Satellite time service method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a satellite time service method and device, electronic equipment and a storage medium, and belongs to the technical field of satellite time service. Comprising the following steps: acquiring satellite observation data by using a fixed receiver, fitting a fixed receiver clock error model according to the satellite observation data, calculating a pseudo-range correction amount of the fixed receiver, and reporting the pseudo-range correction amount of the fixed receiver to a cloud server through a communication system; the method comprises the following steps: acquiring satellite observation data through a mobile receiver, fitting a mobile receiver clock error model, calculating pseudo-range measured values from the mobile receiver to corresponding satellites at two ends of a leaky coaxial cable of a tunnel according to the mobile receiver clock error model, and determining a mobile clock error of the mobile receiver according to pseudo-range correction of a fixed receiver acquired from a cloud server; and determining calibration clock data of the mobile receiver according to the mobile clock difference, so as to carry out satellite time service based on the calibration clock data. According to the invention, the accuracy of satellite time service can be improved.

Description

Technical Field

[0001] The present application relates to the field of satellite timing technology, and in particular to a satellite timing method, device, electronic device and storage medium. Background Art

[0002] Currently, a large amount of communication network construction work needs to be carried out in scenarios such as high-speed rail tunnels, subway tunnels, and highway tunnels. Among them, time synchronization is the cornerstone for protecting critical social infrastructure. Whether it is electricity, communications, finance, aerospace, railways and other industries, accurate time synchronization and synchronization are indispensable to ensure the normal operation of the system.

[0003] In related technologies, due to the small space and strong airtightness of the tunnel, satellite signals are severely shielded in the tunnel environment, forming a signal blind spot, which makes it impossible to provide accurate positioning and timing services for the terminals inside the tunnel, resulting in low timing accuracy. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a satellite timing method, device, electronic device and storage medium to solve the problem of low timing accuracy.

[0005] To solve the above technical problems, the embodiments of the present application are implemented as follows: In a first aspect, an embodiment of the present application provides a satellite timing method, comprising: acquiring satellite observation data using a fixed receiver, fitting a fixed receiver clock error model according to the satellite observation data, and calculating a pseudorange correction of the fixed receiver, and reporting the pseudorange correction of the fixed receiver to a cloud service end through a communication system; acquiring the satellite observation data through a mobile receiver, and fitting a mobile receiver clock error model, calculating the pseudorange measurement values ​​of the mobile receiver to the satellites at both ends of the leaky cable in the tunnel according to the mobile receiver clock error model, and determining the mobile clock error of the mobile receiver according to the pseudorange correction of the fixed receiver obtained from the cloud service end; determining the calibration clock data of the mobile receiver according to the mobile clock error, so as to perform satellite timing based on the calibration clock data.

[0006] In a second aspect, an embodiment of the present application provides a satellite timing device, comprising: a fitting module, used to obtain satellite observation data using a fixed receiver, fit a fixed receiver clock error model according to the satellite observation data, and calculate the pseudorange correction of the fixed receiver, and report the pseudorange correction of the fixed receiver to a cloud service end through a communication system; a determination module, used to obtain the satellite observation data through a mobile receiver, and fit a mobile receiver clock error model, calculate the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the leaky cable in the tunnel according to the mobile receiver clock error model, and determine the mobile clock error of the mobile receiver according to the pseudorange correction of the fixed receiver obtained from the cloud service end; a calibration module, used to determine the calibration clock data of the mobile receiver according to the mobile clock error, so as to perform satellite timing based on the calibration clock data.

[0007] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory electrically connected to the processor, the memory storing a computer program, and the processor being used to call and execute the computer program from the memory to implement the above-mentioned satellite timing method.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program can be executed by a processor to implement the above-mentioned satellite timing method.

[0009] In a fifth aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the above-mentioned satellite timing method.

[0010] The technical solution of the embodiment of the present application is adopted, satellite observation data is obtained by using a fixed receiver, a fixed receiver clock error model is fitted according to the satellite observation data, and the pseudorange correction of the fixed receiver is calculated, and the pseudorange correction of the fixed receiver is reported to the cloud service end through the communication system; satellite observation data is obtained by a mobile receiver, and a mobile receiver clock error model is fitted, and according to the mobile receiver clock error model, the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the leaky cable in the tunnel are calculated, and the mobile clock error of the mobile receiver is determined according to the pseudorange correction of the fixed receiver obtained from the cloud service end; according to the mobile clock error, the calibration clock data of the mobile receiver is determined, so as to perform satellite timing based on the calibration clock data. It can be seen that according to the pseudorange correction of the fixed receiver, the error in the process of transmitting satellite signals outside the tunnel can be determined. According to the mobile receiver, the pseudorange correction of the fixed receiver and the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the tunnel leaky cable are obtained to calculate the mobile clock error and accurately determine the calibration clock data. Since the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the tunnel leaky cable are also obtained when calculating the mobile clock error, the mobile clock error is calculated using the pseudorange measurement values ​​of the two satellite signals, which can reduce the error caused by the calculated mobile clock error in the tunnel length direction, thereby accurately positioning the mobile receiver and improving the accuracy of satellite timing. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate one or more embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in one or more embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 is a structural schematic diagram of a satellite timing system according to an embodiment of the present application; Figure 2 is a schematic flow chart of a satellite timing method according to an embodiment of the present application; Figure 3 is a schematic diagram of a satellite timing method for a dual-exit tunnel according to an embodiment of the present application; Figure 4 is a schematic diagram of another satellite timing method for a dual-exit tunnel according to an embodiment of the present application; Figure 5 is a schematic diagram of a satellite timing method for a single-exit tunnel according to an embodiment of the present application; Figure 6 is a schematic diagram of another satellite timing method for a single-exit tunnel according to an embodiment of the present application; Figure 7is a schematic flow chart of a scenario of a satellite timing method according to an embodiment of the present application; Figure 8 is a schematic block diagram of a satellite timing device according to an embodiment of the present application; Fig. 9 It is a schematic diagram of the hardware structure of a satellite timing device according to an embodiment of the present application. DETAILED DESCRIPTION

[0013] The embodiments of the present application provide a satellite timing method, device, electronic device and storage medium to solve the problem of low accuracy of satellite timing.

[0014] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0015] The satellite timing method provided in the embodiment of the present application can be executed by an electronic device, or by software installed in the electronic device. Specifically, the electronic device can be a terminal device or a server device. Among them, the terminal device can include a smart phone, a laptop computer, a smart wearable device, a vehicle terminal, etc., and the server device can include an independent physical server, a server cluster composed of multiple servers, or a cloud server capable of cloud computing.

[0016] In the following, in conjunction with the accompanying drawings, a satellite timing method provided in an embodiment of the present application is described in detail through specific embodiments and their application scenarios.

[0017] Figure 1 FIG. 1 is a schematic diagram of the structure of a satellite timing system according to an embodiment of the present application. Figure 1 As shown, it includes a satellite receiving antenna, a satellite signal processing unit, a communication signal of a cellular network, a combiner, a communication system, a fixed receiver, a mobile receiver and a cloud service end, wherein the communication system includes a leaky cable system and / or an optical fiber system, and the cloud service end includes a satellite ephemeris service unit and a pseudorange correction value reporting and pulling down service unit.

