Single-epoch time service method, device and system based on beidou satellite signals

Abstract

The one or more embodiments of the specification provide a single-epoch timing method, device and system based on Beidou satellite signals, obtain GEO satellite observation values, IGSO satellite observation values and MEO satellite observation values, utilize a GEO timing model, an IGSO timing model and a MEO timing model to obtain GEO timing results, IGSO timing results and MEO timing results, calculate multi-satellite timing results according to the single-satellite timing results of the three types, and utilize a variance component estimation method to determine comprehensive timing results according to the multi-satellite timing results. The Beidou-3 system is utilized to provide accurate timing for the smart grid, and the safe and reliable operation of the smart grid can be ensured.

Description

TECHNICAL FIELD

[0001] One or more embodiments of the present specification relate to the technical field of power grid, and in particular to a single-epoch time service method, device and system based on Beidou satellite signals. BACKGROUND

[0002] In order to ensure the operation of the smart grid, accurate time service signals need to be provided so that each system can operate based on a unified time reference, ensuring network operation efficiency and reliability. Before the Beidou system is put into use, there are huge safety hazards in the smart grid, which seriously affect the safe and stable operation of the power system, and the Beidou No. 1 and No. 2 systems have certain limitations and deficiencies in the promotion and application of the smart grid and the accuracy requirements of time service. SUMMARY

[0003] Therefore, the purpose of one or more embodiments of the present specification is to provide a single-epoch time service method, device and system based on Beidou satellite signals to solve the time service problem of the smart grid.

[0004] In order to achieve the above purpose, one or more embodiments of the present specification provide a single-epoch time service method based on Beidou satellite signals, which comprises:

[0005] Obtaining GEO satellite observation values, IGSO satellite observation values and MEO satellite observation values;

[0006] Inputting the GEO satellite observation values, IGSO satellite observation values and MEO satellite observation values into a GEO time service model, an IGSO time service model and a MEO time service model respectively to obtain GEO time service results, IGSO time service results and MEO time service results;

[0007] According to the GEO time service results, IGSO time service results and MEO time service results, calculating multi-satellite time service results;

[0008] According to the multi-satellite time service results, determining comprehensive time service results by using a variance component estimation method.

[0009] Optionally, the GEO satellite observation values, IGSO satellite observation values and MEO satellite observation values are distance observation values;

[0010] The method for calculating multi-satellite time service results according to the GEO time service results, IGSO time service results and MEO time service results is:

[0011]

[0012] Wherein, Δt GEO / IGSO / MEO represents the multi-satellite time service results of GEO, IGSO or MEO satellites; Δt iaIn order to solve the time offset between the receiver a and the Beidou-III system by using the distance observation value of the i-th GEO, IGSO or MEO satellite, p i The weight function of the i-th GEO, IGSO or MEO satellite in the multi-satellite time service is represented by E

[0013] Optionally, the calculation method of the time offset is as follows:

[0014]

[0015] Wherein, ρ ia is the distance observation value of the i-th GEO, IGSO or MEO satellite observed by the receiver a; (X i , Y i , Z i ) is the three-dimensional coordinate of the i-th Beidou satellite; (X a , Y a , Z a ) is the three-dimensional coordinate of the receiver a; Δt i is the satellite clock error of the i-th GEO, IGSO or MEO satellite; is the ionospheric delay error, is the tropospheric delay error, ε ia is other related errors including the receiver measurement noise; and C is the speed of light.

[0016] Optionally, the weight function is as follows:

[0017]

[0018] Wherein, E i is the elevation angle of the i-th GEO, IGSO or MEO satellite; A1 and B1 are constant coefficients.

[0019] Optionally, the weight function is as follows:

[0020]

[0021] Wherein, E i is the elevation angle of the i-th GEO, IGSO or MEO satellite; A2 and B2 are constant coefficients.

[0022] Optionally, the weight function is as follows:

[0023]

[0024] Wherein, E i is the elevation angle of the i-th GEO, IGSO or MEO satellite; A3, B3 and C3 are constant coefficients.

[0025] The embodiment of the present specification also provides a single-epoch timing device based on Beidou satellite signals, comprising:

[0026] The acquisition module is configured to acquire GEO satellite observation values, IGSO satellite observation values, and MEO satellite observation values.

[0027] The single-satellite timing module is configured to input the GEO satellite observation values, the IGSO satellite observation values, and the MEO satellite observation values into a GEO timing model, an IGSO timing model, and a MEO timing model respectively, and obtain GEO timing results, IGSO timing results, and MEO timing results.

