Get the UTC time of the positioning system

Abstract

The positioning system for obtaining UTC time disclosed in the present invention obtains UTC time consistent with other GNSS devices by adding a GNSS antenna extending to the GNSS coverage area on the main positioning base station. In the process of correcting its own clock using UTC time, a process of obtaining the UTC correction time using a timer is introduced to compensate for the delay time caused by the GNSS module calculating the position and parsing the UTC time, so that its own clock can be corrected more accurately. When the positioning signal is subsequently transmitted, the UTC time representing the moment of transmission of the positioning signal is extracted from the corrected clock, carried in the positioning signal, and sent to the device to be positioned MS and / or other positioning base stations. The device to be positioned can use the UTC time carried in the positioning signal to obtain the UTC time corresponding to the calculated position information, so that the device to be positioned can obtain position information with accurate UTC time when shuttling between the GNSS coverage area and the self-built positioning system coverage area.

Description

Technical Field

[0001] The present invention relates to the field of wireless communications, and in particular to a positioning base station for acquiring UTC time, a device to be positioned, a positioning system and a method. Background Art

[0002] With the rapid development of urban construction, the continuous improvement of people's living standards, and the growing number of private cars, the scenes of driving vehicles to unfamiliar roads and areas in the city are becoming more and more common, resulting in an increasing frequency of people using navigation devices for vehicle navigation. Existing navigation devices, whether they are vehicle-mounted navigation devices or terminal navigation devices such as mobile phones, are based on GNSS (Global Navigation Satellite System) satellite signals for positioning, such as the US GPS satellite signals, Russian GLONASS satellite signals, EU GALILEO satellite signals, and China's Beidou satellite signals. However, in environments such as densely built areas in cities, tunnels, under elevated roads, and underground parking lots, the received GNSS satellite signals will be very weak or even unable to be received. At this time, the navigation device cannot use GNSS satellite signals to achieve navigation and positioning, which brings great inconvenience to the driver when driving the vehicle.

[0003] In the prior art, there is a solution to add a self-built positioning system in areas where GNSS satellite signals cannot cover to compensate for the inability of GNSS positioning. For example, a positioning system based on UWB, Wifi, Bluetooth, RFID, radar, laser and other signal systems is integrated in underground parking lots, shopping malls, tunnels, etc. Those skilled in the art know that when using GNSS satellites for positioning, it is possible to obtain the UTC time (universal standard time) matching the position from the GNSS module while obtaining the position, so as to form a driving trajectory using the position and UTC time in the terminal. However, the UTC time consistent with the GNSS system cannot be obtained in the self-built positioning system. Even if the self-built positioning system can obtain the current time from the network or base station, it cannot be accurately consistent with the UTC time of the GNSS system. This error will have a greater impact when the vehicle travels between the GNSS coverage area and the self-built positioning system coverage area at high speed.

[0004] Therefore, how to provide a solution that enables a self-built positioning system to obtain UTC time that is precisely consistent with the GNSS positioning system has become a technical problem that needs to be solved urgently in this field. Summary of the invention

[0005] According to one aspect of the present invention, a positioning system for obtaining UTC time is disclosed. The positioning system is set up in a GNSS signal shielding area and includes one or more main positioning base stations and one or more slave positioning base stations, wherein the main positioning base station includes:

[0006] A first antenna extending to a GNSS signal coverage area to receive a GNSS signal in the GNSS signal coverage area;

[0007] A GNSS module, coupled to the first antenna, to receive GNSS signals, obtain and transmit the current UTC time, and simultaneously generate and transmit a second pulse signal;

[0008] A UTC time analysis module, coupled to the GNSS module, to receive and analyze the UTC time;

[0009] A first timing module, comprising a first timer, wherein the first timing module receives the second pulse signal from the GNSS module to trigger the first timer to start timing, receives the resolved UTC time from the UTC time resolution module to trigger the first timer to stop timing, and corrects its own clock using the timing value of the first timer and the resolved UTC time;

[0010] A signal processing module coupled to the timing module to obtain the UTC time representing the moment of transmitting the positioning signal when the positioning signal is to be transmitted, and modulate the UTC time;

[0011] A positioning signal transceiver module, coupled to the signal processing module, to obtain the modulated UTC time and carry it in the positioning signal;