[0018] The satellite receiving antenna is located outside the tunnel to receive satellite signals transmitted by the satellite, and the satellite signal is amplified and processed by the satellite signal processing unit, or when the satellite signal is a dual-frequency satellite signal, the dual-frequency satellite signal is separated and processed, and the processed satellite signal and the communication signal of the cellular network are input into the combiner, and the combiner inputs the signals of different frequencies into the communication system together. The communication system is also connected to the cloud service end, which is used to store and provide data information. The fixed receiver and the mobile receiver are connected to the communication system for communication, and can receive satellite signals transmitted by the leaky cable and perform timing calculation, position positioning and timing processing.

[0019] Figure 2 A schematic flow chart of a satellite timing method provided by an embodiment of the present invention is shown, and the method comprises the following steps: S202, using a fixed receiver to obtain satellite observation data, fitting a fixed receiver clock error model according to the satellite observation data, and calculating a pseudorange correction of the fixed receiver, and reporting the pseudorange correction of the fixed receiver to a cloud service end through a communication system.

[0020] The fixed receiver is installed at a fixed position in the tunnel, close to the leaky cable. It is used to receive satellite signals transmitted by the leaky cable through the communication system. It can also obtain the ephemeris file in the satellite ephemeris service unit of the cloud server through the communication system. According to the satellite observation data in the ephemeris file, the fixed receiver clock error model is fitted, and then the pseudorange correction is calculated and reported to the cloud server.

[0021] Satellite observation data is stored in the ephemeris file. The satellite observation data in the ephemeris file is mainly Kepler elliptical orbit parameters, which are used to describe the key information of the satellite orbit, including the satellite's position and speed, etc. The mathematical relationship is used to determine the time, coordinates, orientation, speed and other parameters of the flying body, with extremely high accuracy. It is crucial for accurately predicting and tracking the position and motion status of satellites, and is an indispensable basic data in the fields of satellite navigation, communication, remote sensing, etc.

[0022] Communication system, a system for mobile communication via leaky cables and / or optical fibers, used to provide communication and Internet access services, satellite signal coverage services, etc. for fixed and mobile receivers, specifically including leaky cable systems and optical fiber systems.

[0023] The cloud service end is a cloud server, which can deploy cloud services by communicating with the communication system. The cloud service includes a satellite ephemeris service unit and a pseudo-range correction reporting and pull-down service unit. The satellite ephemeris service unit includes an ephemeris file obtained through a public ephemeris website, which can be used by receivers (fixed receivers and / or mobile receivers) to access data through the network of the communication system; the pseudo-range correction reporting and pull-down service unit includes receiving pseudo-range corrections reported by fixed receivers and providing pseudo-range corrections to mobile receivers.

[0024] Clock error models mainly include binomial model, grey model, Kalman model, etc. At present, the commonly used receiver clock error models are mostly binomial models, which use the satellite observation data corresponding to the fixed receiver to estimate the clock error of the fixed receiver. The quadratic polynomial model mainly fits the clock error sequence of receivers with equal time intervals, uses the least squares algorithm to estimate the parameters of the quadratic polynomial model, and then substitutes the estimated values ​​of the parameters into the quadratic polynomial to predict the clock error.

[0025] Pseudorange includes the estimated distance between a fixed receiver and / or a mobile receiver and a satellite transmitting satellite signals, including the distance between the fixed receiver and / or the mobile receiver through one end of the tunnel leaky cable and the satellite, and the distance between the fixed receiver and / or the mobile receiver through the other end of the tunnel leaky cable and the satellite.

[0026] The pseudorange correction includes the pseudorange minus the distance from the input end of the leaky cable to the fixed receiver and / or mobile receiver, and the distance between the satellite fed into the two ends of the leaky cable and the satellite receiving antenna outside the tunnel. The satellite receiving antenna is installed outside the tunnel to receive satellite signals.

[0027] S204, obtaining satellite observation data through a mobile receiver and fitting a mobile receiver clock error model, calculating the pseudorange measurement values ​​from the mobile receiver to both ends of the leaky cable in the tunnel according to the mobile receiver clock error model, and determining the mobile clock error of the mobile receiver according to the pseudorange correction value of the fixed receiver obtained from the cloud service end.

[0028] The mobile receiver is a movable receiver suitable for use in tunnel scenarios. It is used to receive satellite signals transmitted by leaky cables through the communication system. It can also obtain the ephemeris file in the satellite ephemeris service unit of the cloud server through the communication system. According to the satellite observation data in the ephemeris file, the mobile receiver clock error model is fitted. The pseudorange correction of the fixed receiver can also be obtained from the pseudorange pull-down service unit of the cloud server.

[0029] The mobile receiver clock error model mainly uses the satellite observation data corresponding to the mobile receiver to estimate the mobile receiver's clock error, and specifically is a mobile receiver clock error model fitted by a quadratic polynomial.

[0030] The mobile receiver obtains the estimated clock error of the mobile receiver according to the mobile receiver clock error model, and then calculates the pseudorange measurement values ​​from the mobile receiver to the satellites corresponding to the two ends of the leaky cable in the tunnel. Specifically, the pseudorange measurement values ​​from the mobile receiver to the satellites corresponding to the two ends of the leaky cable in the tunnel include: the pseudorange from the mobile receiver to the satellite through one end of the leaky cable in the tunnel, and the pseudorange from the mobile receiver to the satellite through the other end of the leaky cable in the tunnel.

[0031] The mobile clock error of the mobile receiver is calculated based on the pseudorange measurement value and the pseudorange correction of the fixed receiver. Since the distance from the mobile receiver to the two ends of the leaky cable in the tunnel is taken into account, the influence of the tunnel length direction on the calculation of the mobile clock error can be reduced, and positioning and timing can be performed with higher precision.

[0032] S206, determining calibration clock data of the mobile receiver according to the mobile clock difference, so as to perform satellite timing based on the calibration clock data.

[0033] The calibration clock data includes the standard time obtained by subtracting the mobile clock error of the mobile receiver from the local clock. Based on the standard time, that is, the calibration clock data, the satellite timing is more accurate.

[0034] Timing technology is a technology that enables each user to obtain standard time by broadcasting standard time signals and time information, thereby achieving time synchronization. It is the basis for achieving time synchronization in distributed networking systems. Common timing technologies include shortwave timing, longwave timing, low-frequency time code timing, network timing and satellite timing. Among them, satellite timing is the newest and most accurate timing method. Satellite timing mainly uses satellites as time reference sources or forwarding intermediaries. It is a process of synchronizing standard time locally by receiving satellite signals and performing delay compensation. Four satellite timing systems: Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Galileo, and BeiDou.

[0035] The technical solution of the embodiment of the present application is adopted, satellite observation data is obtained by using a fixed receiver, a fixed receiver clock error model is fitted according to the satellite observation data, and the pseudorange correction of the fixed receiver is calculated, and the pseudorange correction of the fixed receiver is reported to the cloud service end through the communication system; satellite observation data is obtained by a mobile receiver, and a mobile receiver clock error model is fitted, and according to the mobile receiver clock error model, the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the leaky cable in the tunnel are calculated, and the mobile clock error of the mobile receiver is determined according to the pseudorange correction of the fixed receiver obtained from the cloud service end; according to the mobile clock error, the calibration clock data of the mobile receiver is determined, so as to perform satellite timing based on the calibration clock data. It can be seen that according to the pseudorange correction of the fixed receiver, the error in the process of transmitting satellite signals outside the tunnel can be determined. According to the mobile receiver, the pseudorange correction of the fixed receiver and the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the tunnel leaky cable are obtained to calculate the mobile clock error and accurately determine the calibration clock data. Since the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the tunnel leaky cable are also obtained when calculating the mobile clock error, the mobile clock error is calculated using the pseudorange measurement values ​​of the two satellite signals, which can reduce the error caused by the calculated mobile clock error in the tunnel length direction, thereby accurately positioning the mobile receiver and improving the accuracy of satellite timing.

