A time service method, device and terminal equipment based on Loran signal tracking

Abstract

The application discloses a time service method, device and terminal equipment based on Loran signal tracking, which obtains the signals of corresponding stations in a station chain, adjusts the signals, measures the time difference between the signals of the main station and the auxiliary station after phase adjustment, performs positioning calculation according to the time difference, obtains position information and pseudo-range information, calculates the signal propagation time delay according to the position information and the pseudo-range information, decodes the text information in the station signals, calculates the second time information according to the first time information in the specified frame in the decoded information and the signal propagation time delay, calculates the measurement time according to the time synchronization count parameter, the preset station chain transmission cycle value and the second time information, calculates the predicted second pulse according to the decoded information, the position information and the pseudo-range information, adjusts the position of the measurement pulse according to the measurement time and the predicted second pulse, and outputs the measurement pulse, so as to complete the time service. Through the application, the accurate time service can be realized.

Description

Technical Field

[0001] This invention relates to the field of signal and information processing, and in particular to a timing method, apparatus, and terminal device based on Roland signal tracking. Background Technology

[0002] Traditional Loland receivers typically employ a high sampling rate to store a certain depth of Loland digital signal data. Simultaneously, the local time system uses these sample counts as a reference to ensure the received signal remains synchronized with the local time system. That is, after detecting a Loland station signal, existing Loland receivers predict the broadcast time of the next Loland pulse group based on the station chain signal broadcast cycle. When the predicted time arrives, a small-scale search is performed in the vicinity. During the search, the buffered data is correlated with the phase-encoded reference pulse. If the signal is found, the prediction of the next Loland pulse group continues. The process of repeating the broadcast of pulse groups is used to track the signals from the Loland stations. However, during the Loland signal reception process, a small-range signal search is required near the arrival time of each station's pulse group, which consumes a lot of computing resources. Furthermore, based on this signal reception algorithm, the Loland receiving terminal needs to fit the arrival times of multiple pulse groups from the received strong signal stations to the pseudorange information after obtaining the positioning results in order to generate a more accurate timing pulse. Therefore, how to simplify the Loland digital signal reception process and the timing process is an urgent problem to be solved. Summary of the Invention

[0003] This invention provides a time synchronization method, apparatus, and terminal device based on Loran signal tracking. The method adjusts the position of the measurement pulse according to the calculated measurement time and the predicted second pulse, and outputs the adjusted measurement pulse as the time synchronization pulse to achieve the purpose of accurate time synchronization.

[0004] An embodiment of the present invention provides a Roland navigation signal tracking method, comprising:

[0005] Acquire the signals of the master station and the slave station in a chain;

[0006] The phases corresponding to the main station signal and the secondary station signal are determined, and the phases are adjusted so that the sampled signal can identify the zero-crossing position of the third cycle of the phase;

[0007] The time difference between the phase-adjusted main station signal and the phase-adjusted secondary station signal is measured, and the positioning is calculated based on the time difference to obtain the location information and the pseudorange information between the main station and the secondary station.

[0008] The signal propagation delay is calculated based on the location information and the pseudorange information.

[0009] The message information in the station signal is decoded to obtain the decoded information;

[0010] The second time information is calculated based on the first time information within the specified frame in the decoded information and the signal propagation delay. The measurement time is then calculated based on the time synchronization counting parameters, the preset station chain transmission cycle value, and the second time information.

[0011] Based on the decoded information, the position information, and the pseudorange information, the predicted second pulse is calculated;

[0012] Based on the measurement time and the predicted second pulse, the position of the measurement pulse is adjusted, and the adjusted measurement pulse is output as the time synchronization pulse to complete the time synchronization.

[0013] Furthermore, the process of adjusting the phase includes:

[0014] Identify and filter out skywave signals in the main station signal and the secondary station signal;

[0015] A phase adjustment is performed on the main station signal and the auxiliary station signal after removing the skywave signal, so that the main station signal and the auxiliary station signal are consistent with the branch reference phase; wherein, the branch reference phase is the zero-crossing position of the third cycle.

[0016] Furthermore, the process of adjusting the phase also includes:

[0017] Based on the tracking loop and branch reference phase, the phase of the main station signal and the secondary station signal after one phase adjustment is tracked;

[0018] When the phase of the main station signal and the auxiliary station signal shifts, the phase of the main station signal and the auxiliary station signal is restored to the phase after the first adjustment based on the branch reference phase.