[0012] A second antenna, coupled to the positioning signal transceiver module, to receive and send a positioning signal carrying a UTC time representing a positioning signal transmission moment;

[0013] From the positioning base station includes:

[0014] Positioning signal transceiver antenna, receiving the positioning signal carrying UTC time transmitted by the main positioning base station;

[0015] A positioning signal receiving and processing module, coupled to the positioning signal transceiver antenna, to receive and analyze the UTC time, and generate a trigger signal while receiving the positioning signal carrying the UTC time;

[0016] A second timing module, comprising a second timer, wherein the second timing module receives the trigger signal from the positioning signal receiving and processing module to trigger the second timer to start timing, receives the parsed UTC time from the positioning signal receiving and processing module to trigger the second timer to stop timing, and uses the timing value of the second timer and the parsed UTC time to correct its own clock;

[0017] A signal processing module coupled to the timing module to obtain the UTC time representing the moment of transmitting the positioning signal when the positioning signal is to be transmitted, and modulate the UTC time;

[0018] A positioning signal transmitting module, coupled to the signal processing module, to obtain the modulated UTC time, carry it in the positioning signal, and send the positioning signal via the positioning signal transceiver antenna;

[0019] The main positioning base station and the slave positioning base station have known positions, and the main positioning base station and / or the slave positioning base station transmit a positioning signal to the device to be positioned;

[0020] The device to be positioned receives the positioning signal;

[0021] The positioning system records the time information of transmitting and / or receiving the positioning signal, and uses the position information of the main positioning base station and / or the slave positioning base station and the time information of transmitting and / or receiving the positioning signal to calculate the position information of the device to be positioned;

[0022] Among them, the positioning signal transmitted by the main positioning base station and / or the slave positioning base station carries the UTC time representing the moment when the positioning signal is transmitted, and the positioning system uses the UTC time representing the moment when the positioning signal is transmitted to obtain the UTC time corresponding to the calculated position information of the device to be positioned.

[0023] The positioning system for obtaining UTC time disclosed in the present invention obtains UTC time consistent with other GNSS devices by adding a GNSS antenna extending to the GNSS coverage area on the main positioning base station. In the process of correcting its own clock using UTC time, a process of obtaining the UTC correction time using a timer is introduced to compensate for the delay time due to the GNSS module calculating the position and parsing the UTC time, so that the own clock can be corrected more accurately to obtain the UTC time that is accurately consistent with other GNSS devices. When the positioning signal is subsequently transmitted, the UTC time representing the moment of transmission of the positioning signal is extracted from the corrected clock, carried in the positioning signal, and sent to the device to be positioned MS and / or other positioning base stations. The positioning signal carrying the UTC time is transmitted continuously by each positioning base station, so that all positioning base stations in the positioning system can obtain the UTC time consistent with other GNSS devices. Regardless of which positioning base stations the positioning signal transmitted by can be received by the device to be positioned, the UTC time when the positioning signal is transmitted can be obtained. The device to be located can use the UTC time carried in the positioning signal to obtain the UTC time corresponding to the calculated position information, so that the device to be located can obtain position information with accurate UTC time when traveling between the GNSS coverage area and the self-built positioning system coverage area. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of a positioning system 100 for obtaining UTC time according to an embodiment of the present invention is provided;

[0025] Figure 2 A modular schematic diagram of a primary positioning base station 200 for acquiring UTC time according to an embodiment of the present invention is provided;

[0026] Figure 3 Given Figure 2 The working sequence diagram of the main positioning base station 200 for obtaining UTC time is shown;

[0027] Figure 4 A modular schematic diagram of a slave positioning base station 400 for acquiring UTC time according to an embodiment of the present invention is provided;

[0028] Figure 5 A modular schematic diagram of a device to be located 500 for obtaining UTC time according to an embodiment of the present invention is provided;

[0029] Figure 6 A flowchart of a positioning method 600 for obtaining UTC time according to an embodiment of the present invention is provided. DETAILED DESCRIPTION

[0030] The specific embodiments of the present invention will be described in detail below. It should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is obvious to those of ordinary skill in the art that these specific details do not have to be used to implement the present invention. In other examples, in order to avoid confusing the present invention, known circuits, materials or methods are not specifically described.