[0036] In one embodiment, satellite observation data is acquired by a fixed receiver, a fixed receiver clock error model is fitted according to the satellite observation data, and a pseudorange correction value of the fixed receiver is calculated (ie, S102), and the following steps A1-A3 may be performed: Step A1: Obtain satellite observation data in the satellite ephemeris service unit of the cloud service end through the communication system.

[0037] Among them, the fixed receiver is connected to the communication system.

[0038] Specifically, the fixed receiver is connected to the communication system through the communication system, and the cloud server connected to the communication system obtains satellite observation data. The cloud server includes a satellite ephemeris service unit. The satellite ephemeris service unit stores the ephemeris files of each satellite obtained from the ephemeris website. The ephemeris files include satellite observation data of each satellite. For example, the Kepler elliptical orbit parameters that describe the basic parameters of satellite motion, including eccentricity, semi-major axis, orbital inclination, etc., can determine the specific orbit and position of the satellite in space; satellite number, each satellite has a unique number to identify and distinguish different satellites; ionospheric eight parameters, which are related to the impact of the ionosphere on satellite signals. In addition, the type and content of the ephemeris file vary according to different satellite systems and applications.

[0039] Step A2: Fit a fixed receiver clock error model in the fixed receiver according to the satellite observation data, estimate the clock error of the fixed receiver according to the fixed receiver clock error model, and calculate the pseudorange between the fixed receiver and the satellite.

[0040] The fixed receiver obtains satellite observation data. Based on the satellite observation data, the fixed receiver can fit the fixed receiver clock error model in combination with the quadratic polynomial method. Specifically, the satellite clock error is determined based on the satellite observation data, and the pseudorange between the fixed receiver and the satellite is calculated. By collecting long-term pseudoranges and the fixed receiver's clock error, the fixed receiver clock error is fitted based on the fixed receiver clock error model to make a high-precision estimate of the fixed receiver's clock error, thereby maintaining high-precision time synchronization between the fixed receiver and the satellite.

[0041] Among them, the calculation formula of the pseudorange between the fixed receiver and the satellite is as follows:

[0042] in, is the pseudorange between the fixed receiver and the satellite; is the geometric distance from the satellite receiving antenna outside the tunnel to the satellite; c is the speed of light; is the clock error of the fixed receiver; is the satellite clock error; is the ionospheric delay; is the tropospheric delay; It is the time from the satellite receiving antenna outside the tunnel to the input end of the leaky cable; is the time from the leaky cable input to the fixed receiver; is the measurement error.

[0043] Specifically, since the position of the satellite receiving antenna outside the tunnel is known, the position of the satellite can be calculated through the ephemeris file. The speed of light is a known constant, and the clock error of the fixed receiver is determined by the fitted clock error model. The satellite clock error can be corrected by the ground monitoring part of the navigation system for the detection of satellite signals. Since the propagation path of the satellite signal from the satellite to the receiver needs to pass through the ionosphere, ionospheric delay is generated, and the ionospheric delay can be estimated by the model of a single-frequency receiver or directly measured by a dual-frequency receiver. Since the propagation path of the satellite signal from the satellite to the receiver also needs to pass through the troposphere, tropospheric delay is generated, and the tropospheric delay can be estimated by the tropospheric delay model. The time from the satellite receiving antenna outside the tunnel to the input end of the leaky cable can be obtained by actual measurement. The time from the input end of the leaky cable to the fixed receiver is related to the length of the leaky cable, which is a known quantity for a fixed receiver at a fixed position.

[0044] It should be noted that in the process of fitting the fixed receiver clock error model, the corresponding values ​​of the first second, second second, third second, fourth second, etc. can be obtained respectively, and the values ​​with problems in a certain second can be screened out, and the corresponding values ​​of the second can be estimated using the fixed receiver clock error model. For example, when the ionosphere is disturbed in the fourth second, the calculated ionospheric delay data has a large deviation, causing the fixed receiver clock error calculated in the second to have a large deviation, then the pseudorange correction obtained in the fourth second can be discarded, and the fixed receiver clock error calculated in the second can also be discarded. The fixed receiver clock error model estimates the fixed receiver clock error corresponding to the fourth second according to the values ​​corresponding to the previous seconds.

[0045] Step A3: Determine the pseudorange correction value of the fixed receiver based on the pseudorange between the fixed receiver and the satellite.

[0046] According to the pseudorange of the fixed receiver calculated in step A2 above, the geometric distance from the satellite receiving antenna outside the tunnel to the satellite is subtracted from the pseudorange of the fixed receiver, and then the distance from the input end of the leaky cable to the fixed receiver is subtracted, and the pseudorange error caused by the clock error of the fixed receiver is subtracted to obtain the pseudorange correction of the fixed receiver. The specific calculation formula of the pseudorange correction is as follows: -

[0047] is the pseudorange correction of the fixed receiver; is the pseudorange between the fixed receiver and the satellite; is the geometric distance from the satellite receiving antenna outside the tunnel to the satellite; is the distance from the leaky cable input end to the fixed receiver; is the pseudorange error caused by the fixed receiver clock error.

[0048] It should be noted that the fixed receiver periodically reports the calculated pseudorange correction, satellite launch time, and local clock data to the pseudorange correction reporting and pull-down service unit of the cloud server. , local clock data , pseudorange correction As a component Periodically report to the cloud service end.

[0049] In this embodiment, the fixed receiver fits a fixed receiver clock error model based on satellite observation data obtained from the satellite ephemeris service unit of the cloud service end through the communication system, and estimates the clock error of the fixed receiver with high precision through the fixed receiver clock error model. In addition, the pseudorange between the fixed receiver and the satellite can be calculated through a formula based on the satellite observation data and the clock error of the fixed receiver, and the pseudorange correction between the fixed receiver and the satellite is calculated using the pseudorange. According to the pseudorange correction, the position of the mobile receiver can be more accurately located, and error data can be provided for calculating the mobile clock error for the mobile receiver.

[0050] In one embodiment, the pseudo-range measurement values ​​from the mobile receiver to the two ends of the leaky cable in the tunnel are calculated (ie, S104), and the following steps B1-B2 may be performed: Step B1: When the tunnel is a double-exit tunnel and the satellite signals input at both ends of the leaky cable are signals of different satellites, the pseudo-ranges from the mobile receiver to the corresponding satellites at both ends of the leaky cable are calculated respectively and used as pseudo-range measurement values.

[0051] Specifically, the tunnel is a double-exit tunnel, and the satellite signals input at both ends of the leaky cable are satellite signals transmitted by different satellites. There are many types of satellites, among which there are multiple satellite navigation systems, such as the GPS system, GLONASS system, Galileo system, Beidou system, etc.

[0052] Since it is a double-exit tunnel, a satellite receiving antenna is connected to the outside of the double-exit tunnel. There are leaky cables corresponding to the tunnel at both ends, and both ends of the leaky cable can receive satellite signals transmitted by the satellite through the exit of the tunnel.

[0053] The pseudorange from the mobile receiver to the corresponding satellites at both ends of the leaky cable refers to the pseudorange between the mobile receiver and the satellites fed into the two ends of the leaky cable measured by the mobile receiver. When the satellite signals received at the two exits of the tunnel are different, the mobile receiver can calculate the distance from the mobile receiver to the satellites fed into the two ends of the leaky cable and use it as the pseudorange measurement value.

