A method and apparatus for processing clock signals in a smart device

Abstract

This invention discloses a clock signal processing method, apparatus, electronic device, and computer-readable storage medium for intelligent devices. The method includes: after acquiring a clock signal, calculating the clock difference of each clock signal using a preset combined navigation equation to obtain clock difference parameters. The combined navigation equation is generated by combining the state equation and navigation parameters of an inertial navigation system with the observation equation and state estimation parameters of a precise point positioning method; and performing clock driving processing on the clock difference parameters to obtain a processed clock signal. This invention can pre-construct a combined navigation equation using a precise point positioning method (PPP) and an inertial navigation system (INS), calculate the clock difference parameters corresponding to the device's clock signal using the combined navigation equation, and then perform clock driving on the clock difference parameters to complete the clock signal processing, thereby eliminating signal interference and improving the accuracy of clock processing.

Description

Technical Field

[0001] This invention relates to the technical field of time synchronization devices, and more particularly to a clock signal processing method and apparatus for intelligent devices. Background Technology

[0002] With the development of intelligent transportation, autonomous driving, mobile measurement, radar and other fields, the demand for high-precision time synchronization from intelligent devices such as automobiles, drones and smartphones is increasing. The application scenarios of high-precision time synchronization are also becoming more and more complex, and the requirements for them are becoming more and more stringent.

[0003] To meet the diverse needs for high-precision time synchronization, the commonly used method is to acquire the clock bias signal of the satellite navigation system (GNSS) from the receiver at the local station based on the principle of radio signals. Then, the difference between the clock bias and the common reference time (such as IGST, UTC (NTSC)) is calculated using the precise point position (PPP) method. Next, the clock is driven by frequency and phase modulation, and finally, the clock signal processing for high-precision time synchronization is completed.

[0004] However, the commonly used methods have the following technical problems: in tunnels, tree-lined areas, urban canyons, indoors, or in situations with strong electromagnetic fields or active deception, clock difference signals are easily interfered with or even delayed, causing a sharp decline in time synchronization performance. This can lead to time deviations after synchronization, or even failure to provide or the provision of incorrect time synchronization information, making it difficult to adapt to the complex and ever-changing application scenarios of time synchronization services. Summary of the Invention

[0005] This invention proposes a clock signal processing method and apparatus for intelligent devices. The method can pre-construct a combined navigation equation using Precise Point Positioning (PPP) and Inertial Navigation System (INS), calculate the clock difference parameter corresponding to the device's clock signal using the combined navigation equation, and then perform clock driving on the clock difference parameter to complete the clock signal processing, thereby eliminating interference and improving the accuracy of clock synchronization.

[0006] A first aspect of this invention provides a clock signal processing method for a smart device, the method comprising:

[0007] After acquiring the clock signal, the clock difference of each clock signal is calculated using the preset combined navigation equation to obtain the clock difference parameter. The combined navigation equation is generated by combining the state equation and navigation parameters of the inertial navigation system with the observation equation and state parameters to be estimated of the precise single-point positioning method.

[0008] The clock difference parameters are subjected to clock driving processing to obtain a processed clock signal.

[0009] In one possible implementation of the first aspect, the combined navigation equations include: combined state equations and combined observation equations;

[0010] The combined state equation is obtained by expanding the state equation of the inertial navigation system with state parameters and adding the state parameters to be estimated from the state equation of the precise single-point positioning method. The state parameters to be estimated include the tropospheric wet delay and ambiguity parameters in the zenith direction.

[0011] The combined observation equation is obtained by adding the navigation parameters of the inertial navigation system to the observation equation of the precise single-point positioning method. The navigation parameters include the attitude of the inertial navigation system and the constant zero bias parameters of the accelerometer and gyroscope.