[0031] Throughout the specification, reference to "one embodiment", "embodiment", "one example" or "example" means that a particular feature, structure or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "in one embodiment", "in an embodiment", "one example" or "example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. In addition, specific features, structures or characteristics can be combined in one or more embodiments or examples in any appropriate combination and / or sub-combination. In addition, it should be understood by those of ordinary skill in the art that the diagrams provided herein are for illustrative purposes, and the diagrams are not necessarily drawn to scale. It should be understood that when an "element" is said to be "connected to" or "connected" to another element, it can be directly connected or connected to another element or there can be an intermediate element. On the contrary, when an element is said to be "directly connected to" or "directly connected to" another element, there is no intermediate element. The same reference numerals indicate the same element. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0032] Figure 1 A schematic diagram of a positioning system 100 for obtaining UTC time according to an embodiment of the present invention is given. The positioning system 100 for obtaining UTC time includes n positioning base stations BS1-BSn set up in a GNSS signal shielding area, and one or more devices MS to be positioned. In one embodiment, n is an integer greater than or equal to 3, and the n positioning base stations have known positions. The n positioning base stations transmit positioning signals to the device MS to be positioned, and the device MS to be positioned receives the positioning signals. The positioning system 100 records the time information of transmitting and / or receiving the positioning signals, and uses the position information of the positioning base stations BS and the time information of transmitting and / or receiving the positioning signals to solve the position information of the device MS to be positioned using TDOA (Time Difference of Arrival) or TOA (Time of Arrival).

[0033] The GNSS signal blocking area includes areas where GNSS signals cannot be received or the received GNSS signals are weak, such as densely built-up areas in cities, tunnels, under elevated roads, underground parking lots, and indoor areas.

[0034] The n positioning base stations include at least one main positioning base station. Figure 1In the illustrated embodiment, the main positioning base station is the positioning base station BS1. In other possible embodiments, multiple main positioning base stations may be provided according to actual needs. The main positioning base station BS1 includes a GNSS antenna A1 that extends to the GNSS signal coverage area and is capable of receiving GNSS signals, and includes a GNSS module used in conjunction with the GNSS antenna A1 to obtain UTC time consistent with other GNSS devices. In one embodiment, after the main positioning base station BS1 obtains the UTC time, it uses the UTC time to correct its own clock, and when subsequently transmitting a positioning signal, extracts the UTC time representing the moment of transmitting the positioning signal from the corrected clock, carries it in the positioning signal, and sends it to the device to be positioned MS and / or other positioning base stations. The positioning base station that receives the UTC time may be recorded as a slave positioning base station. The specific process of correcting its own clock using the UTC time will be described in subsequent embodiments.

[0035] In one embodiment, the main positioning base station BS1 comprises an antenna A2 for transmitting a positioning signal. The positioning signal is a UWB (Ultra Wideband) signal, a Wifi signal, a Bluetooth signal, an RFID signal, a radar signal or a laser signal.

[0036] In one embodiment, the positioning system 100 allocates positioning signal transmission time slots to the main positioning base station BS1 and the slave positioning base station in the system, and each positioning base station transmits a positioning signal to the device to be positioned MS in its own positioning signal transmission time slot. In one embodiment, after receiving the positioning signal containing UTC time sent by the main positioning base station BS1, the slave positioning base station uses the UTC time to correct its own clock so that its own clock is consistent with the clock of the main positioning base station BS1, that is, it can obtain UTC time consistent with other GNSS devices. When the slave positioning base station transmits a positioning signal in its own positioning signal transmission time slot, the UTC time representing the moment of positioning signal transmission is extracted from the corrected clock, carried in the positioning signal, and sent to the device to be positioned MS and / or other positioning base stations. In one embodiment, a positioning base station that does not monitor the positioning signal carrying UTC time sent by the main positioning base station can monitor the positioning signal carrying UTC time sent by the slave positioning base station. By transmitting positioning signals carrying UTC time in succession through each positioning base station, all positioning base stations in the positioning system 100 can obtain UTC time, and use the UTC time to correct their own clocks so that their own clocks are consistent with the clock of the main positioning base station BS1, that is, they can obtain UTC time consistent with other GNSS devices. At this time, all positioning base stations in the positioning system 100 carry the UTC time representing the moment when the positioning signal is transmitted when transmitting the positioning signal. No matter which positioning base stations the positioning device MS to be positioned can receive the positioning signal transmitted, it can obtain the UTC time when the positioning signal is transmitted.