[0054] Preferably, when the tunnel is a double-exit tunnel and the satellite signals input at both ends of the leaky cable are signals of different satellites, the pseudoranges from the fixed receiver to the corresponding satellites at both ends of the leaky cable are calculated respectively by the fixed receiver.

[0055] The calculation formula of the pseudorange measurement value of the mobile receiver is as follows:

[0056]

[0057] in, The satellite pseudorange fed into the leaky cable A end measured by the mobile receiver; is the satellite pseudorange fed into the B end of the leaky cable measured by the mobile receiver, where the A end and the B end of the leaky cable are the two ends of the leaky cable; is the distance from the satellite receiving antenna outside the tunnel to the satellite fed into the A end of the leaky cable, is the distance from the satellite receiving antenna outside the tunnel to the satellite fed into the B end of the leaky cable; c is the speed of light; is the clock error of the mobile receiver; is the satellite clock error; is the ionospheric delay; is the tropospheric delay; It is the time from the satellite receiving antenna outside the tunnel to the input end of the leaky cable; is the time from the leaky cable input terminal A to the mobile receiver, is the time from the leaky cable input terminal B to the mobile receiver; is the measurement error. and As pseudorange measurements of mobile receivers.

[0058] It should be noted that the clock error of the mobile receiver is The mobile receiver obtains satellite observation data and fits the mobile receiver clock error model, and determines the clock error of the mobile receiver based on the mobile receiver clock error model. The fitting method of the mobile receiver clock error model is similar to that of the fixed receiver model, and will not be described in detail here. In addition, the timing method of this case can be applied to fixed receivers as well as mobile receivers, such as general vehicle-mounted terminals, mobile phones and other navigation devices, which can be used directly without modification.

[0059] As an example, Figure 3 The figure shows a satellite timing method for a double-exit tunnel. In a double-exit tunnel, the two ends of the leaky cable are end A and end B, which are fed with satellite signals of different navigation systems, such as constellation 1, i.e., satellite S1, and constellation 2, i.e., satellite S2. The satellite receiving antenna receives the satellite signal of constellation 1, amplifies the weak satellite signal through the satellite signal processing unit, and inputs it into the combiner. The combiner integrates the acquired communication signal of the cellular network and the satellite signal processed by the satellite signal processing unit, so that the communication signal and the satellite signal are input into the leaky cable system through end A of the leaky cable. At the same time, the satellite receiving antenna receives the satellite signal of constellation 2, amplifies the weak satellite signal through the satellite signal processing unit, and inputs it into the combiner. The combiner integrates the acquired communication signal of the cellular network and the satellite signal processed by the satellite signal processing unit, so that the communication signal and the satellite signal are input into the leaky cable system through end B of the leaky cable. The fixed receiver and mobile receiver connected to the leaky cable system in the tunnel can receive satellite signals and perform timing and other processing by calculating pseudoranges.

[0060] Step B2: When the tunnel is a double-exit tunnel and the satellite signals input at both ends of the leaky cable are dual-frequency satellite signals of the same satellite, the pseudo-ranges from the mobile receiver to the corresponding satellites at both ends of the leaky cable are calculated based on the dual-frequency satellite signals and used as pseudo-range measurement values.

[0061] Dual-frequency satellite signals include satellite signals sent by the same satellite, but with different frequencies.

[0062] Specifically, the tunnel is a double-exit tunnel, and the satellite signals input at both ends of the leaky cable are dual-frequency satellite signals transmitted by the same satellite. Since it is a double-exit tunnel, the double-exit tunnel is externally connected to a satellite receiving antenna, and the leaky cable corresponding to the tunnel has two ends, and both ends of the leaky cable can receive satellite signals of different frequencies transmitted by the satellite through the exit of the tunnel. For example, one end of the leaky cable in the tunnel receives a satellite signal of one frequency transmitted by the satellite, and the other end of the leaky cable receives a satellite signal of another frequency transmitted by the satellite.

[0063] When the two exits of the tunnel receive satellite signals of different frequencies transmitted by the same satellite, the mobile receiver can calculate the distance from the mobile receiver to the satellites fed into the two ends of the leaky cable as pseudo-range measurements.

[0064] Preferably, when the tunnel is a double-exit tunnel and the satellite signals input at both ends of the leaky cable are dual-frequency satellite signals of the same satellite, the pseudoranges from the fixed receiver to the corresponding satellites at both ends of the leaky cable are calculated by the fixed receiver based on the dual-frequency satellite signals.

[0065] The calculation formula of the pseudorange measurement value of the mobile receiver is consistent with the calculation formula in step B1, that is, when the two ends of the leaky cable are fed with the dual-frequency signal transmitted by the same satellite, the mobile receiver calculates the distance from the mobile receiver to the corresponding satellites at the two ends of the leaky cable in the same way as in step B1.

[0066] As an example, Figure 4The figure shows another satellite timing method for a double-exit tunnel. In a double-exit tunnel, the two ends of the leaky cable are end A and end B, which are respectively fed with dual-frequency satellite signals transmitted by satellites of the same navigation system, such as satellite S1, and the dual-frequency satellite signals are frequency 1 satellite signals and frequency 2 satellite signals. The satellite receiving antenna receives the frequency 1 satellite signal of satellite S1, amplifies the weak frequency 1 satellite signal through the satellite signal processing unit, and inputs it into the combiner. The combiner integrates the acquired communication signal of the cellular network and the frequency 1 satellite signal processed by the satellite signal processing unit, so that the communication signal and the satellite signal are input into the leaky cable system through end A of the leaky cable. At the same time, the satellite receiving antenna receives the frequency 2 satellite signal of satellite S1, amplifies the weak frequency 2 satellite signal through the satellite signal processing unit, and inputs it into the combiner. The combiner integrates the acquired communication signal of the cellular network and the frequency 2 satellite signal processed by the satellite signal processing unit, so that the communication signal and the satellite signal are input into the leaky cable system through end B of the leaky cable. Fixed receivers and mobile receivers connected to the leaky cable system in the tunnel can receive satellite signals and perform timing and other processing by calculating pseudoranges.

[0067] In this embodiment, when there are two exit tunnels and the satellite signals fed into the two ends of the leaky cable are signals transmitted by different satellites, the mobile receiver can calculate the pseudo-range measurement values ​​from the mobile receiver to the satellites corresponding to the two ends of the leaky cable; when there are two exit tunnels and the satellite signals fed into the two ends of the leaky cable are dual-frequency satellite signals transmitted by the same satellite, the mobile receiver can calculate the pseudo-range measurement values ​​from the mobile receiver to the satellites corresponding to the two ends of the leaky cable; it can be seen that satellite signals can be transmitted using dual navigation constellation satellites, or dual-frequency satellite signals transmitted by a single navigation constellation can be used. At least 2 satellites are required for dual constellations, and at least 1 satellite is required for single constellation dual-frequency. For the scenario where the tunnel has two exits, the pseudo-range between the receiver and the satellite transmitting the satellite signal can be calculated. In addition, both fixed receivers and mobile receivers can measure pseudo-ranges, which can be applied to multiple types of terminals and improve the universality of terminal timing.

[0068] In one embodiment, the pseudo-range measurement values ​​from the mobile receiver to the two ends of the leaky cable in the tunnel are calculated (ie, S104), and the following steps C1-C3 may also be performed: Step C1: When the tunnel is a single-exit tunnel and the satellite signals inputted at the near end of the leaky cable are signals of different satellites, a first satellite signal is inputted into a mobile receiver through a leaky cable system at the near end of the leaky cable, and a second satellite signal is inputted into a mobile receiver through the far end of the leaky cable through an optical fiber system, wherein the communication system includes a leaky cable system and / or an optical fiber system, and the signals of different satellites include a first satellite signal and a second satellite signal.