[0028] The multi-satellite timing module is configured to calculate multi-satellite timing results according to the GEO timing results, the IGSO timing results, and the MEO timing results.

[0029] The comprehensive timing module is configured to determine comprehensive timing results by using a variance component estimation method according to the multi-satellite timing results.

[0030] The embodiment of the present specification also provides a single-epoch timing system based on Beidou satellite signals, comprising:

[0031] The receiver is configured to receive Beidou-3 system navigation satellite signals.

[0032] The server is configured to parse GEO satellite observation values, IGSO satellite observation values, and MEO satellite observation values from the navigation satellite signals; input the GEO satellite observation values, the IGSO satellite observation values, and the MEO satellite observation values into a GEO timing model, an IGSO timing model, and a MEO timing model respectively, and obtain GEO timing results, IGSO timing results, and MEO timing results; calculate multi-satellite timing results according to the GEO timing results, the IGSO timing results, and the MEO timing results; and determine comprehensive timing results by using a variance component estimation method according to the multi-satellite timing results, so that the smart grid unifies a time reference according to the comprehensive timing results.

[0033] As can be seen from the above, the single-epoch timing method, device, and system based on Beidou satellite signals provided by one or more embodiments of the present specification acquire GEO satellite observation values, IGSO satellite observation values, and MEO satellite observation values, obtain GEO timing results, IGSO timing results, and MEO timing results by using a GEO timing model, an IGSO timing model, and a MEO timing model, calculate multi-satellite timing results according to three types of single-satellite timing results, and determine comprehensive timing results by using a variance component estimation method according to the multi-satellite timing results. The present specification provides accurate timing for the smart grid by using the Beidou-3 system, and can ensure the safe and reliable operation of the smart grid. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in one or more embodiments of this specification or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one or more embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the method flow of one or more embodiments of this specification;

[0036] Figure 2 This is a schematic diagram of a method flow according to another embodiment of this specification;

[0037] Figure 3 This is a block diagram of the device structure of one or more embodiments of this specification;

[0038] Figure 4 This is a system structure block diagram of one or more embodiments of this specification;

[0039] Figure 5 This is a schematic diagram of the structure of an electronic device according to one or more embodiments of this specification. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0041] It should be noted that, unless otherwise defined, the technical or scientific terms used in one or more embodiments of this specification should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar words used in one or more embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0042] As described in the background section, current time synchronization in smart grids primarily relies on the Global Positioning System (GPS) and the BeiDou-1 and BeiDou-2 systems. While BeiDou-1 can achieve two-way time synchronization with an accuracy of 20ns, its user capacity is severely limited, hindering the widespread application of time synchronization technology in smart grid systems. BeiDou-2 can achieve one-way time synchronization with an accuracy of approximately 100ns, which, while meeting the low-precision application needs of the general power industry, cannot satisfy the high-precision requirements of smart grid systems. With the launch of the BeiDou-3 system, the application of time synchronization technology based on BeiDou-3 in smart grid systems has become an inevitable trend.

[0043] Therefore, this specification provides a single-epoch time synchronization method based on BeiDou satellite signals, which can provide accurate time synchronization for smart grids using the BeiDou-3 system, which is conducive to the promotion and application of smart grids and ensures the reliable operation of smart grids.

[0044] The technical solutions of this disclosure will be further described in detail below through specific embodiments.

[0045] like Figure 1 , 2 As shown in the embodiments of this specification, a single-epoch time synchronization method based on BeiDou satellite signals is provided, including:

[0046] S101: Acquire GEO satellite observations, IGSO satellite observations, and MEO satellite observations;

[0047] In this embodiment, precise timing signals are obtained using the BeiDou-3 satellite system. The space segment of the BeiDou-3 satellite system includes three geostationary Earth Orbit (GEO) satellites, three inclined geosynchronous satellite Orbit (IGSO) satellites, and twenty-four medium Earth Orbit (MEO) satellites.

[0048] The receiver receives signals from BeiDou-3 system navigation satellites and analyzes them according to orbit type to obtain GEO, IGSO, and MEO satellite observations. In some methods, the obtained observations are range observations, which can be one or more of the following: pseudorange observations, carrier phase observations, combined observations (a combination of pseudorange and carrier phase observations), and differential combined observations (pseudorange differential, carrier phase differential, or a combination of both). This embodiment does not impose specific limitations.