[0019] Furthermore, the calculation process for the measurement pulse includes:

[0020] Acquire the count values ​​of the cyclic counter and the digitally controlled oscillator in the branch during pulse latching;

[0021] The measurement pulse is obtained based on the count value.

[0022] Further, adjusting the position of the measurement pulse based on the measurement time and the predicted second pulse includes:

[0023] Calculate the time difference between the predicted second pulse and the measurement time;

[0024] Adjust the position of the measurement pulse based on the time difference until the time difference converges to zero.

[0025] This application also provides a timing device based on Loran signal tracking, comprising:

[0026] The signal acquisition module is used to acquire the signals of the main station and the auxiliary station in a chain.

[0027] The phase adjustment module is used to determine the phase corresponding to the main station signal and the auxiliary station signal, and adjust the phase so that the sampled signal can identify the zero-crossing position of the third cycle of the phase.

[0028] The positioning calculation module is used to measure the time difference between the phase-adjusted main station signal and the phase-adjusted secondary station signal, and to perform positioning calculation based on the time difference to obtain the location information and the pseudorange information between the main station and the secondary station.

[0029] The delay calculation module is used to calculate the signal propagation delay based on the location information and the pseudorange information;

[0030] The message decoding module is used to decode the message information in the station signal to obtain the decoded information;

[0031] The measurement time calculation module is used to calculate the second time information based on the first time information within the specified frame in the decoded information and the signal propagation delay, and to calculate the measurement time based on the time synchronization counting parameters, the preset station chain transmission cycle value and the second time information.

[0032] The second pulse calculation module is used to calculate the predicted second pulse based on the decoded information, the position information, and the pseudorange information.

[0033] The timing module is used to adjust the position of the measurement pulse according to the measurement time and the predicted second pulse, and output the adjusted measurement pulse as the timing pulse to complete the timing.

[0034] Furthermore, the phase adjustment module includes: a skywave filtering unit and a first adjustment unit;

[0035] The skywave filtering unit is used to identify and filter out skywave signals in the main station signal and the secondary station signal;

[0036] The first adjustment unit is used to perform a phase adjustment on the main station signal and the auxiliary station signal after removing the skywave signal, so that the main station signal and the auxiliary station signal are consistent with the branch reference phase; wherein, the branch reference phase is the zero-crossing position of the third cycle.

[0037] Furthermore, the phase adjustment module further includes: a phase tracking unit and a second adjustment unit;

[0038] The phase tracking unit is used to track the phase of the main station signal and the secondary station signal after a phase adjustment based on the tracking loop and the branch reference phase.

[0039] The second adjustment unit is used to restore the phases of the main station signal and the secondary station signal to the phases after one adjustment, based on the branch reference phase, when the phases of the main station signal and the secondary station signal shift.

[0040] This application also provides a terminal device, including:

[0041] One or more processors;

[0042] A memory, coupled to the processor, for storing one or more programs;

[0043] When the one or more programs are executed by the one or more processors, the one or more processors implement the timing method based on Roland signal tracing as described in the above embodiments of the invention.

[0044] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the timing method based on Roland signal tracing as described in the above embodiments of the invention.

[0045] The following benefits can be obtained by implementing the present invention:

[0046] After detecting the signal of the corresponding station in the station chain, this application confirms and adjusts the phase of the station signal each time a pulse group arrives. After adjustment, it performs positioning calculation based on the time difference between the main station signal and the secondary station signal. Based on the calculated position information and pseudorange information, it calculates the signal propagation delay. Then, it decodes the message in the station signal to obtain the first moment information within a specified frame in the decoded message information. Based on the obtained signal propagation delay, the first moment information, time synchronization parameters, and a preset station chain transmission period value, it calculates a measurement event. Finally, based on the decoded information, the position information, and the pseudorange information... The predicted second pulse is obtained from the information. The position of the measured pulse is adjusted by measuring the pulse generation time and the predicted pulse generation time. The adjusted measured pulse is then output as the timing pulse. Thus, during the timing process, the predicted second pulse can be directly calculated using the decoded information, the position information, and the pseudorange information. Based on the predicted second pulse and the measured pulse, the position of the measured pulse is adjusted with the measured pulse as the adjustment object. By adjusting the measurement time of the measured pulse, the time difference between it and the second pulse signal converges to zero, thereby making the adjusted measured pulse more accurate and achieving the purpose of outputting a precise timing pulse signal. Attached Figure Description

[0047] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0048] Figure 1 This is a flowchart illustrating a timing method based on Roland signal tracking provided in a certain embodiment of this application;