[0069] Specifically, the tunnel is a single-exit tunnel, and the satellite signals input to the near end of the leaky cable are signals transmitted by different satellites. Since it is a single-exit tunnel, a satellite receiving antenna is externally connected to the single-exit tunnel, and the leaky cable corresponding to the tunnel has two ends, one end of the leaky cable at the tunnel exit is used as the near end, and the other end is used as the far end. The communication system can receive the first satellite signal and the second satellite signal sent by the combiner, wherein the exit of the tunnel, i.e., the near end, receives the first satellite signal through the leaky cable system and inputs it to the mobile receiver, and the far end receives the second satellite signal through the optical fiber system by performing photoelectric conversion on the second satellite signal, and inputs it to the mobile receiver through the far end leaky cable system.

[0070] As an example, Figure 5 The figure shows a satellite timing method for a single-exit tunnel. In a single-exit tunnel, the two ends of the leaky cable are end A and end B, end A is the near end of the leaky cable, and end B is the far end of the leaky cable. Satellite signals of different navigation systems are fed into the near end of the leaky cable, such as constellation 1, i.e., satellite S1, and constellation 2, i.e., satellite S2. The satellite receiving antenna receives the first satellite signal of constellation 1 and the second satellite signal of constellation 2. The weak first satellite signal and the second satellite signal are amplified and processed by the satellite signal processing unit, and input into the combiner. The combiner integrates the acquired communication signal of the cellular network and the first satellite signal and the second satellite signal processed by the satellite signal processing unit, so that the communication signal, the first satellite signal and the second satellite signal are transmitted to the communication system through the single exit of the tunnel. The leaky cable system in the communication system receives the first satellite signal and transmits the first satellite signal to the mobile receiver and the fixed receiver through end A of the leaky cable. The optical fiber system in the communication system transmits the second satellite signal to the far end of the leaky cable, i.e., end B, by performing photoelectric conversion on the second satellite signal. End B transmits the second satellite signal to the mobile receiver and the fixed receiver through the leaky cable system. Fixed receivers and mobile receivers can calculate the corresponding pseudoranges and perform timing and other processing.

[0071] Step C2: Calculate the pseudoranges from the mobile receiver to the satellites corresponding to the near end and the far end of the leaky cable respectively, and use them as pseudorange measurement values.

[0072] The pseudorange from the mobile receiver to the corresponding satellites at the near and far ends of the leaky cable refers to the pseudorange between the satellites fed into the two ends of the leaky cable measured by the mobile receiver. When the satellite signals received at a single exit of the tunnel are different, the mobile receiver can calculate the distance from the mobile receiver to the corresponding satellites at the two ends of the leaky cable, i.e., the near and far ends of the leaky cable, and use it as the pseudorange measurement value.

[0073] Preferably, when the tunnel is a single-exit tunnel and the satellite signals input at the near end of the leaky cable are signals of different satellites, the pseudoranges from the fixed receiver to the corresponding satellites at both ends of the leaky cable are calculated respectively by the fixed receiver.

[0074] The calculation formula of the pseudo-range measurement value of the mobile receiver is consistent with the calculation formula in step B1, that is, when the satellite signals transmitted by two satellites are fed into the near end of the leaky cable, the mobile receiver calculates the distance from the mobile receiver to the corresponding satellites at both ends of the leaky cable in the same way as in step B1. The fixed receiver and mobile receiver connected to the leaky cable system in the tunnel can receive satellite signals and perform timing and other processing by calculating pseudo-ranges.

[0075] Step C3: When the tunnel is a single-exit tunnel and the satellite signal input at the near end of the leaky cable is a dual-frequency satellite signal of the same satellite, the pseudoranges from the mobile receiver to the corresponding satellites at the near end and the far end of the leaky cable are calculated based on the dual-frequency satellite signals and used as pseudorange measurement values.

[0076] Specifically, the tunnel is a single-exit tunnel, and the satellite signal input at the near end of the leaky cable is a dual-frequency satellite signal transmitted by the same satellite. Since it is a single-exit tunnel, a satellite receiving antenna is externally connected to the single-exit tunnel, and the leaky cable corresponding to the tunnel has two ends. One end of the leaky cable at the tunnel exit is the near end, and the other end is the far end. The near end of the leaky cable can receive the dual-frequency satellite signal transmitted by the satellite, and the satellite signal processing unit is used to separate and process the received dual-frequency satellite signal to obtain the frequency 1 satellite signal and the frequency 2 satellite signal and input them into the combiner. The communication system can receive the frequency 1 satellite signal and the frequency 2 second satellite signal sent by the combiner. For example, the near end of the leaky cable in the tunnel receives a frequency 1 satellite signal of a frequency transmitted by the satellite, and the far end of the leaky cable receives a frequency 2 satellite signal of another frequency transmitted by the satellite. Among them, the near end of the tunnel receives the frequency 1 satellite signal through the leaky cable system and sends it to the mobile receiver, and the far end receives the frequency 2 satellite signal after performing photoelectric conversion on the frequency 2 satellite signal through the optical fiber system, and transmits it to the mobile receiver through the leaky cable system corresponding to the far end.

[0077] The calculation formula of the pseudorange measurement value of the mobile receiver is consistent with the calculation formula in step B1, that is, when the near end of the leaky cable is fed with the dual-frequency signal transmitted by the same satellite, the mobile receiver calculates the distance from the mobile receiver to the satellites corresponding to the two ends of the leaky cable in the same way as in step B1.

[0078] When a single exit of the tunnel receives satellite signals of different frequencies transmitted by the same satellite, the mobile receiver can calculate the distance from the mobile receiver to the satellites fed into the two ends of the leaky cable as pseudorange measurements.

[0079] Preferably, when the tunnel is a single-exit tunnel and the satellite signal input at the near end of the leaky cable is a dual-frequency satellite signal of the same satellite, the pseudoranges from the fixed receiver to the corresponding satellites at both ends of the leaky cable are calculated by a fixed receiver based on the dual-frequency satellite signal.

[0080] As an example, Figure 6The figure shows another satellite timing method for a single-exit tunnel. In a single-exit tunnel, the two ends of the leaky cable are end A and end B, end A is the near end of the leaky cable, and end B is the far end of the leaky cable. The near end of the leaky cable is fed with dual-frequency satellite signals of the same navigation system, such as the dual-frequency satellite signal of satellite S1, which is a frequency 1 satellite signal and a frequency 2 satellite signal. The satellite receiving antenna receives the frequency 1 satellite signal and the frequency 2 satellite signal of satellite S1, separates and processes the weak frequency 1 satellite signal and the frequency 2 satellite signal through the satellite signal processing unit, and inputs them into the combiner. The combiner integrates and processes the acquired communication signal of the cellular network and the frequency 1 satellite signal and the frequency 2 satellite signal processed by the satellite signal processing unit, so that the communication signal, the frequency 1 satellite signal and the frequency 2 satellite signal are input into the communication system through the single exit of the tunnel. The leaky cable system in the communication system receives the frequency 1 satellite signal and transmits the frequency 1 satellite signal to the mobile receiver and the fixed receiver through the A end of the leaky cable. The optical fiber system in the communication system transmits the frequency 2 satellite signal to the far end of the leaky cable, i.e., the B end, by performing photoelectric conversion on the frequency 2 satellite signal. The B end transmits the frequency 2 satellite signal to the mobile receiver and the fixed receiver through the leaky cable system. The fixed receiver and the mobile receiver can calculate the corresponding pseudorange and perform timing and other processing.