[0049] S102: inputting the GEO satellite observation value, the IGSO satellite observation value and the MEO satellite observation value into the GEO time service model, the IGSO time service model and the MEO time service model respectively to obtain the GEO time service result, the IGSO time service result and the MEO time service result;

[0050] In this embodiment, based on the obtained single-satellite observation value, the GEO satellite observation value is input into the GEO time service model to obtain the GEO time service result, the IGSO satellite observation value is input into the IGSO time service model to obtain the IGSO time service result, and the MEO satellite observation value is input into the MEO time service model to obtain the MEO time service result. That is, the single-satellite time service result is obtained according to the single-satellite observation value.

[0051] S103: calculating the multi-satellite time service result according to the GEO time service result, the IGSO time service result and the MEO time service result;

[0052] In this embodiment, after the single-satellite time service result is calculated, the multi-satellite time service result of each GEO satellite is calculated according to the GEO time service result of each GEO satellite, the multi-satellite time service result of each IGSO satellite is calculated according to the IGSO time service result of each IGSO satellite, and the multi-satellite time service result of each MEO satellite is calculated according to the MEO time service result of each MEO satellite.

[0053] S104: determining the comprehensive time service result by using the variance component estimation method according to the multi-satellite time service result.

[0054] In this embodiment, based on the multi-satellite time service result of the GEO satellite, the multi-satellite time service result of the IGSO satellite and the multi-satellite time service result of the MEO satellite, the final comprehensive time service result is determined by using the variance component estimation method, which can reduce the influence of gross errors, reasonably determine the optimal weighting relationship and improve the time service precision. Optionally, the comprehensive time service result can be estimated by using the Helmert variance component estimation method or other variance component estimation methods, and the specific estimation method is not limited.

[0055] The intelligent power grid single-epoch time service method based on the Beidou satellite signal provided in this embodiment comprises the following steps: obtaining a GEO satellite observation value, an IGSO satellite observation value and a MEO satellite observation value; inputting the GEO satellite observation value, the IGSO satellite observation value and the MEO satellite observation value into a GEO time service model, an IGSO time service model and a MEO time service model respectively to obtain a GEO time service result, an IGSO time service result and a MEO time service result; calculating a multi-satellite time service result according to the GEO time service result, the IGSO time service result and the MEO time service result; determining a comprehensive time service result by using a variance component estimation method according to the multi-satellite time service result; and unifying the system time reference according to the comprehensive time service result, so that accurate time service can be obtained.

[0056] In some embodiments, the GEO timing model, the IGSO timing model and the MEO timing model can be a one-way, two-way or common view timing mode based on pseudorange observation, carrier phase observation, combined observation or differential combined observation. In the embodiments, the specific principles and formulas of the three timing models are not described in detail.

[0057] In some embodiments, the obtained GEO / IGSO / MEO satellite observation is a distance observation, and the time offset between the Beidou-3 system and the receiver is:

[0058]

[0059] where Δt ia represents the time offset between the receiver a and the Beidou-3 system calculated by using the distance observation of the i-th GEO, IGSO or MEO satellite; p ia represents the distance observation of the i-th GEO, IGSO or MEO satellite observed by the receiver a; (X i , Y i , Z i ) represents the three-dimensional coordinates of the i-th GEO, IGSO or MEO satellite, which can be calculated by using the Beidou broadcast ephemeris; (X a , Y a , Z a ) represents the three-dimensional coordinates of the receiver a, which is a known value; Δt i represents the satellite clock error of the i-th GEO, IGSO or MEO satellite; represents the ionospheric delay error; represents the tropospheric delay error; ε ia represents other related errors including receiver measurement noise; and C represents the speed of light.

[0060] In some embodiments, according to the GEO timing result, the IGSO timing result and the MEO timing result, the method for calculating the multi-satellite timing result is:

[0061]

[0062] where Δt GEO / IGSO / MEO represents the multi-satellite timing result of the GEO, IGSO or MEO satellite; p i represents the weight function of the i-th GEO, IGSO or MEO satellite in the multi-satellite timing, i=1, 2, …, n, and n represents the number of visible effective satellites of the GEO, IGSO or MEO satellites in the single-epoch observation.

[0063] In some ways, the weight function can be:

[0064]

[0065] wherein E i is the elevation angle of the i-th GEO, IGSO or MEO satellite; A1, B1 are constant coefficients, which have different fitting coefficient values in the pseudo-range observation value, the phase observation value or the combined observation value at each frequency, and can be obtained by fitting calculation of the constant coefficients A1, B1 according to the relationship between the satellite observation value and the elevation angle. In the time service application in the territory of China, the weight function shown in formula (3) is applicable to the IGSO satellite, and the effect is obvious especially when the IGSO satellite is at a low elevation angle.