[0012] In one possible implementation of the first aspect, the combined state equation is as follows:

[0013]

[0014]

[0015]

[0016] In the above formula: The rotation vector angle between the platform coordinate system and the actual navigation coordinate system. This represents the rotation vector angle of the real navigation coordinate system relative to the inertial coordinate system in the real navigation coordinate system. angular velocity of rotation; For error disturbance term, This represents the rotation vector angle of the volume coordinate system relative to the inertial coordinate system in the real navigation coordinate system. The rotational angular velocity, the first equation is: Angular attitude error perturbation equation. δv n This is the velocity error disturbance term in the actual navigation coordinate system. δf represents the rotation matrix from the vehicle coordinate system to the actual navigation coordinate system. b For the specific force error term of the body in the carrier coordinate system, f n The ratio of the downloaded volume to the actual navigation coordinate system. This represents the rotation vector angle of the Earth coordinate system relative to the inertial coordinate system in the actual navigation coordinate system. rotational angular velocity, This represents the rotation vector angle of the real navigation coordinate system relative to the e-frame in the real navigation coordinate system. The rotational angular velocity, v n This represents the velocity vector of the downloaded volume in the actual navigation coordinate system. For the gravity error term in the actual navigation coordinate system, δp n δθ represents the position error disturbance term in the actual navigation coordinate system, and δθ represents the equivalent rotation vector error between the computation coordinate system and the actual navigation coordinate system.

[0017] In one possible implementation of the first aspect, the combined observation equation is as follows:

[0018]

[0019]

[0020] In the above formula, s represents the satellite system, r represents the receiver, p represents the raw pseudorange, L represents the phase observation value, and δdT r For receiver clock bias, δdt ISB For the inter-system deviation, δZ w The tropospheric wet delay error in the zenith direction is δN. IF To eliminate ionospheric ambiguity error, δp represents the positional error. ε represents the transformation matrix from the geographic coordinate system to the spatial rectangular coordinate system. P,IF and ε L,IF This is for observing the noise term.

[0021] In one possible implementation of the first aspect, after the step of calculating the clock difference of each clock signal using a preset combined navigation equation to obtain the clock difference parameter, the method further includes:

[0022] The clock error parameter is used to correct the navigation parameters of the inertial navigation system.

[0023] In one possible implementation of the first aspect, the method further includes, in order to obtain clock difference parameters by calculating the clock difference of each clock signal using a preset combined navigation equation, the method further includes:

[0024] Obtain the radio value corresponding to the clock difference parameter;

[0025] If the radio value satisfies the first preset value, then the clock difference parameter is determined to be a fixed solution value;

[0026] If the radio value satisfies the second preset value, then the clock difference parameter is determined to be a floating-point solution value.

[0027] In one possible implementation of the first aspect, the clock driving process includes:

[0028] The clock error parameters are preprocessed to obtain processing parameters. The preprocessing includes: elimination and filtering.

[0029] The processing parameters are adjusted to obtain the adjustment parameters, and the adjustment process includes frequency modulation and phase modulation.

[0030] The adjustment parameters are fitted to obtain fitting coefficients, and the local clock is adjusted using the fitting coefficients.

[0031] A second aspect of the present invention provides a clock signal processing apparatus for a smart device, the apparatus comprising:

[0032] The clock error calculation module is used to calculate the clock error of each clock signal after acquiring the clock signal using a preset combined navigation equation to obtain the clock error parameter. The combined navigation equation is generated by combining the state equation and navigation parameters of the inertial navigation system with the observation equation and state parameters to be estimated of the precise single-point positioning method.

[0033] The clock control processing module is used to perform clock control processing on the clock difference parameters to obtain a processed clock signal.

[0034] Compared with the prior art, the clock signal processing method and apparatus for smart devices provided by the embodiments of the present invention have the following advantages: The present invention can pre-construct a combined navigation equation using Precise Point Positioning (PPP) and Inertial Navigation System (INS), calculate the clock difference parameter corresponding to the clock signal of the device using the combined navigation equation, and then perform clock driving on the clock difference parameter to complete the clock signal processing, thereby eliminating signal interference and improving the accuracy of clock processing. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating a clock signal processing method for a smart device according to an embodiment of the present invention;

[0036] Figure 2 This is an operation flowchart of the PPP / INS integrated navigation and timing / time synchronization function model construction provided in an embodiment of the present invention;

[0037] Figure 3 This is a flowchart of the operation for calculating clock difference parameters according to an embodiment of the present invention;

[0038] Figure 4 This is an operation flowchart of clock driving processing provided in an embodiment of the present invention;

[0039] Figure 5 This is a flowchart illustrating the operation of clock synchronization for multiple devices according to an embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of a clock signal processing device for a smart device according to an embodiment of the present invention. Detailed Implementation

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] To address the aforementioned issues, the following specific embodiments will provide a detailed description and explanation of a clock signal processing method for a smart device provided in this application.