[0081] In this embodiment, when there is a single-exit tunnel and the satellite signals fed into the near end of the leaky cable are satellite signals transmitted by different satellites, the mobile receiver can calculate the pseudo-range measurement values ​​from the mobile receiver to the corresponding satellites at both ends of the leaky cable; when there is a single-exit tunnel and the satellite signals fed into the near end of the leaky cable are dual-frequency satellite signals transmitted by the same satellite, the mobile receiver can also calculate the pseudo-range measurement values ​​from the mobile receiver to the corresponding satellites at both ends of the leaky cable; it can be seen that satellite signals can be transmitted by dual navigation constellation satellites, and dual-frequency satellite signals transmitted by a single navigation constellation can also be used. For the scenario where the tunnel has a single exit, the pseudo-range between the receiver and the satellite transmitting the satellite signal can also be calculated. In addition, both fixed receivers and mobile receivers can perform pseudo-range measurements, which are suitable for multiple types of terminals and can be used in multiple tunnel scenarios, and can improve the universality of terminal timing.

[0082] In one embodiment, the mobile clock error of the mobile receiver is determined according to the pseudo-range correction of the fixed receiver obtained from the cloud service end (ie, S104), and the following steps D1-D2 may be performed: Step D1: Obtain the pseudorange correction value reported by the cloud service end and the pseudorange correction value of the fixed receiver in the pull-down service unit through the communication system.

[0083] According to the calculation formula of the pseudo-range between the fixed receiver and the satellite in step A2, the pseudo-range from the fixed receiver to the corresponding satellites at both ends of the leaky cable can be obtained. , , using the calculation formula of pseudorange correction in step A3, determine the pseudorange correction of the fixed receiver, that is, , The fixed receiver reports the pseudorange correction to the pseudorange correction reporting and pull-down service unit, so the mobile receiver can obtain the pseudorange correction of the fixed receiver in the pseudorange correction reporting and pull-down service unit of the cloud server through the communication system.

[0084] Step D2: Calculate the mobile clock error of the mobile receiver based on the pseudorange correction of the fixed receiver, the pseudorange measurement values ​​from the mobile receiver to the corresponding satellites at both ends of the leaky cable, and the length of the leaky cable.

[0085] The pseudorange correction value of the fixed receiver obtained in step D1 is , According to the calculation formula of the pseudo-range measurement value from the mobile receiver to the corresponding satellites at both ends of the leaky cable in step B1, we can calculate , , the length of the leaky cable is a known number D based on actual measurements. The process of deriving the mobile clock error of the mobile receiver can be as follows: According to the time from the mobile receiver to the A end of the leaky cable, we get formula 1:

[0086] According to the time from the mobile receiver to the B end of the leaky cable, we get formula 2:

[0087]

[0088] in, is the propagation velocity coefficient of electromagnetic waves in the leaky cable, which is a known number; The pseudorange from the leaky cable A end to the fed satellite measured by the mobile receiver; The pseudorange from the B end of the leaky cable to the fed satellite measured by the mobile receiver; is the distance between the satellite fed by the leaky cable A end and the corresponding satellite receiving antenna outside the tunnel, which can be calculated based on the satellite position in the ephemeris file and the position of the satellite receiving antenna outside the tunnel; is the distance between the satellite fed by the leaky cable B end and the corresponding satellite receiving antenna outside the tunnel, which can be calculated based on the satellite position in the ephemeris file and the position of the satellite receiving antenna outside the tunnel; is the length of the leaky cable, is a known number, is the distance from the mobile receiver to the A end of the leaky cable, It is the distance from the mobile receiver to the B end of the leaky cable and the height distance of the mobile receiver. It can take a typical value according to the tunnel scene, or it can obtain the distance estimation value according to the propagation model of the wireless signal of the leaky cable slot in the air and the signal strength and other information.

[0089] According to formula 1 and formula 2, we can get formula 3:

[0090] Substituting formula 3 into formula 1, we get formula 4, which is the calculated moving clock error. :

[0091] In this embodiment, the mobile receiver obtains the pseudorange correction of the fixed receiver from the pseudorange correction reporting and pull-down service unit, calculates the pseudorange measurement value from the mobile receiver to the corresponding satellites at both ends of the leaky cable, and calculates the mobile clock error of the mobile receiver according to the length of the leaky cable and the time relationship from the mobile receiver to both ends of the leaky cable. Since the clock error of the mobile receiver affects the pseudorange measurement value, the influence of the mobile clock error in the tunnel length direction is offset by solving the errors of the pseudoranges of the two satellite signals, i.e., the mobile receiver to the corresponding satellites at both ends of the leaky cable, to achieve high-precision positioning in the tunnel length direction, and provide guarantee for the overall high-precision timing.

[0092] In one embodiment, according to the mobile clock error, the calibration clock data of the mobile receiver is determined (ie, S106), and the following step E may be performed: Step E: Acquire local clock data through the mobile receiver, and determine the difference between the local clock data and the mobile clock difference as the calibration clock data of the mobile receiver.

[0093] The local clock data is the time currently received by the mobile receiver. According to step D2, the mobile clock error is obtained. The mobile clock error is the difference between the current time received by the mobile receiver and the satellite clock. The clock data is calibrated to the standard time, that is, the time with the smallest error with the satellite clock.

[0094] The specific calculation formula is:

[0095] Among them, the local clock data of the mobile receiver is At this moment, the local clock data is calibrated, and the calibrated clock is the calibrated clock data. : In this embodiment, by acquiring the local time data and the mobile clock difference of the mobile receiver and obtaining the calibration clock data through calculation, the mobile receiver can be more accurately synchronized with high precision.

[0096] In one embodiment, before obtaining satellite observation data using a fixed receiver and fitting the fixed receiver clock error model according to the satellite observation data (ie, S102), the following steps F1-F2 may be performed: Step F1: The satellite signal received by the satellite receiving antenna outside the tunnel is received by the satellite signal processing unit and input into the combiner.

[0097] The satellite signal processing unit can receive the satellite signal input by the satellite receiving antenna outside the tunnel, amplify the weak satellite signal, and separate the dual-constellation and / or single-constellation dual-frequency satellite signals. Finally, the processed satellite signal is input to the combiner so as to be fed to the two ends of the leaky cable in the tunnel.

[0098] Step F2: The satellite signal and the received communication signal are combined by a combiner, and the combined satellite signal and communication signal are input into the communication system.

[0099] The combiner can receive signals of different frequency bands, combine and output the input signals of different frequency bands, and integrate the communication signals of the cellular network with the satellite signals input by the satellite signal processing unit, and input them into the communication system, and finally input the satellite signals into both ends of the leaky cable. Among them, the communication signal is used to provide the networking function of the communication system and various terminals, and the satellite signal is used to provide the positioning and timing functions of various terminals.

[0100] In this embodiment, the satellite signal processing unit can receive the satellite signal received by the satellite receiving antenna outside the tunnel and input it into the combiner. The satellite signal processed by the satellite signal processing unit is combined with the communication signal through the combiner and input into the communication system together, and then sent to both ends of the leaky cable. This can make the satellite timing system more complete and keep the satellite timing method running smoothly.