[0066] In other manners, the weight function can be:

[0067]

[0068] wherein E i is the elevation angle of the i-th GEO, IGSO or MEO satellite; A2, B2 are constant coefficients, which have different fitting coefficient values in the pseudo-range observation value, the phase observation value or the combined observation value at each frequency, and can be obtained by fitting calculation of the constant coefficients A2, B2 according to the relationship between the satellite observation value and the elevation angle. In the time service application in the territory of China, the weight function shown in formula (4) is applicable to the GEO satellite.

[0069] In still other manners, the weight function can be:

[0070]

[0071] wherein E i is the elevation angle of the i-th GEO, IGSO or MEO satellite; A3, B3, C3 are constant coefficients, which have different fitting coefficient values in the pseudo-range observation value, the phase observation value or the combined observation value at each frequency, and can be obtained by fitting calculation of the constant coefficients A3, B3, C3 according to the relationship between the satellite observation value and the elevation angle. In the time service application in the territory of China, the weight function shown in formula (5) is applicable to the MEO satellite.

[0072] It should be noted that the method of one or more embodiments of the present specification can be performed by a single device, such as a computer or a server, etc. The method of the present embodiment can also be applied to a distributed scenario, and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of one or more embodiments of the present specification, and the multiple devices will interact with each other to complete the method.

[0073] It is noted that the above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims can be performed in a different order and still achieve desirable results. Also, the processes depicted in the accompanying figures do not necessarily require the particular order shown or sequential order in order to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous.

[0074] As shown in Figure 3 The embodiments of the present specification also provide a single-epoch time service device based on Beidou satellite signals, comprising:

[0075] The acquisition module is configured to acquire GEO satellite observation values, IGSO satellite observation values, and MEO satellite observation values.

[0076] The single-satellite time service module is configured to input the GEO satellite observation values, the IGSO satellite observation values, and the MEO satellite observation values into a GEO time service model, an IGSO time service model, and a MEO time service model respectively, to obtain GEO time service results, IGSO time service results, and MEO time service results.

[0077] The multi-satellite time service module is configured to calculate multi-satellite time service results according to the GEO time service results, the IGSO time service results, and the MEO time service results.

[0078] The integrated time service module is configured to determine integrated time service results by using a variance component estimation method according to the multi-satellite time service results.

[0079] For the convenience of description, the above device is described in various modules according to functions. Of course, the functions of each module can be implemented in one or more software and / or hardware when implementing one or more embodiments of the present specification.

[0080] The device of the above embodiments is used to implement the corresponding method in the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0081] As shown in Figure 4 The embodiments of the present specification also provide a single-epoch time service device based on Beidou satellite signals, comprising:

[0082] The receiver is configured to receive Beidou-3 system navigation satellite signals.

[0083] The server is configured to parse GEO satellite observation values, IGSO satellite observation values and MEO satellite observation values from navigation satellite signals, input the GEO satellite observation values, the IGSO satellite observation values and the MEO satellite observation values into a GEO time service model, an IGSO time service model and a MEO time service model respectively, and obtain GEO time service results, IGSO time service results and MEO time service results; calculate multi-satellite time service results according to the GEO time service results, the IGSO time service results and the MEO time service results; and determine comprehensive time service results by using a variance component estimation method according to the multi-satellite time service results, so that the smart grid unifies a time reference according to the comprehensive time service results.

[0084] In this embodiment, the smart grid includes a time service receiver, a server and various devices and systems requiring time service signals, the receiver receives navigation satellite signals of the Beidou-3 system, the server receives and analyzes the navigation satellite signals to obtain GEO satellite observation values, IGSO satellite observation values and MEO satellite observation values, calculates three types of single-satellite time service results based on the three types of single-satellite observation values, calculates multi-satellite time service results by comprehensively calculating the three types of single-satellite time service results, and determines comprehensive time service results by using a variance component estimation method according to the multi-satellite time service results, so that the comprehensive time service results are sent to various devices and systems in the grid as time service signals, facilitating unified time calibration based on the time service signals. The Beidou-3 satellite system is used to provide accurate time service signals for the smart grid, which can ensure safe and reliable operation of the smart grid.