[0043] Reference Figure 1 The diagram shows a flowchart of a clock signal processing method for a smart device according to an embodiment of the present invention.

[0044] In one embodiment, the method is applicable to smart devices that require high-precision time synchronization, such as cars, drones, smartphones, or satellites.

[0045] As an example, the clock signal processing method of the smart device may include:

[0046] S11. After acquiring the clock signal, the clock difference of each clock signal is calculated using the preset combined navigation equation to obtain the clock difference parameter. The combined navigation equation is generated by combining the state equation and navigation parameters of the inertial navigation system with the observation equation and state estimation parameters of the precise single-point positioning method.

[0047] In one embodiment, the smart device can receive a signal source, such as a signal with a network throughput of 1pps and a frequency of 10MHz. Then, the signal from this source can be used for calculations, substituted into a preset combined navigation equation, and the clock bias parameter can be calculated using this equation. The clock bias parameter can be a parameter relating the clock deviation between the device's local clock and the clock of the received signal source.

[0048] By calculating this clock difference parameter, the local clock can be adjusted using the clock difference, thereby achieving functions such as high-precision timekeeping or time synchronization.

[0049] In an optional embodiment, the combined navigation equations include: combined state equations and combined observation equations;

[0050] The combined state equation is obtained by expanding the state equation of the inertial navigation system with state parameters and adding the state estimation parameters of the state equation of the precise single-point positioning method. The state estimation parameters include the tropospheric wet delay and ambiguity parameters in the zenith direction.

[0051] In one embodiment, the combined state equation is as follows:

[0052]

[0053]

[0054]

[0055] The first formula is: yes The angular attitude error perturbation equation. Wherein, This is the rotation vector angle between the platform coordinate system (p-frame) and the actual navigation coordinate system (n-frame); This represents the rotation vector angle of the n-frame relative to the inertial coordinate system (i-frame) in the n-frame. The rotational angular velocity can be a constant; conversely, This is the error disturbance term; This represents the rotation vector angle of the volume coordinate system (abbreviated as b) relative to the i system in the n-frame. The rotational angular velocity is the error disturbance term.

[0056] The second formula: Based on The velocity error disturbance equation for angular error. Where, δv n This is the velocity error disturbance term in the n-system. Let δf represent the rotation matrix from the b-system to the n-system. b For the specific force error term of the b-system, f n This indicates the relative strength of the n-system download. This represents the rotation vector angle of the Earth coordinate system (e-frame) relative to the i-frame in the n-frame. rotational angular velocity, This represents the rotation vector angle of the n-frame relative to the e-frame in the n-frame. The rotational angular velocity, v n Let represent the velocity vector of the n-system. This is the gravity error term in the n-system.

[0057] The third formula: Based on The position error perturbation equation for angular error. Where, δp n δθ is the position error disturbance term in the n-frame, and δθ is the equivalent rotation vector error between the calculation coordinate system (abbreviated as c-frame) and the n-frame.

[0058] In one implementation, the above formula can be used as a basis to expand its state parameters by adding the parameters to be estimated in the state equation of the satellite navigation PPP method, including the tropospheric wet delay in the zenith direction and ambiguity parameters, thereby obtaining the PPP / INS integrated navigation state equation.

[0059] In one embodiment, the state equation of the satellite navigation PPP method is as follows:

[0060]

[0061]

[0062] In the above formula, s and r represent the satellite system and receiver, respectively, j represents the frequency point, P is the raw pseudorange, and L is the phase observation value in meters. ρ r dt represents the geometric distance from the satellite to the receiver. r dt represents the receiver clock bias. s T represents satellite clock bias. r It is the tropospheric oblique delay, I r,1 It is the ionospheric slack delay, γ j It is the ionospheric scaling factor, γ i =(f1 / f2) 2 N j Integer ambiguity of frequency j, λ j It is the carrier phase wavelength, λ j =c / f j c is the speed of light, b r,j It is the pseudorange hardware delay at the receiver end. Satellite pseudorange hardware delay, d r,j Receiver-side phase hardware delay, Satellite-side phase hardware delay, ε r,P pseudorange observation noise, ε r,L Phase observation noise.

[0063] It should be noted that the antenna phase center correction, relativistic effects, tidal load deformation, Sagnac effect, phase entanglement, etc. in the original pseudorange and phase observations can be accurately corrected through empirical models.