[0037] Those skilled in the art know that when using the TOA or TDOA positioning algorithm for positioning, the device MS to be positioned needs to receive at least three positioning signals transmitted by the positioning base stations, and use the arrival time information of the three positioning signals to solve its own position information. In one embodiment, the device MS to be positioned uses the UTC time carried by the last received positioning signal in the positioning signal used to solve the position as the UTC time corresponding to the solved position. And transmit the position information and the corresponding UTC time to other devices that use the position, such as smart phones, vehicle terminals, backend servers, etc.

[0038] In one embodiment, the position information of the device MS to be positioned calculated by the positioning system 100 is based on geodetic coordinates of longitude and latitude. In another embodiment, the position information of the device MS to be positioned is based on a self-built coordinate system. The positioning system 100 also needs to convert the position information of the device MS to be positioned based on the self-built coordinate system into geodetic coordinates based on longitude and latitude, so that the position format calculated by the self-built positioning system 100 is compatible with the position format calculated using the GNSS signal.

[0039] Figure 2A modular schematic diagram of a primary positioning base station 200 for acquiring UTC time according to an embodiment of the present invention is provided. Figure 2 As shown, the main positioning base station 200 exemplarily includes a GNSS antenna 201, a GNSS module 202, a UTC time resolution module 203, a timing module 204, a signal processing module 205, a positioning signal transceiver module 206, and a positioning signal transceiver antenna 207. Among them, the GNSS antenna 201 extends to the GNSS signal coverage area and is coupled to the GNSS module 202 to receive the GNSS signal in the GNSS signal coverage area. The GNSS module 202 has an interface 1 and an interface 2, which are respectively coupled to the UTC time resolution module 203 and the timing module 204. The GNSS module 202 transmits the current UTC time to the UTC time resolution module 203 at the interface 1. The GNSS module 202 transmits a PPS signal (second pulse signal) to the timing module 204 at the interface 2. The UTC time resolution module 203 resolves the UTC time received from the GNSS module and transmits the resolved UTC time to the timing module 204. In one embodiment, the timing module 204 includes a timer. The timing module 204 triggers the timer to start timing when receiving the PPS signal, and triggers the timer to stop timing when receiving the parsed UTC time. At this time, the time recorded by the timer is the UTC corrected time. The timing module 204 uses the parsed UTC time and the UTC corrected time to correct its own clock. The specific correction principle will be combined with Figure 3 Expand Description.

[0040] Figure 3 Given Figure 2 Schematic diagram of the working sequence of the main positioning base station 200 for obtaining UTC time. In one embodiment, the GNSS module 204 provides the position P and the UTC time corresponding to the position P once per second. Figure 3As shown, the GNSS module 204 collects GNSS signals capable of calculating the position P at time t0, and generates and outputs a PPS signal through interface 1 at time t0 for obtaining the UTC corrected time. There is a calculation delay time T1 from the GNSS module 204 starting to calculate the position P at time t0 to obtaining and outputting the position P through interface 2, and the moment represented by the UTC time output through interface 2 is the occurrence moment of position P, i.e., time t0. There is a resolution delay time T2 from the UTC time resolution module 203 receiving the position P and the corresponding UTC time to resolving and sending the UTC time to the timing module 204. There is a delay time T3 between the moment when the timing module 204 receives the UTC time output by the UTC time parsing module 203 and the moment t0 represented by the UTC time. When the timing module 204 uses the UTC time to correct its own clock, the delay time T3 needs to be compensated. The delay time T3 is recorded as the UTC correction time. The UTC time and the UTC correction time need to be added as the timing value of the current clock to correct its own clock. When the timing module 204 receives the PPS signal generated and output at the moment t0, the timing module 204 triggers the timer to start timing. When the timing module 204 receives the parsed UTC time, the timer stops timing. At this time, the time recorded by the timer is the delay time T3, that is, the UTC correction time.

[0041] When the main positioning base station 200 transmits a positioning signal in its own positioning signal transmission time slot, the signal processing module 205 obtains the current UTC time from the timing module 204, modulates it and sends the UTC time to the positioning signal transceiver module 206, so that it carries the UTC time in the positioning signal and sends it out via the positioning signal transceiver antenna 207.

[0042] Those skilled in the art should understand that in order to facilitate the description of the functions implemented by the main positioning base station, Figure 2 In the illustrated embodiment, various functional modules of the main positioning base station 200 for implementing corresponding functions are provided. Those skilled in the art can reasonably design its hardware structure according to actual needs, and various functional modules can be combined and integrated into the same module or multiple modules to implement their functions.