[0049] Figure 2 This is a schematic diagram of the working process of a numerically controlled oscillator provided in a certain embodiment of this application;

[0050] Figure 3 This is a schematic diagram of the E / P / L correlator branch of the tracking loop provided in a certain embodiment of this application;

[0051] Figure 4 This is a schematic diagram of the amplified waveform of the E / P / L correlator branch of the tracking loop provided in a certain embodiment of this application;

[0052] Figure 5 This is a schematic diagram of the waveforms of each branch of the tracking loop E / P / L correlator provided in a certain embodiment of this application;

[0053] Figure 6 This is a schematic diagram of a loop tracking and timing process provided in a certain embodiment of this application;

[0054] Figure 7 This is a block diagram of a baseband processing module provided in a certain embodiment of this application;

[0055] Figure 8 This is a schematic diagram of the structure of a timing device based on Roland signal tracking provided in a certain embodiment of this application;

[0056] Figure 9 This is a schematic diagram of the structure of a terminal device provided in a certain embodiment of this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0059] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0060] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0061] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0062] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0063] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0064] See Figure 1 This is a flowchart provided in a certain embodiment of the present invention, including:

[0065] S1. Obtain the main station signal and the secondary station signal in a chain;

[0066] In illustrative terms, this invention supports signal reception from primary and secondary stations of the Roland navigation system and is widely used in receiving terminals of the Roland navigation system or multi-navigation system fusion positioning PNT terminals that include Roland navigation positioning functions.

[0067] Specifically, when the terminal needs to acquire the Roland signal, it will search for the station signal corresponding to the specified station chain, wherein the station signal includes the main station signal and the secondary station signal.

[0068] S2. Determine the phase corresponding to the main station signal and the auxiliary station signal, and adjust the phase so that the sampled signal can identify the zero-crossing position of the third cycle of the phase;

[0069] In a preferred embodiment, the process of adjusting the phase includes:

[0070] Identify and filter out skywave signals in the main station signal and the secondary station signal;

[0071] A phase adjustment is performed on the main station signal and the auxiliary station signal after filtering out the skywave signal, so that the main station signal and the auxiliary station signal are consistent with the branch reference phase; wherein, the branch reference phase is the zero crossing point position of the third cycle;

[0072] In a preferred embodiment, the process of adjusting the phase further includes:

[0073] Based on the tracking loop and branch reference phase, the phase of the main station signal and the secondary station signal after one phase adjustment is tracked;

[0074] When the phase of the main station signal and the auxiliary station signal shifts, the phase of the main station signal and the auxiliary station signal is restored to the phase after the first adjustment based on the branch reference phase.

[0075] Indicatively, this invention introduces an early-late phase-locked loop and establishes a time system based on a numerically controlled oscillator based on the early-late phase-locked loop. By tracking the station signal corresponding to the specified station chain obtained through the tracking loop, the invention effectively avoids the occurrence of inaccurate time synchronization due to phase shift.

[0076] Indicatively, after acquiring the main station signal and the secondary station signal of the corresponding station in the specified station chain, the phase of the main station signal and the secondary station signal is determined, and the sky wave signal in the main station signal and the secondary station signal is identified and filtered out, thereby avoiding a huge deviation between the actual positioning result and the expected ...

[0077] Indicatively, after filtering out the skywave signal from the main station signal and the secondary station signal, a phase adjustment is performed on the main station signal and the secondary station signal after filtering out the skywave signal, so that the adjusted phase is near the reference phase of the correlator P branch. After the phase adjustment, the phase of the main station signal and the secondary station signal after the phase adjustment is tracked by the tracking loop.

[0078] Specifically, see Figure 2 The diagram below illustrates the operation of the numerically controlled oscillator (NCO). During phase tracking, the NCO is used to track the group repeat interval (GRI) of the station's pulse group broadcast. The NCO's period is designed to be 1 μs, and the NCO step size is as follows:

[0079]

[0080] Among them, f i =100kHz is the frequency of the Rowland signal, f sWhere N is the operating frequency and N is the NCO bit width;

[0081] Specifically, see Figure 3 as well as Figure 4 The diagram shows the waveforms of the E (Early) branch correlator, P (Prompt) branch correlator, and L (Late) branch correlator in the tracking loop. Figure 4 It can be seen that the reference phase of the P branch is the zero-crossing position of the third cycle of the Rowland pulse, and the phase detection interval of each correlator is 1μs;

[0082] Specifically, since the signal tracking process is affected by various factors such as multipath propagation, interference, and target maneuvering, errors may occur in the tracking loop, leading to signal loss or decreased tracking accuracy. Taking this into account, this invention maintains the tracking performance of the tracking loop by correcting the step parameters of the tracking loop. The formula for correcting the tracking loop step parameters is as follows:

[0083]

[0084]

[0085]

[0086] Based on formulas (2), (3), and (4), the loop phase detection output is obtained as follows:

[0087]

[0088] Right now:

[0089]

[0090] See Figure 5 The diagram shows the waveforms of the corrected tracking loop branches E (Early), P (Prompt), and L (Late).