[0064] In an optional embodiment, the GNSS PPP / INS tightly coupled timing / time synchronization method can employ either the ionospheric de-combined GNSS PPP method or the non-differential, non-combined GNSS PPP method. When using the non-differential, non-combined PPP method, the ionospheric delay needs to be included as one of the parameters to be estimated in the combined state equation, or products such as CODE can be directly used to estimate the ionospheric delay.

[0065] In another optional embodiment, to further obtain a simplified combined state equation for PPP / INS integrated navigation, δx(t) can be assumed to be a continuous-time differential equation (i.e., a continuous-time combined state equation) as the combined state equation, specifically as shown in the following equation:

[0066]

[0067] Extending the above equation, we can also obtain the formula for the combined state equation.

[0068] In one embodiment, the combined observation equation is obtained by adding the navigation parameters of the inertial navigation system to the observation equation of the precise single-point positioning method, wherein the navigation parameters include the attitude of the inertial navigation system and the constant zero bias parameters of the accelerometer and gyroscope.

[0069] In an optional embodiment, the combined observation equation is as follows:

[0070]

[0071]

[0072] In the above formula, δr INS Indicates the positional error in the INS recursion; δN IF This indicates the ambiguity error of the deionization layer combination.

[0073] Position error δr INS The position error δr is expressed in ECEF spatial rectangular coordinates (XYZ), while the actual estimated position error δr is expressed in geodetic coordinates (BLH). The definitions of navigation solution error for GNSS / INS combination and GNSS are opposite. After simplifying the above equation, the combined observation equation can be expressed as follows:

[0074]

[0075]

[0076] In the above formula, This represents the transformation matrix from the geographic coordinate system to the ECEF spatial rectangular coordinate system.

[0077] Specifically, the observation equations of the PPP method for satellite navigation can be used as a basis, and the attitude, accelerometer and gyroscope constant zero bias parameters of the INS navigation state equations in the local navigation coordinate system can be added to construct the PPP / INS combined observation equations.

[0078] Assuming each device or system (GPS, GLONASS, Galileo, BDS, and QZSS) has only one satellite, the observation vector Zk and observation matrix Hk of the multi-mode PPP / INS compact combination are as follows:

[0079]

[0080]

[0081] The combined observation noise covariance matrix can be expressed as follows:

[0082]

[0083] In practical implementation, after determining the combined state equation and the combined observation equation, the clock signal can be filtered and calculated using the two equations to obtain the clock error parameters.

[0084] Reference Figure 2 The diagram illustrates the operation flowchart for constructing a PPP / INS integrated navigation and timing / time synchronization function model according to an embodiment of the present invention.

[0085] In an optional embodiment, the state equations and observation equations can be combined to construct a tightly coupled PPP / INS timing / time synchronization function model, and then the function model can be used for filtering to calculate the clock difference parameters of the clock signal.

[0086] Specifically, the extended Kalman filter method is used to filter the constructed PPP / INS integrated navigation function model to obtain the clock error parameters.

[0087] Reference Figure 3 The diagram illustrates the operation flowchart for calculating clock error parameters according to an embodiment of the present invention.

[0088] In one embodiment, the constructed combined state equations may contain deviations. To correct these deviations, as an example, after step S11, the method may further include the following steps:

[0089] S21. The clock error parameters are used to correct the navigation parameters of the inertial navigation system.

[0090] In one implementation, the vector derivative of the simplified combined state equation δx(t) can be obtained by taking the derivative of each component of the vector with respect to time t, thereby obtaining the solutions for position, velocity, and attitude errors.

[0091] Specifically, the differential equations for solving the position, velocity, and attitude errors in the n-coordinate system are as follows:

[0092]

[0093]

[0094]

[0095] Then, use the above values ​​as correction values ​​to reconstruct the combined state equation; or add the above values ​​to the combined state equation to form a new combined state equation.

[0096] Reference Figure 3 After calculating the clock parameters, the error of the clock parameters can be calculated, and then the error can be corrected or modified so that the corrected clock parameters can be used for subsequent processing.

[0097] In an optional embodiment, the error state parameter of the clock parameter is shown in the following formula:

[0098] X=[φ δν n δr b g b a δdT r δdt ISB δZ w δN1 δN2] T ;

[0099] Where, δdt ISB It can be represented as follows:

[0100]

[0101] In the above formula, and δdT represents the inter-system bias of GLONASS, Galileo, BDS, and QZSS relative to GPS, respectively, and is the calculated clock bias parameter.