[0085] Figure 5 A more specific electronic device hardware structure schematic diagram provided by the embodiment is shown, which can include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040 and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030 and the communication interface 1040 are connected to each other through the bus 1050 for internal communication.

[0086] The processor 1010 can be implemented by a general CPU (Central Processing Unit, central processor), a microprocessor, an application specific integrated circuit (ASIC) or one or more integrated circuits, etc., for executing related programs to implement the technical solutions provided by the embodiments of the present specification.

[0087] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0088] The input / output interface 1030 is configured to connect an input / output module to realize information input and output. The input / output module can be configured in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0089] The communication interface 1040 is configured to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (for example, a USB, a network cable, etc.) or a wireless manner (for example, a mobile network, WIFI, Bluetooth, etc.).

[0090] The bus 1050 includes a channel to transmit information between various components (for example, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0091] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only include the components necessary to implement the solutions of the embodiments of the present specification, and does not have to include all the components shown in the figure.

[0092] The electronic device of the above embodiments is used to implement the corresponding methods in the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here again.

[0093] The computer readable media of the present embodiments includes permanent and non- permanent, removable and non-removable media implemented in any method or technology for storage of information. The information can be computer readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile discs (DVDs) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device.

[0094] Those skilled in the art will understand that the above discussion of any of the embodiments is merely exemplary and is not intended to be limiting of the scope of the disclosure, including claims, which are to be interpreted as being limited only by the most restrictive pat of the language in the claims. The above-described embodiments or techniques of any of the embodiments can be used in combination with each other or in combination with other techniques as would be understood by one of ordinary skill in the art. The steps of any of the methods can be performed in any order that is practicable and there are many other variations of the different aspects of one or more of the embodiments as described above that are possible as would be understood by one of ordinary skill in the art. To avoid unnecessarily obscuring the present embodiments, they are not described in great detail.

[0095] In addition, to simplify the description and discussion, and so as not to obscure one or more embodiments of the present description, known power / ground connections to integrated circuit (IC) chips and other components can or can not be shown in the provided figures. Furthermore, aspects can be shown in block diagram form in order to simplify and advance the description of such embodiments and, again, this an appreciation of the fact that the details of an implementation of these block- diagram aspects are highly dependent on the platform within which one or more embodiments of the present description are being implemented (i.e., these details should be well within the purview of one of ordinary skill in the art to appreciate). Where specific details are set forth in order to describe an example embodiment of the present disclosure, it should be apparent to one of ordinary skill in the art that the overall scope of one or more embodiments of the present description can not only be implemented with the specific details set forth and that well known methods, components, and / or devices can be used in place of or in combination with certain details.

[0096] While the present disclosure has been described with respect to a specific implementation, many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.

[0097] One or more embodiments of the specification are intended to cover all such alternatives, modifications, and variations that fall within the broad scope of the appended claims. Accordingly, any omission, modification, substitution, improvement, or the like that is made in the spirit and principle of one or more embodiments of the specification should be included in the scope of protection of the present disclosure.

Claims

1. A single-epoch time synchronization method based on BeiDou satellite signals, characterized in that, include: Acquire GEO satellite observations, IGSO satellite observations, and MEO satellite observations; wherein, the GEO satellite observations, IGSO satellite observations, and MEO satellite observations are distance observations; The GEO satellite observations, IGSO satellite observations, and MEO satellite observations are input into the GEO timing model, IGSO timing model, and MEO timing model, respectively, to obtain the GEO timing results, IGSO timing results, and MEO timing results. Based on the GEO timing results, IGSO timing results, and MEO timing results, the multi-satellite timing results are calculated using the following method: （2） in, This indicates the multi-satellite timing results for GEO, IGSO, or MEO satellites. To utilize the first Receiver for calculating distance observations from GEO, IGSO, or MEO satellites The time difference with the BeiDou-3 system Indicates the first Weighting functions for GEO, IGSO, or MEO satellites in multi-satellite timing. n represents the number of visible effective satellites (GEO, IGSO, or MEO) in a single epoch observation. Regarding the territorial boundaries of China, the weighting function corresponding to the IGSO satellite is: （3） in, For the first The elevation angle of the IGSO satellite; , The coefficient is constant. Regarding the territorial boundaries of China, the weighting function corresponding to the GEO satellite is: （4） in, For the first The elevation angle of a GEO satellite; , The coefficient is constant. Regarding the territorial boundaries of China, the weighting function corresponding to the MEO satellite is: （5） in, For the first The elevation angle of the MEO satellite; , , These are constant coefficients; each constant coefficient is calculated by fitting the relationship between satellite observations and elevation angles. Based on the multi-satellite timing results, the comprehensive timing result is determined using the variance component estimation method.