[0101] Figure 7 is a schematic flow chart of a scenario of a satellite timing method according to another embodiment of the present application, such as Figure 7 As shown, the method comprises the following steps: S701, the satellite transmits a satellite signal, the satellite receiving antenna outside the tunnel receives the satellite signal, and sends the satellite signal to the satellite signal processing unit.

[0102] S702: When the tunnel is a double-exit tunnel and the satellite signals inputted from both ends of the leaky cable of the tunnel are signals of different satellites, the satellite signal processing unit amplifies the satellite signals and inputs them into the corresponding combiner.

[0103] The two exits of the double-exit tunnel correspond to the satellite receiving antenna, the satellite signal processing unit and the combiner respectively.

[0104] The fixed receiver and the mobile receiver can receive satellite signals at both ends of the leaky cable through a combiner and a leaky cable system, and calculate the pseudoranges from the fixed receiver and the mobile receiver to the corresponding satellites.

[0105] S703, when the tunnel is a double-exit tunnel and the satellite signals input from both ends of the leaky cable of the tunnel are dual-frequency signals of the same satellite, the satellite signal processing unit amplifies the satellite signals and inputs them into the corresponding combiner.

[0106] The fixed receiver and the mobile receiver can receive satellite signals of different frequencies transmitted by the same satellite at both ends of the leaky cable through a combiner and a leaky cable system, and calculate the pseudoranges from the fixed receiver and the mobile receiver to the corresponding satellite.

[0107] S704, when the tunnel is a single-exit tunnel and the satellite signals inputted from the near end of the leaky cable of the tunnel are signals of different satellites, the satellite signal processing unit amplifies the satellite signals and inputs them into the combiner.

[0108] The combiner directly inputs the first satellite signal into the near end of the leaky cable, converts the second satellite signal into photoelectricity using the optical fiber system, and inputs it into the far end of the leaky cable. Through the leaky cable system, the first satellite signal at the near end of the leaky cable and the second satellite signal at the far end can be input into the fixed receiver and the mobile receiver, and the pseudoranges from the fixed receiver and the mobile receiver to the corresponding satellites can be calculated.

[0109] S705, when the tunnel is a single-exit tunnel and the satellite signal input from the near end of the leaky cable of the tunnel is a dual-frequency signal of the same satellite, the satellite signal processing unit separates and processes the satellite signal and inputs it into the combiner.

[0110] The combiner separates and processes the satellite signal by the satellite signal processing unit to obtain a frequency 1 satellite signal and a frequency 2 satellite signal, directly inputs the frequency 1 satellite signal to the near end of the leaky cable, converts the frequency 2 satellite signal into photoelectricity using the optical fiber system, and inputs the frequency 2 satellite signal to the far end of the leaky cable. The frequency 1 satellite signal at the near end of the leaky cable and the frequency 2 satellite signal at the far end can be input into a fixed receiver and a mobile receiver through the leaky cable system, and the pseudoranges from the fixed receiver and the mobile receiver to the corresponding satellites are calculated.

[0111] S706, the combiner receives the satellite signal and the communication signal of the cellular network, integrates the communication signal and the satellite signal, and inputs them into the communication system together.

[0112] Among them, the communication system includes leaky cable system and optical fiber system.

[0113] S707, the fixed receiver and the mobile receiver connected to the communication system receive the satellite signal sent by the combiner.

[0114] S708, the fixed receiver obtains satellite observation data of the satellite from the cloud service end through the communication system, fits the fixed receiver clock error model, and calculates the pseudorange correction of the fixed receiver.

[0115] S709, the fixed receiver reports the pseudorange correction value of the fixed receiver to the pseudorange correction value reporting and pulling-down service unit of the cloud server.

[0116] S710, the mobile receiver obtains the pseudorange correction of the fixed receiver from the pseudorange correction reporting and pull-down service unit of the cloud service end through the communication system, and calculates the mobile clock error.

[0117] S711, the mobile receiver determines calibration clock data based on the mobile clock difference and the local clock data.

[0118] S712, performing satellite timing for the mobile receiver based on the calibration clock data.

[0119] The specific process from S701 to S712 has been described in detail in the above embodiment and will not be repeated here.

[0120] The technical solution of the embodiment of the present application is adopted, satellite observation data is obtained by using a fixed receiver, a fixed receiver clock error model is fitted according to the satellite observation data, and the pseudorange correction of the fixed receiver is calculated, and the pseudorange correction of the fixed receiver is reported to the cloud service end through the communication system; satellite observation data is obtained by a mobile receiver, and a mobile receiver clock error model is fitted, and according to the mobile receiver clock error model, the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the leaky cable in the tunnel are calculated, and the mobile clock error of the mobile receiver is determined according to the pseudorange correction of the fixed receiver obtained from the cloud service end; according to the mobile clock error, the calibration clock data of the mobile receiver is determined, so as to perform satellite timing based on the calibration clock data. It can be seen that according to the pseudorange correction of the fixed receiver, the error in the process of transmitting satellite signals outside the tunnel can be determined. According to the mobile receiver, the pseudorange correction of the fixed receiver and the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the tunnel leaky cable are obtained to calculate the mobile clock error and accurately determine the calibration clock data. Since the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the tunnel leaky cable are also obtained when calculating the mobile clock error, the mobile clock error is calculated using the pseudorange measurement values ​​of the two satellite signals, which can reduce the error caused by the calculated mobile clock error in the tunnel length direction, thereby accurately positioning the mobile receiver and improving the accuracy of satellite timing.

[0121] In summary, specific embodiments of the present subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recorded in the claims can be performed in a different order and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing can be advantageous.

[0122] The above is a satellite timing method provided in an embodiment of the present application. Based on the same idea, an embodiment of the present application also provides a satellite timing device.

[0123] Figure 8 Schematic diagram of the structure of a satellite timing device according to an embodiment of the present invention. Figure 8 As shown, the satellite timing device includes: a fitting module 81, a determination module 82, and a calibration module 83: The fitting module 81 is used to obtain satellite observation data using a fixed receiver, fit the fixed receiver clock error model according to the satellite observation data, calculate the pseudorange correction of the fixed receiver, and report the pseudorange correction of the fixed receiver to the cloud service end through the communication system; The determination module 82 is used to obtain satellite observation data through a mobile receiver and fit the mobile receiver clock error model, calculate the pseudo-range measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the leaky cable in the tunnel according to the mobile receiver clock error model, and determine the mobile clock error of the mobile receiver according to the pseudo-range correction value of the fixed receiver obtained from the cloud service end; The calibration module 83 is used to determine the calibration clock data of the mobile receiver according to the mobile clock difference, so as to perform satellite timing based on the calibration clock data.

[0124] In one embodiment, the fitting module 81 includes: An acquisition unit, used to acquire satellite observation data in a satellite ephemeris service unit of a cloud service end through a communication system, wherein a fixed receiver is connected to the communication system; A fitting unit, used for fitting a fixed receiver clock error model in the fixed receiver according to the satellite observation data, estimating the clock error of the fixed receiver according to the fixed receiver clock error model, and calculating the pseudorange between the fixed receiver and the satellite; The determination unit determines a pseudorange correction amount of the fixed receiver according to the pseudorange between the fixed receiver and the satellite.

[0125] In one embodiment, the determination module 82 includes: A first calculation unit is used to calculate the pseudo-ranges from the mobile receiver to the corresponding satellites at the two ends of the leaky cable respectively when the tunnel is a double-exit tunnel and the satellite signals input at the two ends of the leaky cable are signals of different satellites, and use them as pseudo-range measurement values; The second calculation unit is used to calculate the pseudo-ranges from the mobile receiver to the corresponding satellites at both ends of the leaky cable according to the dual-frequency satellite signals when the tunnel is a double-exit tunnel and the satellite signals input at both ends of the leaky cable are dual-frequency satellite signals of the same satellite, and use them as pseudo-range measurement values.