[0043] The master positioning base station BS1 obtains the UTC correction time to compensate for the delay time caused by the GNSS module calculating the position and the UTC time module parsing the UTC time, so that it can more accurately correct its own clock to obtain the UTC time that is accurate and consistent with other GNSS devices. The slave positioning base station monitors the positioning signal carrying the UTC time and corrects its own clock in a similar way to the master positioning base station BS1, so as to transmit a positioning signal containing the UTC time representing the moment of positioning signal transmission in its own positioning signal transmission time slot.

[0044] Figure 4 A modular schematic diagram of a slave positioning base station 400 for obtaining UTC time according to an embodiment of the present invention is given. Figure 4 As shown, the slave positioning base station 400 exemplarily includes a positioning signal transceiver antenna 401, a positioning signal receiving and processing module 402, a timing module 403, a signal processing module 404, and a positioning signal transmitting module 405. The positioning signal transceiver antenna 401 is used to monitor the positioning signal carrying the UTC time transmitted by the master positioning base station, and transmit it to the positioning signal receiving and processing module 402. The positioning signal receiving and processing module 402 has an interface 1 and an interface 2, which are respectively coupled to the timing module 403. The positioning signal receiving and processing module 402 transmits the received and parsed UTC time to the timing module 403 at the interface 1. When the positioning signal is received, the positioning signal receiving and processing module 402 transmits a trigger signal to the timing module 403 at the interface 2. In one embodiment, the timing module 403 includes a timer, and the timing module 403 triggers the timer to start timing when receiving the trigger signal, and the timing module 403 triggers the timer to stop timing when receiving the parsed UTC time. Similar to the main positioning base station, the positioning signal receiving and processing module 402 has a resolution delay time when parsing the UTC time in the positioning signal, and the time recorded by the timer is the above-mentioned resolution delay time. In one embodiment, the above-mentioned resolution delay time is used as the UTC clock correction time. In another embodiment, the UTC clock correction time also includes the flight time of the positioning signal between the main positioning base station and the slave positioning base station. Since the positions of the main positioning base station and the slave positioning base station are known, the flight time of the positioning signal between the two can be calculated. Those skilled in the art know that since the flight time of the positioning signal is shorter than the resolution delay time, its effect on the clock correction can be ignored in some embodiments. The timing module 403 uses the resolved UTC time and the UTC clock correction time to correct its own clock. The resolved UTC time is added to the UTC clock correction time as the timing value of the current clock, thereby correcting its own clock.

[0045] When the positioning base station 400 transmits a positioning signal in its own positioning signal transmission time slot, the signal processing module 404 obtains the current UTC time from the timing module 403, modulates it and sends the UTC time to the positioning signal transmitting module 406, so that it carries the UTC time in the positioning signal and sends it out via the positioning signal transceiver antenna 401.

[0046] Those skilled in the art should understand that in order to facilitate the description of the functions implemented by the positioning base station, Figure 4 In the illustrated embodiment, various functional modules for implementing corresponding functions from the positioning base station 400 are provided, and those skilled in the art can reasonably design the hardware structure according to actual needs, and can combine and integrate various functional modules into the same module or multiple modules to implement their functions.

[0047] The slave positioning base station compensates for the delay time of the UTC time and the positioning signal transmission between the master and slave positioning base stations by obtaining the resolution delay time and the positioning signal flight time, so that it can more accurately correct its own clock to achieve clock synchronization with the master positioning base station, and then obtain the UTC time that is accurate and consistent with other GNSS devices. The positioning base station that does not monitor the positioning signal carrying the UTC time sent by the master positioning base station can monitor the positioning signal carrying the UTC time sent by the slave positioning base station. Through the continuous transmission of the positioning signal carrying the UTC time by each positioning base station, all positioning base stations in the positioning system 100 can obtain the UTC time, and use the UTC time to correct their own clocks so that their own clocks are consistent with the clock of the master positioning base station BS1, that is, they can obtain the UTC time that is consistent with other GNSS devices. At this time, all positioning base stations in the positioning system 100 carry the UTC time representing the moment of transmission of the positioning signal when transmitting the positioning signal. No matter which positioning base stations the positioning device MS can receive the positioning signal transmitted by, it can obtain the UTC time when the positioning signal is transmitted.