[0091] S3. Measure the time difference between the phase-adjusted main station signal and the phase-adjusted secondary station signal, and perform positioning calculation based on the time difference to obtain the location information and the pseudorange information between the main station and the secondary station.

[0092] S4. Calculate the signal propagation delay based on the location information and the pseudorange information;

[0093] Indicatively, the time difference between the phase-adjusted primary station signal and the phase-adjusted secondary station signal is calculated. Based on the calculated time difference, a positioning solution is performed to obtain the coordinate information of the terminal device's location. Also, based on the coordinate information of the station corresponding to the specified station chain, the pseudorange information between the terminal device and the station is calculated. Finally, based on the coordinate information of the terminal device's location and the pseudorange information, the signal propagation delay Δt from the station to the terminal device is calculated.

[0094] Specifically, the coordinate information of the station corresponding to the designated station chain is a known quantity.

[0095] S5. Decode the message information in the station signal to obtain the decoded information;

[0096] Indicatively, the information in the signal is decoded to obtain the decoded information, which includes the zero-crossing transmission time information tTx of the first pulse of the first symbol in the signal frame.

[0097] S6. Calculate the second time information based on the first time information within the specified frame in the decoded information and the signal propagation delay, and calculate the measurement time based on the time synchronization counting parameters, the preset station chain transmission cycle value, and the second time information.

[0098] Indicatively, based on the calculated Δt and tTx, the precise time t0 = tTx + Δt is calculated as the zero-crossing point of the third cycle of the first pulse of the first symbol in the signal frame received by the terminal device.

[0099] Indicatively, based on the precise time t0 of the third cycle zero-crossing point of the first pulse of the first symbol in the signal frame received by the terminal device, combined with the time synchronization calculation parameters and the preset transmission cycle GRI, the precise time information tmeasure of the measurement moment is calculated.

[0100] Specifically, the time synchronization calculation parameters include: symbol count Nsymbol, microsecond count N μ s, fractional phase count Nphase;

[0101] Specifically, the formula for calculating the precise time information tmeasure at the measurement moment is:

[0102]

[0103] Where N is the bit width of the numerically controlled oscillator, and GRI is the group repeat interval.

[0104] S7. Calculate the predicted second pulse based on the decoded information, the position information, and the pseudorange information;

[0105] S8. Based on the measurement time and the predicted second pulse, adjust the position of the measurement pulse, and output the adjusted measurement pulse as the time synchronization pulse to complete the time synchronization.

[0106] In a preferred embodiment, the calculation process of the measurement pulse includes:

[0107] Acquire the count values ​​of the cyclic counter and the digitally controlled oscillator in the branch during pulse latching;

[0108] The measurement pulse is measured based on the count value;

[0109] Schematic, the cyclic counter (CYC) and digitally controlled oscillator (NCO) of each tracking channel are counted during pulse latching, and the measurement pulse is measured based on the count values;

[0110] In a preferred embodiment, adjusting the position of the measurement pulse based on the measurement time and the predicted second pulse includes:

[0111] Calculate the time difference between the predicted second pulse and the measurement time;

[0112] Adjust the position of the measurement pulse based on the time difference until the time difference converges to zero.

[0113] See Figure 6 To illustrate, after calculating the precise time information tmeasure of the measurement time, the time difference tresidual between the predicted second pulse and the precise time information tmeasure of the measurement time is calculated, and the position of the measurement pulse is adjusted according to the calculated tresidual so that the time difference tresidual between the measurement pulse and the predicted second pulse signal approaches 0. After the measurement time, delay compensation is performed to complete the time synchronization.

[0114] Specifically, the compensation delay is a tresidual residual.

[0115] Specifically, see Figure 7 This is a block diagram of a baseband processing module provided in a certain embodiment of this application. The digital filtering section is responsible for filtering the input signal. It is a bandpass filter used to filter out noise outside 90-110kHz. The acquisition engine is responsible for searching for the main and auxiliary station signals of the specified station chain. The tracking engine is responsible for cooperating with the processor to complete the tracking of the signals of each main and auxiliary station. The timing module is responsible for outputting timing signal pulses.