[0102] Reference Figure 3 The calculated clock difference parameters may contain errors. To notify the user of these errors, the method may, as an example, include the following steps after step S11:

[0103] S31. Obtain the radio value corresponding to the clock difference parameter.

[0104] S32. If the radio value satisfies the first preset value, then the clock difference parameter is determined to be a fixed solution value.

[0105] S33. If the radio value satisfies the second preset value, then the clock difference parameter is determined to be a floating-point solution value.

[0106] Specifically, after the calculation is completed, a radio value will be generated. The radio value of the clock difference parameter can be obtained after obtaining the clock difference parameter. If the radio value meets the first preset value, the clock difference parameter is determined to be a fixed solution value; if the radio value meets the second preset value, the clock difference parameter is determined to be a floating-point solution value.

[0107] For example, if the radio value is greater than a first preset value, the clock difference parameter is determined to be a fixed solution value; if the radio value is less than a second preset value, the clock difference parameter is determined to be a floating-point solution value.

[0108] If the clock error parameter is a fixed solution value, it means that the clock error parameter is a reliable parameter. If the clock error parameter is a floating-point solution value, it means that the calculated clock error parameter is an uncertain parameter value and may have a deviation. The status of the calculated clock error parameter can be notified to the user through a fixed solution value or a floating-point solution value for the user's reference.

[0109] S12. Perform clock driving processing on the clock difference parameters to obtain a processed clock signal.

[0110] In one embodiment, clock driving processing can be performed on the clock difference parameters. This clock driving processing can be performed by modeling the clock difference parameters to obtain the characteristic parameters of the local clock of the smart device, then calculating the clock driving adjustment amount based on the characteristic parameters, and finally adjusting the local clock accordingly using the clock driving adjustment amount.

[0111] Reference Figure 4 The diagram shows an operation flowchart of a clock driving process provided in an embodiment of the present invention.

[0112] In an optional embodiment, step S12 may include the following sub-steps:

[0113] S121. The clock difference parameters are preprocessed to obtain processing parameters. The preprocessing includes: elimination and filtering.

[0114] After clock bias calculation, frequency modulation and phase shifting processing is required to synchronize the local clock with the reference time (time synchronization), or to synchronize the local clock with a remote clock, such as... Figure 4 As shown, it can generate a stable 1PPS time signal and a 10MHz frequency signal. Specifically, frequency modulation and phase modulation (FM / PMC) is a commonly used clock synchronization technique that enables high-precision driving of the receiver's crystal oscillator. This technique compares the time-frequency difference between the local clock and the reference time, and performs frequency and phase control on the receiver's crystal oscillator, thereby synchronizing the receiver's local clock with the reference time.

[0115] Specifically, this can be achieved through precise control of the crystal oscillator frequency. Data preprocessing may include: rejection and filtering.

[0116] The main purpose of data preprocessing is to filter out noise and drift interference from the local clock, thereby extracting the basic characteristic information of the clock.

[0117] S122. Adjust the processing parameters to obtain adjustment parameters. The adjustment process includes frequency modulation and phase modulation.

[0118] The control process mainly includes two aspects: frequency modulation (FM) and phase modulation (PM), which can be performed simultaneously. FM primarily controls the frequency information of the clock output signal, while PM primarily controls the phase information of the clock output signal.

[0119] S123. Fit the adjustment parameters to obtain fitting coefficients, and use the fitting coefficients to adjust the local clock.

[0120] After completing the above processing, data fitting can be performed to obtain fitting coefficients. These fitting coefficients can then be used to calculate the characteristic parameters of the local clock, such as frequency deviation and phase deviation. Finally, the internal control circuit of the smart device adjusts its local clock accordingly, ensuring that its output time and frequency signal is consistent with the reference time.

[0121] By controlling the local clock, its output time and frequency signals can be made more accurate and stable, thereby meeting the requirements of high-precision timekeeping or time synchronization processes.

[0122] In one embodiment, the above operation involves sending a clock signal to a device and then performing high-precision time synchronization or timing transmission on a single device. To enable clock synchronization between different devices, refer to... Figure 5 The diagram illustrates an operation flowchart for clock synchronization of multiple devices according to an embodiment of the present invention.

