atomic clock, and finally achieve the purpose of taming the rubidium atomic clock with a long-wave timing signal.

2. The method for taming a rubidium atomic clock based on a long-wave timing signal as claimed in claim 1, characterized in that: In the step 1, a multi-channel time interval counter is used to collect the 1PPS signal output by the UTC (NTSC) and the 1PPS signal output by the long-wave timing receiver.

3. The method for taming a rubidium atomic clock based on a long-wave timing signal as claimed in claim 1, characterized in that: The conversion formula for converting the time domain time difference data to the frequency domain using FFT in step 1 is: ， In the formula Indicates time difference data, A frequency spectrum representing the time difference data.

4. The method for taming a rubidium atomic clock based on a long-wave timing signal as claimed in claim 1, characterized in that: The long-wave timing signal delay mathematical model based on trigonometric functions established in step 1 is expressed as follows: ； In the formula represents the number of periodic terms, represents the sampling time, represents the long wave delay data, represents the initial deviation, , , Respectively represent The amplitude, frequency and phase of each cycle, Represents the remaining residual.

5. The method for taming a rubidium atomic clock based on a long-wave timing signal as claimed in claim 1, characterized in that: In the step 1, the time difference data of the long wave timing signal is corrected by the following formula: ， in, represents the corrected long wave delay data, represents the number of periodic terms, Indicates the sampling time, the value is t=1,2,3......, represents the long wave delay data, , , Respectively represent The amplitude, frequency and phase of each cycle.

6. The method for taming a rubidium atomic clock based on a long-wave timing signal as claimed in claim 1, characterized in that: In the step 2, the Rubidium-LoranC time difference model is transformed into a time difference model with a quadratic polynomial superimposed with a periodic fluctuation term, which is expressed as follows: ， in ， express The time difference between the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver at the moment, represents the phase deviation at the initial moment, b represents the frequency deviation at the initial moment, and c represents the frequency drift. represents the remaining residual, , , Respectively represent The amplitude, frequency and phase of each cycle, represents the number of periodic terms, Indicates the sampling time.

7. The method for taming a rubidium atomic clock based on a long-wave timing signal as claimed in claim 6, characterized in that: According to the FFT analysis results, if the time difference data contains multiple periodic terms, construct multiple trigonometric functions and transform the model The formula is simplified to matrix form: ， in represents the observed value, Represents the time difference data at the mth moment; represents the coefficient matrix, represents the mth moment, represents the frequency of the nth periodic term; represents the parameter to be estimated; represents the phase of the nth periodic term; represents the coefficient of the first periodic term; represents the coefficient of the nth periodic term; Substitute the original time difference data into the matrix equation system and solve the matrix equation system to obtain the parameters to be estimated, as shown in the following formula: ； From the original data By deducting the periodic fitting data from the equation, we can get the stable time difference data of the long wave and rubidium atomic clocks, as shown in the following formula: ； In the formula represents the corrected Rubidium-LoranC time difference data, Representation Matrix The transposed matrix of a represents the phase deviation at the initial moment; b represents the frequency deviation at the initial moment; c represents the frequency drift; represents the remaining residual, , , Respectively represent The amplitude, frequency and phase of each cycle, express The time difference between the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver at this moment.

8. The method for taming a rubidium atomic clock based on a long-wave timing signal as claimed in claim 1, characterized in that: In the step 3, the Rubidium-LoranC time difference data corrected in the step 2 is used to tame the rubidium atomic clock, and a performance parameter estimation model of the rubidium atomic clock is established by using the least square method. It can be expressed in matrix form as: ， in represents the coefficient matrix, represents the mth sampling moment; Indicates the required performance parameters of the rubidium clock; a represents the phase deviation at the initial moment; b represents the frequency deviation at the initial moment; c represents the frequency drift; represents the remaining residual, , , Respectively represent The amplitude, frequency and phase of each cycle, express The time difference between the 1PPS signal output by the rubidium atomic clock and the 1PPS signal output by the long-wave timing receiver; By solving the matrix equations, the performance parameters of the rubidium atomic clock are obtained, and then the ping-pong control algorithm is used to adjust the adjustment amount of the rubidium atomic clock, ultimately achieving the long-wave timing signal taming the rubidium atomic clock frequency standard.

9. A system for training a rubidium atomic clock based on a long-wave timing signal according to the algorithm for training a rubidium atomic clock based on a long-wave timing signal as claimed in any one of claims 1 to 8, characterized in that: It includes a long-wave timing receiver, a rubidium atomic clock, a multi-channel time interval counter and a computer; The output ends of the NTSC clock room, the long-wave timing receiver and the rubidium atomic clock are respectively connected to the input end of the multi-channel time interval counter, the output end of the multi-channel time interval counter is connected to the input end of the computer, and the output end of the computer is connected to the input end of the rubidium atomic clock.

10. The system for taming a rubidium atomic clock based on a long-wave timing signal as claimed in claim 9, characterized in that: The 1PPS signal output by the rubidium atomic clock, the long-wave timing receiver and the NTSC clock room is transmitted to the multi-channel time interval counter, and the time difference data output by the multi-channel time interval counter is transmitted to the computer, and the computer adjusts the rubidium atomic clock based on the frequency adjustment amount.

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