[0116] Please see Figure 8 One embodiment of this application also provides a timing device based on Roland signal tracking, comprising:

[0117] The signal acquisition module is used to acquire the signals of the main station and the auxiliary station in a chain.

[0118] The phase adjustment module is used to determine the phase corresponding to the main station signal and the auxiliary station signal, and adjust the phase so that the sampled signal can identify the zero-crossing position of the third cycle of the phase;

[0119] The positioning calculation module is used to measure the time difference between the phase-adjusted main station signal and the phase-adjusted secondary station signal, and to perform positioning calculation based on the time difference to obtain the location information and the pseudorange information between the main station and the secondary station.

[0120] The delay calculation module is used to calculate the signal propagation delay based on the location information and the pseudorange information;

[0121] The message decoding module is used to decode the message information in the station signal to obtain the decoded information;

[0122] The measurement time calculation module is used to calculate the second time information based on the first time information within the specified frame in the decoded information and the signal propagation delay, and to calculate the measurement time based on the time synchronization counting parameters, the preset station chain transmission cycle value and the second time information.

[0123] The second pulse calculation module is used to calculate the predicted second pulse based on the decoded information, the position information, and the pseudorange information.

[0124] The time synchronization module is used to adjust the position of the measurement pulse according to the measurement time and the predicted second pulse, and output the adjusted measurement pulse as the time synchronization pulse to complete the time synchronization.

[0125] In a preferred embodiment, the phase adjustment module includes: a skywave filtering unit and a first adjustment unit;

[0126] The skywave filtering unit is used to identify and filter out skywave signals in the main station signal and the secondary station signal;

[0127] The first adjustment unit is used to perform a phase adjustment on the main station signal and the auxiliary station signal after removing the skywave signal, so that the main station signal and the auxiliary station signal are consistent with the branch reference phase; wherein, the branch reference phase is the zero-crossing position of the third cycle;

[0128] In a preferred embodiment, the phase adjustment module further includes: a phase tracking unit and a second adjustment unit;

[0129] The phase tracking unit is used to track the phase of the main station signal and the secondary station signal after a phase adjustment based on the tracking loop and the branch reference phase.

[0130] The second adjustment unit is used to restore the phases of the main station signal and the secondary station signal to the phases after one adjustment, based on the branch reference phase, when the phases of the main station signal and the secondary station signal shift.

[0131] It is understood that the aforementioned timing device based on Loran signal tracking can implement the timing method based on Loran signal tracking in the above method embodiments. The options in the above method embodiments are also applicable to this embodiment, and will not be detailed here. The remaining content of this application's embodiments can be referred to the content of the above method embodiments, and will not be repeated in this embodiment.

[0132] Please see Figure 9 One embodiment of this application also provides a terminal device, including:

[0133] One or more processors;

[0134] A memory, coupled to the processor, for storing one or more programs;

[0135] When the one or more programs are executed by the one or more processors, the one or more processors implement the timing method based on Roland signal tracing as described above.

[0136] The processor controls the overall operation of the terminal device to complete all or part of the steps of the Loran signal tracing-based timing method described above. The memory stores various types of data to support the operation of the terminal device. This data may include, for example, instructions for any application or method operating on the terminal device, as well as application-related data. The memory can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0137] In an exemplary embodiment, the terminal device may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the Loran signal tracking-based timing method as described in any of the foregoing embodiments and achieve the same technical effects as the methods described above.

[0138] In another exemplary embodiment, a computer-readable storage medium including a computer program is also provided. When executed by a processor, the computer program implements the steps of the Loran signal tracing-based timing method as described in any of the foregoing embodiments. For example, the computer-readable storage medium may be the aforementioned memory including the computer program, which may be executed by a processor of a terminal device to perform the Loran signal tracing-based timing method as described in any of the foregoing embodiments and achieve the same technical effects as the aforementioned method.