[0123] In one embodiment, the present invention also proposes a method for synchronizing the clocks of multiple devices. For ease of understanding, this embodiment uses the clock signals of two smart devices as an example for illustration.

[0124] Specifically, the clock synchronization operation of the multiple devices may include the following steps:

[0125] A frequency source is sent to each smart device, and then the clock signal of each smart device is acquired. Next, the clock difference corresponding to the clock signal of each smart device is calculated using a preset combined navigation equation, resulting in two clock difference parameters. Then, using the two clock difference parameters as reference time clock differences, clock driving processing is performed on the two clock difference parameters to synchronize the local clocks of the two smart devices.

[0126] Similarly, when time synchronization of multiple smart devices is required, the clock signal of each smart device can be obtained in the manner described above. Then, the clock difference corresponding to the clock signal of each smart device can be calculated using a preset combined navigation equation, resulting in multiple clock difference parameters. Finally, clock driving processing is performed on these multiple clock difference parameters to synchronize the local clocks of multiple smart devices.

[0127] In this embodiment, the present invention provides a clock signal processing method for intelligent devices. Its beneficial effects are as follows: the present invention can pre-construct a combined navigation equation using Precise Point Positioning (PPP) and Inertial Navigation System (INS), calculate the clock difference parameter corresponding to the clock signal of the device using the combined navigation equation, and then perform clock driving on the clock difference parameter to complete the clock signal processing, thereby eliminating signal interference and improving the accuracy of clock processing.

[0128] This invention also provides a clock signal processing device for a smart device, see [link to relevant documentation]. Figure 6 The diagram shows a schematic diagram of the structure of a clock signal processing device for a smart device according to an embodiment of the present invention.

[0129] As an example, the clock signal processing device of the smart device may include:

[0130] The clock error calculation module 601 is used to calculate the clock error of each clock signal after acquiring the clock signal using a preset combined navigation equation to obtain the clock error parameter. The combined navigation equation is generated by combining the state equation and navigation parameters of the inertial navigation system with the observation equation and state parameters to be estimated of the precise single-point positioning method.

[0131] The driving processing module 602 is used to perform clock driving processing on the clock difference parameters to obtain a processed clock signal.

[0132] Optionally, the combined navigation equations include: combined state equations and combined observation equations;

[0133] The combined state equation is obtained by expanding the state equation of the inertial navigation system with state parameters and adding the state parameters to be estimated from the state equation of the precise single-point positioning method. The state parameters to be estimated include the tropospheric wet delay and ambiguity parameters in the zenith direction.

[0134] The combined observation equation is obtained by adding the navigation parameters of the inertial navigation system to the observation equation of the precise single-point positioning method. The navigation parameters include the attitude of the inertial navigation system and the constant zero bias parameters of the accelerometer and gyroscope.

[0135] Optionally, the combined state equation is as follows:

[0136]

[0137]

[0138]

[0139] In the above formula: The rotation vector angle between the platform coordinate system and the actual navigation coordinate system. This represents the rotation vector angle of the real navigation coordinate system relative to the inertial coordinate system in the real navigation coordinate system. angular velocity of rotation; For error disturbance term, This represents the rotation vector angle of the volume coordinate system relative to the inertial coordinate system in the real navigation coordinate system. The rotational angular velocity, the first equation is: Angular attitude error perturbation equation. δv n This is the velocity error disturbance term in the actual navigation coordinate system. δf represents the rotation matrix from the vehicle coordinate system to the actual navigation coordinate system. b For the specific force error term of the body in the carrier coordinate system, f n The ratio of the downloaded volume to the actual navigation coordinate system. This represents the rotation vector angle of the Earth coordinate system relative to the inertial coordinate system in the actual navigation coordinate system. rotational angular velocity, This represents the rotation vector angle of the real navigation coordinate system relative to the e-frame in the real navigation coordinate system. The rotational angular velocity, v n This represents the velocity vector of the downloaded volume in the actual navigation coordinate system. For the gravity error term in the actual navigation coordinate system, δp n δθ represents the position error disturbance term in the actual navigation coordinate system, and δθ represents the equivalent rotation vector error between the computation coordinate system and the actual navigation coordinate system.