2. The method according to claim 1, characterized in that, The method for calculating the time deviation is as follows: （1） in, For receiver Observation No. Distance observations from GEO, IGSO, or MEO satellites; For the first The three-dimensional coordinates of a BeiDou satellite; For receiver 3D coordinates; For the first Satellite clock bias of a GEO, IGSO, or MEO satellite; For ionospheric delay error, For tropospheric delay error, This includes other relevant errors, such as receiver measurement noise. It is the speed of light.

3. A single-epoch time synchronization device based on BeiDou satellite signals, characterized in that, include: The acquisition module is used to acquire GEO satellite observations, IGSO satellite observations, and MEO satellite observations; wherein, the GEO satellite observations, IGSO satellite observations, and MEO satellite observations are distance observations; The single-satellite timing module is used to input the GEO satellite observations, IGSO satellite observations, and MEO satellite observations into the GEO timing model, IGSO timing model, and MEO timing model, respectively, to obtain the GEO timing results, IGSO timing results, and MEO timing results. The multi-satellite timing module is used to calculate the multi-satellite timing result based on the GEO timing result, IGSO timing result, and MEO timing result. The method is as follows: （2） in, This indicates the multi-satellite timing results for GEO, IGSO, or MEO satellites. To utilize the first Receiver for calculating distance observations from GEO, IGSO, or MEO satellites The time difference with the BeiDou-3 system Indicates the first Weighting functions for GEO, IGSO, or MEO satellites in multi-satellite timing. n represents the number of visible effective satellites (GEO, IGSO, or MEO) in a single epoch observation. Regarding the territorial boundaries of China, the weighting function corresponding to the IGSO satellite is: （3） in, For the first The elevation angle of the IGSO satellite; , The coefficient is constant. Regarding the territorial boundaries of China, the weighting function corresponding to the GEO satellite is: （4） in, For the first The elevation angle of a GEO satellite; , The coefficient is constant. Regarding the territorial boundaries of China, the weighting function corresponding to the MEO satellite is: （5） in, For the first The elevation angle of the MEO satellite; , , These are constant coefficients; each constant coefficient is calculated by fitting the relationship between satellite observations and elevation angles. The integrated time synchronization module is used to determine the integrated time synchronization result based on the multi-satellite time synchronization result using the variance component estimation method.

4. A single-epoch time synchronization system based on BeiDou satellite signals, characterized in that, include: The receiver is used to receive navigation satellite signals from the BeiDou-3 system. The server is used to parse GEO satellite observations, IGSO satellite observations, and MEO satellite observations from the navigation satellite signals; input the GEO satellite observations, IGSO satellite observations, and MEO satellite observations into the GEO timing model, IGSO timing model, and MEO timing model, respectively, to obtain GEO timing results, IGSO timing results, and MEO timing results; and calculate multi-satellite timing results based on the GEO timing results, IGSO timing results, and MEO timing results. Based on the multi-satellite time synchronization results, a comprehensive time synchronization result is determined using a variance component estimation method, so that the smart grid can unify its time reference according to the comprehensive time synchronization result; wherein, the GEO satellite observations, IGSO satellite observations, and MEO satellite observations are distance observations; the method for calculating the multi-satellite time synchronization result is as follows: （2） in, This indicates the multi-satellite timing results for GEO, IGSO, or MEO satellites. To utilize the first Receiver for calculating distance observations from GEO, IGSO, or MEO satellites The time difference with the BeiDou-3 system Indicates the first Weighting functions for GEO, IGSO, or MEO satellites in multi-satellite timing. n represents the number of visible effective satellites (GEO, IGSO, or MEO) in a single epoch observation. Regarding the territorial boundaries of China, the weighting function corresponding to the IGSO satellite is: （3） in, For the first The elevation angle of the IGSO satellite; , The coefficient is constant. Regarding the territorial boundaries of China, the weighting function corresponding to the GEO satellite is: （4） in, For the first The elevation angle of a GEO satellite; , The coefficient is constant. Regarding the territorial boundaries of China, the weighting function corresponding to the MEO satellite is: （5） in, For the first The elevation angle of the MEO satellite; , , These are constant coefficients; each constant coefficient is calculated by fitting the relationship between satellite observations and elevation angles.

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