[0139] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A time synchronization method based on Loran signal tracking, characterized in that, include: Acquire the signals of the master station and the slave station in a chain; The phases corresponding to the main station signal and the secondary station signal are determined, and the phases are adjusted so that the sampled signal can identify the zero-crossing position of the third cycle of the phase; The time difference between the phase-adjusted main station signal and the phase-adjusted secondary station signal is measured, and the positioning is calculated based on the time difference to obtain the location information and the pseudorange information between the main station and the secondary station. The signal propagation delay is calculated based on the location information and the pseudorange information. The message information in the station signal is decoded to obtain the decoded information; wherein, the station signal includes the main station signal and the auxiliary station signal; The second time information is calculated based on the first time information within the specified frame in the decoded information and the signal propagation delay. The measurement time is then calculated based on the time synchronization counting parameters, the preset station chain transmission cycle value, and the second time information. Based on the decoded information, the position information, and the pseudorange information, the predicted second pulse is calculated; Based on the measurement time and the predicted second pulse, the position of the measurement pulse is adjusted, and the adjusted measurement pulse is output as the time synchronization pulse to complete the time synchronization.

2. The timing method based on Roland signal tracking as described in claim 1, characterized in that, The process of adjusting the phase includes: Identify and filter out skywave signals in the main station signal and the secondary station signal; A phase adjustment is performed on the main station signal and the auxiliary station signal after removing the skywave signal, so that the main station signal and the auxiliary station signal are consistent with the branch reference phase; wherein, the branch reference phase is the zero-crossing position of the third cycle.

3. The timing method based on Roland signal tracking as described in claim 1, characterized in that, The process of adjusting the phase also includes: Based on the tracking loop and branch reference phase, the phase of the main station signal and the secondary station signal after one phase adjustment is tracked; When the phase of the main station signal and the auxiliary station signal shifts, the phase of the main station signal and the auxiliary station signal is restored to the phase after the first adjustment based on the branch reference phase.

4. The timing method based on Loran signal tracking as described in claim 3, characterized in that, The calculation process for the measurement pulse includes: Acquire the count values ​​of the cyclic counter and the digitally controlled oscillator in the branch during pulse latching; The measurement pulse is obtained based on the count value.

5. The timing method based on Roland signal tracking as described in claim 1, characterized in that, The step of adjusting the position of the measurement pulse based on the measurement time and the predicted second pulse includes: Calculate the time difference between the predicted second pulse and the measurement time; Adjust the position of the measurement pulse based on the time difference until the time difference converges to zero.

6. A timing device based on Loran signal tracking, characterized in that, include: The signal acquisition module is used to acquire the signals of the main station and the auxiliary station in a chain. The phase adjustment module is used to determine the phase corresponding to the main station signal and the auxiliary station signal, and adjust the phase so that the sampled signal can identify the zero-crossing position of the third cycle of the phase. The positioning calculation module is used to measure the time difference between the phase-adjusted main station signal and the phase-adjusted secondary station signal, and to perform positioning calculation based on the time difference to obtain the location information and the pseudorange information between the main station and the secondary station. The delay calculation module is used to calculate the signal propagation delay based on the location information and the pseudorange information; The message decoding module is used to decode the message information in the station signal to obtain the decoded information; wherein, the station signal includes the main station signal and the auxiliary station signal; The measurement time calculation module is used to calculate the second time information based on the first time information within the specified frame in the decoded information and the signal propagation delay, and to calculate the measurement time based on the time synchronization counting parameters, the preset station chain transmission cycle value and the second time information. The second pulse calculation module is used to calculate the predicted second pulse based on the decoded information, the position information, and the pseudorange information. The timing module is used to adjust the position of the measurement pulse according to the measurement time and the predicted second pulse, and output the adjusted measurement pulse as the timing pulse to complete the timing.

7. The timing device based on Roland signal tracking as described in claim 6, characterized in that, The phase adjustment module includes: a skywave filtering unit and a first adjustment unit; The skywave filtering unit is used to identify and filter out skywave signals in the main station signal and the secondary station signal; The first adjustment unit is used to perform a phase adjustment on the main station signal and the auxiliary station signal after removing the skywave signal, so that the main station signal and the auxiliary station signal are consistent with the branch reference phase; wherein, the branch reference phase is the zero-crossing position of the third cycle.

8. The timing device based on Roland signal tracking as described in claim 7, characterized in that, The phase adjustment module further includes: a phase tracking unit and a second adjustment unit; The phase tracking unit is used to track the phase of the main station signal and the secondary station signal after a phase adjustment based on the tracking loop and the branch reference phase. The second adjustment unit is used to restore the phases of the main station signal and the secondary station signal to the phases after one adjustment, based on the branch reference phase, when the phases of the main station signal and the secondary station signal shift.

9. A terminal device, characterized in that, include: One or more processors; A memory, coupled to the processor, for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the timing method based on Roland signal tracing as described in any one of claims 1-5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the timing method based on Roland signal tracing as described in any one of claims 1-5.

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