[0048] Figure 5 A modular schematic diagram of a device to be located 500 for obtaining UTC time according to an embodiment of the present invention is provided. Figure 5As shown, the device to be positioned 500 exemplarily includes a positioning signal receiving antenna 501, a positioning signal receiving and processing module 502, a timing module 503, and a position solving module 504. The positioning signal receiving antenna 501 is used to receive the positioning signal carrying the UTC time transmitted by each positioning base station, and transmit it to the positioning signal receiving and processing module 502. The positioning signal receiving and processing module 502 has an interface 1 and an interface 2, which are respectively coupled to the timing module 503. The positioning signal receiving and processing module 502 transmits the received and parsed UTC time to the timing module 503 at the interface 1. When the positioning signal is received, the positioning signal receiving and processing module 502 transmits a trigger signal to the timing module 503 at the interface 2. In one embodiment, the timing module 503 includes a timer, and the timing module 503 triggers the timer to start timing when receiving the trigger signal, and the timing module 503 triggers the timer to stop timing when receiving the parsed UTC time. Similar to the positioning base station, the positioning signal receiving and processing module 502 has a resolution delay time when parsing the UTC time in the positioning signal, and the time recorded by the timer is the above-mentioned resolution delay time, that is, the UTC correction time. The timing module 503 transmits the resolved UTC time and the UTC correction time to the position solving module 504. In addition, the positioning signal receiving and processing module 502 also records the time information of the positioning signal arriving at itself, and transmits the time information to the position solving module 504. The position solving module 504 uses the positioning signal arrival time information and the position information of the positioning base station to solve the position information of the device to be located 500. The position solving module 504 also uses the resolved UTC time and the UTC correction time to obtain the UTC time information corresponding to the position information. In one embodiment, the position solving module 504 uses the UTC time carried by the last received positioning signal in the positioning signal used to solve the position after correction as the UTC time corresponding to the solved position. The location calculation module 504 transmits the calculated location information and the corresponding UTC time information to other devices that utilize the location, such as a smart phone, a vehicle terminal, a backend server, etc.

[0049] Figure 6 A flowchart of a positioning method 600 for obtaining UTC time according to an embodiment of the present invention is provided. The positioning method 600 for obtaining UTC time comprises the following steps:

[0050] Step 601: Obtain UTC time in the GNSS signal coverage area, and use the UTC time to correct the own clock;

[0051] Step 602: carrying the UTC time representing the moment of transmitting the positioning signal in the positioning signal, and transmitting the positioning signal;

[0052] Step 603: receiving a positioning signal carrying the UTC time representing the moment when the positioning signal is transmitted, and using the UTC time representing the moment when the positioning signal is transmitted to correct its own clock;

[0053] Step 604: Receive a positioning signal carrying the UTC time representing the moment when the positioning signal is transmitted, and record the time information when the positioning signal arrives at itself, use the positioning signal arrival time information and the position information of the positioning base station to calculate the position information of the device to be located, and represent the UTC time of the moment when the positioning signal is transmitted to obtain the UTC time corresponding to the position information.

[0054] In one embodiment, step 601 is performed by a primary positioning base station.

[0055] In one embodiment, step 603 is performed by a slave positioning base station.

[0056] In one embodiment, step 604 is performed by the device to be located.

[0057] In one embodiment, step 602 is performed by a master positioning base station and / or a slave positioning base station.

[0058] In one embodiment, using UTC time to correct the own clock also includes: controlling the timer to start timing when a trigger signal is received, stop timing when the parsed UTC time is received, and use the timing value of the timer and the parsed UTC time to correct the own clock.

[0059] The positioning system for obtaining UTC time disclosed in the present invention obtains UTC time consistent with other GNSS devices by adding a GNSS antenna extending to the GNSS coverage area on the main positioning base station. In the process of correcting its own clock using UTC time, a process of obtaining the UTC correction time using a timer is introduced, which compensates for the delay time caused by the GNSS module calculating the position and parsing the UTC time, so that the own clock can be corrected more accurately to obtain the UTC time that is accurately consistent with other GNSS devices. When the positioning signal is subsequently transmitted, the UTC time representing the moment of transmission of the positioning signal is extracted from the corrected clock, carried in the positioning signal, and sent to the device to be positioned MS and / or other positioning base stations. The positioning signal carrying the UTC time is transmitted continuously by each positioning base station, so that all positioning base stations in the positioning system can obtain the UTC time consistent with other GNSS devices. Regardless of which positioning base stations the positioning signal transmitted by can be received by the device to be positioned, the UTC time when the positioning signal is transmitted can be obtained. The device to be located can use the UTC time carried in the positioning signal to obtain the UTC time corresponding to the calculated position information, so that the device to be located can obtain position information with accurate UTC time when traveling between the GNSS coverage area and the self-built positioning system coverage area.