[0140] Optionally, the combined observation equation is as follows:

[0141]

[0142]

[0143] In the above formula, s represents the satellite system, r represents the receiver, p represents the raw pseudorange, L represents the phase observation value, and δdT r For receiver clock bias, δdt ISB For the inter-system deviation, δZ w The tropospheric wet delay error in the zenith direction is δN. IF To eliminate ionospheric ambiguity error, δp represents the positional error. ε represents the transformation matrix from the geographic coordinate system to the spatial rectangular coordinate system. P,IF and ε L,IF This is for observing the noise term.

[0144] Optionally, the device further includes:

[0145] An error correction module is used to correct the navigation parameters of the inertial navigation system using the clock difference parameters.

[0146] Optionally, the device further includes:

[0147] The radio value acquisition module is used to acquire the radio value corresponding to the clock difference parameter;

[0148] A fixed solution determination module is used to determine the clock difference parameter as a fixed solution value if the radio value satisfies a first preset value.

[0149] A floating-point solution module is used to determine the clock difference parameter as a floating-point solution value if the radio value satisfies a second preset value.

[0150] Optionally, the clock driving process includes:

[0151] The clock error parameters are preprocessed to obtain processing parameters. The preprocessing includes: elimination and filtering.

[0152] The processing parameters are adjusted to obtain the adjustment parameters, and the adjustment process includes frequency modulation and phase modulation.

[0153] The adjustment parameters are fitted to obtain fitting coefficients, and the local clock is adjusted using the fitting coefficients.

[0154] Those skilled in the art will understand that, for ease of description and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0155] Furthermore, this application also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the clock signal processing method for the smart device as described in the above embodiments.

[0156] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer-executable program, the computer-executable program being used to cause a computer to perform the clock signal processing method of the smart device as described in the above embodiments.

[0157] 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 clock signal processing method for a smart device, characterized in that, The method includes: After acquiring the clock signal, the clock difference of each clock signal is calculated using the preset combined navigation equation to obtain the clock difference parameter. The combined navigation equation is generated by combining the state equation and navigation parameters of the inertial navigation system with the observation equation and state parameters to be estimated of the precise single-point positioning method. The clock difference parameters are subjected to clock driving processing to obtain a processed clock signal; The combined navigation equations include: combined state equations and combined observation equations; The combined state equation is obtained by expanding the state equation of the inertial navigation system with state parameters and adding the state parameters to be estimated from the state equation of the precise single-point positioning method. The state parameters to be estimated include the tropospheric wet delay and ambiguity parameters in the zenith direction. The combined observation equation is obtained by adding the navigation parameters of the inertial navigation system to the observation equation of the precise single-point positioning method. The navigation parameters include the attitude of the inertial navigation system and the constant zero bias parameters of the accelerometer and gyroscope. The combined state equation is shown below: In the above formula: for Angular attitude error perturbation equation The rotation vector angle between the p-system and the n-system. This represents the rotation vector angle of the n-frame relative to the i-frame in the n-frame. rotational angular velocity, For error disturbance term, This represents the rotation vector angle of the b system relative to the i system in the n system. The rotational angular velocity, p is the platform coordinate system, n is the actual navigation coordinate system, i is the inertial coordinate system, and b is the carrier coordinate system; Based on The velocity error disturbance equation for angular error, δv n This is the velocity error disturbance term in the n-system. Let δf represent the rotation matrix from the b-system to the n-system. b f represents the specific force error term of the b-system. n This indicates the relative strength of the n-system download. This represents the rotation vector angle of the e-frame relative to the i-frame in the n-frame. rotational angular velocity, This represents the rotation vector angle of the n-frame relative to the e-frame in the n-frame. The rotational angular velocity, v n Let represent the velocity vector of the n-system. This is the gravity error term in the n-frame, where the e-frame is the Earth coordinate system; For based on The positional error perturbation equation for angular error, δp n δθ is the position error perturbation term in the n-frame, and δθ is the equivalent rotation vector error between the c-frame and the n-frame, where the c-frame is the computational coordinate system. The combined observation equation is shown below: In the above formula, s represents the satellite system, r represents the receiver, p represents the raw pseudorange, L represents the phase observation value, and δdT r For receiver clock bias, δdt ISB For the inter-system deviation, δZ w The tropospheric wet delay error in the zenith direction is δN. IF To eliminate ionospheric ambiguity error, δp represents the positional error. ε represents the transformation matrix from the geographic coordinate system to the spatial rectangular coordinate system. P,IF and ε L,IF For the observed noise term; The clock driving process includes: The clock error parameters are preprocessed to obtain processing parameters. The preprocessing includes: elimination and filtering. The processing parameters are adjusted to obtain the adjustment parameters, and the adjustment process includes frequency modulation and phase modulation. The adjustment parameters are fitted to obtain fitting coefficients, and the local clock is adjusted using the fitting coefficients.