[0060] As mentioned above, although the preferred embodiments of the present invention have been illustrated and described, many changes may be made without departing from the spirit and scope of the present invention. Thus, the scope of the present invention is not limited by the disclosure of the preferred embodiments. Instead, the present invention should be determined entirely with reference to the claims that follow.

Claims

1. A positioning system for obtaining UTC time, the positioning system is set up in a GNSS signal shielding area, and includes one or more main positioning base stations and one or more slave positioning base stations, wherein: The main positioning base station includes: A first antenna extending to a GNSS signal coverage area to receive a GNSS signal in the GNSS signal coverage area; A GNSS module, coupled to the first antenna, to receive GNSS signals, obtain and transmit the current UTC time, and simultaneously generate and transmit a second pulse signal; A UTC time analysis module, coupled to the GNSS module, to receive and analyze the UTC time; A first timing module, comprising a first timer, wherein the first timing module receives the second pulse signal from the GNSS module to trigger the first timer to start timing, receives the resolved UTC time from the UTC time resolution module to trigger the first timer to stop timing, and corrects its own clock using the timing value of the first timer and the resolved UTC time; A signal processing module coupled to the timing module to obtain the UTC time representing the moment of transmitting the positioning signal when the positioning signal is to be transmitted, and modulate the UTC time; A positioning signal transceiver module, coupled to the signal processing module, to obtain the modulated UTC time and carry it in the positioning signal; A second antenna, coupled to the positioning signal transceiver module, to receive and send a positioning signal carrying a UTC time representing a positioning signal transmission moment; From the positioning base station includes: Positioning signal transceiver antenna, receiving the positioning signal carrying UTC time transmitted by the main positioning base station; A positioning signal receiving and processing module, coupled to the positioning signal transceiver antenna, to receive and analyze the UTC time, and generate a trigger signal while receiving the positioning signal carrying the UTC time; A second timing module, comprising a second timer, wherein the second timing module receives the trigger signal from the positioning signal receiving and processing module to trigger the second timer to start timing, receives the parsed UTC time from the positioning signal receiving and processing module to trigger the second timer to stop timing, and uses the timing value of the second timer and the parsed UTC time to correct its own clock; A signal processing module coupled to the timing module to obtain the UTC time representing the moment of transmitting the positioning signal when the positioning signal is to be transmitted, and modulate the UTC time; A positioning signal transmitting module, coupled to the signal processing module, to obtain the modulated UTC time, carry it in the positioning signal, and send the positioning signal via the positioning signal transceiver antenna; The main positioning base station and the slave positioning base station have known positions, and the main positioning base station and / or the slave positioning base station transmit a positioning signal to the device to be positioned; The device to be positioned receives the positioning signal; The positioning system records the time information of transmitting and / or receiving the positioning signal, and uses the position information of the main positioning base station and / or the slave positioning base station and the time information of transmitting and / or receiving the positioning signal to calculate the position information of the device to be positioned; Among them, the positioning signal transmitted by the main positioning base station and / or the slave positioning base station carries the UTC time representing the moment when the positioning signal is transmitted, and the positioning system uses the UTC time representing the moment when the positioning signal is transmitted to obtain the UTC time corresponding to the calculated position information of the device to be positioned.

2. The positioning system according to claim 1, wherein: The positioning signal is one or more of an ultra-wideband signal, a Wifi signal, a Bluetooth signal, an RFID signal, a radar signal, and a laser signal.

3. The positioning system according to claim 1, wherein: The first timing module uses the timing value of the first timer, the flight time of the positioning signal between the positioning base stations, and the parsed UTC time to correct its own clock; the second timing module uses the timing value of the second timer, the flight time of the positioning signal between the positioning base stations, and the parsed UTC time to correct its own clock.

Images