2. The clock signal processing method for a smart device according to claim 1, characterized in that, After the step of calculating the clock difference of each clock signal using a preset combined navigation equation to obtain the clock difference parameter, the method further includes: The clock error parameter is used to correct the navigation parameters of the inertial navigation system.

3. The clock signal processing method for a smart device according to claim 1, characterized in that, The method further includes calculating the clock difference of each clock signal using a preset combined navigation equation to obtain clock difference parameters. Obtain the radio value corresponding to the clock difference parameter; If the radio value satisfies the first preset value, then the clock difference parameter is determined to be a fixed solution value; If the radio value satisfies the second preset value, then the clock difference parameter is determined to be a floating-point solution value.

4. A clock signal processing device for a smart device, characterized in that, The device includes: The clock error calculation module is used to calculate the clock error of each clock signal after acquiring the clock signal using a preset combined navigation equation to obtain the clock error parameter. The combined navigation equation is generated by combining the state equation and navigation parameters of the inertial navigation system with the observation equation and state parameters to be estimated of the precise single-point positioning method. The clock control processing module is used to perform clock control processing on the clock difference parameters to obtain a processed clock signal. The combined navigation equations include: combined state equations and combined observation equations; The combined state equation is obtained by expanding the state equation of the inertial navigation system with state parameters and adding the state parameters to be estimated from the state equation of the precise single-point positioning method. The state parameters to be estimated include the tropospheric wet delay and ambiguity parameters in the zenith direction. The combined observation equation is obtained by adding the navigation parameters of the inertial navigation system to the observation equation of the precise single-point positioning method. The navigation parameters include the attitude of the inertial navigation system and the constant zero bias parameters of the accelerometer and gyroscope. The combined state equation is shown below: In the above formula: for Angular attitude error perturbation equation The rotation vector angle between the p-system and the n-system. This represents the rotation vector angle of the n-frame relative to the i-frame in the n-frame. rotational angular velocity, For error disturbance term, This represents the rotation vector angle of the b system relative to the i system in the n system. The rotational angular velocity, p is the platform coordinate system, n is the actual navigation coordinate system, i is the inertial coordinate system, and b is the carrier coordinate system; Based on The velocity error disturbance equation for angular error, δv n This is the velocity error disturbance term in the n-system. Let δf represent the rotation matrix from the b-system to the n-system. b f represents the specific force error term of the b-system. n This indicates the relative strength of the n-system download. This represents the rotation vector angle of the e-frame relative to the i-frame in the n-frame. rotational angular velocity, This represents the rotation vector angle of the n-frame relative to the e-frame in the n-frame. The rotational angular velocity, v n Let represent the velocity vector of the n-system. This is the gravity error term in the n-frame, where the e-frame is the Earth coordinate system; For based on The positional error perturbation equation for angular error, δp n δθ is the position error perturbation term in the n-frame, and δθ is the equivalent rotation vector error between the c-frame and the n-frame, where the c-frame is the computational coordinate system. The combined observation equation is shown below: In the above formula, s represents the satellite system, r represents the receiver, p represents the raw pseudorange, L represents the phase observation value, and δdT r For receiver clock bias, δdt ISB For the inter-system deviation, δZ w The tropospheric wet delay error in the zenith direction is δN. IF To eliminate ionospheric ambiguity error, δp represents the positional error. ε represents the transformation matrix from the geographic coordinate system to the spatial rectangular coordinate system. P,IF and ε L,IF For the observed noise term; The clock driving process includes: The clock error parameters are preprocessed to obtain processing parameters. The preprocessing includes: elimination and filtering. The processing parameters are adjusted to obtain the adjustment parameters, and the adjustment process includes frequency modulation and phase modulation. The adjustment parameters are fitted to obtain fitting coefficients, and the local clock is adjusted using the fitting coefficients.

5. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the clock signal processing method for a smart device as described in any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer-executable program, which is used to cause a computer to perform the clock signal processing method of the smart device as described in any one of claims 1-3.

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