[0126] In one embodiment, the determination module 82 further includes: A first input unit is used for inputting a first satellite signal into a mobile receiver through a leaky cable system at the near end of the leaky cable, and inputting a second satellite signal into the mobile receiver through a far end of the leaky cable through an optical fiber system when the tunnel is a single-exit tunnel and the satellite signals inputted at the near end of the leaky cable are signals of different satellites, wherein the communication system includes a leaky cable system and / or an optical fiber system, and the signals of different satellites include a first satellite signal and a second satellite signal; A third calculation unit is used to calculate the pseudo-ranges from the mobile receiver to the satellites corresponding to the near end of the leaky cable and the far end of the leaky cable respectively, and use them as pseudo-range measurement values; The fourth calculation unit is used to calculate the pseudoranges from the mobile receiver to the satellites corresponding to the near end and the far end of the leaky cable respectively according to the dual-frequency satellite signals when the tunnel is a single-exit tunnel and the satellite signal input at the near end of the leaky cable is a dual-frequency satellite signal of the same satellite, and use them as pseudorange measurement values.

[0127] In one embodiment, the determination module 82 is specifically configured to: Obtain pseudorange corrections reported by the cloud server and pull down pseudorange corrections of fixed receivers in the service unit through the communication system; The mobile clock error of the mobile receiver is calculated based on the pseudorange correction of the fixed receiver, the pseudorange measurement values ​​from the mobile receiver to the corresponding satellites at both ends of the leaky cable, and the length of the leaky cable.

[0128] In one embodiment, the calibration module 82 is specifically configured to obtain local clock data through a mobile receiver, and determine the difference between the local clock data and the mobile clock difference as calibration clock data of the mobile receiver.

[0129] In one embodiment, the device is further used to receive satellite signals received by a satellite receiving antenna outside the tunnel through a satellite signal processing unit, and input the satellite signals into a combiner; The satellite signal and the received communication signal are combined and processed by a combiner, and the combined satellite signal and communication signal are input into the communication system.

[0130] The technical solution of the embodiment of the present application is adopted, satellite observation data is obtained by using a fixed receiver, a fixed receiver clock error model is fitted according to the satellite observation data, and the pseudorange correction of the fixed receiver is calculated, and the pseudorange correction of the fixed receiver is reported to the cloud service end through the communication system; satellite observation data is obtained by a mobile receiver, and a mobile receiver clock error model is fitted, and according to the mobile receiver clock error model, the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the leaky cable in the tunnel are calculated, and the mobile clock error of the mobile receiver is determined according to the pseudorange correction of the fixed receiver obtained from the cloud service end; according to the mobile clock error, the calibration clock data of the mobile receiver is determined, so as to perform satellite timing based on the calibration clock data. It can be seen that according to the pseudorange correction of the fixed receiver, the error in the process of transmitting satellite signals outside the tunnel can be determined. According to the mobile receiver, the pseudorange correction of the fixed receiver and the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the tunnel leaky cable are obtained to calculate the mobile clock error and accurately determine the calibration clock data. Since the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the tunnel leaky cable are also obtained when calculating the mobile clock error, the mobile clock error is calculated using the pseudorange measurement values ​​of the two satellite signals, which can reduce the error caused by the calculated mobile clock error in the tunnel length direction, thereby accurately positioning the mobile receiver and improving the accuracy of satellite timing.

[0131] Those skilled in the art should understand that Figure 8 The satellite timing device in can be used to implement the satellite timing method described above, and the detailed description thereof should be similar to that described in the method section above. To avoid redundancy, it will not be repeated here.

[0132] Based on the same technical concept, an embodiment of the present application further provides an electronic device, which is used to execute the above-mentioned satellite timing method. Fig. 9 A schematic diagram of the structure of an electronic device for implementing various embodiments of the present application. The electronic device may have relatively large differences due to different configurations or performances, and may include a processor (processor) 910, a communication interface (Communications Interface) 920, a memory (memory) 930 and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other through the communication bus 940. The processor 910 may call a computer program stored in the memory 930 and executable on the processor 910 to perform the following steps: Use a fixed receiver to obtain satellite observation data, fit the fixed receiver clock error model based on the satellite observation data, calculate the pseudorange correction of the fixed receiver, and report the pseudorange correction of the fixed receiver to the cloud service end through the communication system; The mobile receiver obtains satellite observation data and fits the mobile receiver clock error model. According to the mobile receiver clock error model, the pseudo-range measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the leaky cable in the tunnel are calculated, and the mobile clock error of the mobile receiver is determined according to the pseudo-range correction value of the fixed receiver obtained from the cloud service end. According to the mobile clock error, the calibration clock data of the mobile receiver is determined so as to perform satellite timing based on the calibration clock data.

[0133] The technical solution of the embodiment of the present application is adopted, satellite observation data is obtained by using a fixed receiver, a fixed receiver clock error model is fitted according to the satellite observation data, and the pseudorange correction of the fixed receiver is calculated, and the pseudorange correction of the fixed receiver is reported to the cloud service end through the communication system; satellite observation data is obtained by a mobile receiver, and a mobile receiver clock error model is fitted, and according to the mobile receiver clock error model, the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the leaky cable in the tunnel are calculated, and the mobile clock error of the mobile receiver is determined according to the pseudorange correction of the fixed receiver obtained from the cloud service end; according to the mobile clock error, the calibration clock data of the mobile receiver is determined, so as to perform satellite timing based on the calibration clock data. It can be seen that according to the pseudorange correction of the fixed receiver, the error in the process of transmitting satellite signals outside the tunnel can be determined. According to the mobile receiver, the pseudorange correction of the fixed receiver and the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the tunnel leaky cable are obtained to calculate the mobile clock error and accurately determine the calibration clock data. Since the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the tunnel leaky cable are also obtained when calculating the mobile clock error, the mobile clock error is calculated using the pseudorange measurement values ​​of the two satellite signals, which can reduce the error caused by the calculated mobile clock error in the tunnel length direction, thereby accurately positioning the mobile receiver and improving the accuracy of satellite timing.

[0134] The specific execution steps can refer to the various steps of the above-mentioned satellite timing method embodiment, and can achieve the same technical effect. To avoid repetition, they will not be repeated here.

[0135] It should be noted that the electronic devices in the embodiments of the present application include: servers, terminals, or other devices except terminals.

[0136] The above electronic device structure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. For example, the input unit may include a graphics processing unit (GPU) and a microphone, and the display unit may be configured with a display panel in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit includes a touch panel and at least one of other input devices. The touch panel is also called a touch screen. Other input devices may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0137] The memory can be used to store software programs and various data. The memory may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory may include a volatile memory or a non-volatile memory, or the memory may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DRRAM).

[0138] The processor may include one or more processing units; optionally, the processor integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to the operating system, user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor.

[0139] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned satellite timing method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0140] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0141] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned satellite timing method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0142] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0143] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the processor is used to run the program or instructions to implement the various processes of the above-mentioned product recommendation method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0144] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0145] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0146] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A satellite timing method, characterized in that: The method comprises: Acquire satellite observation data using a fixed receiver, fit a fixed receiver clock error model according to the satellite observation data, calculate a pseudorange correction of the fixed receiver, and report the pseudorange correction of the fixed receiver to a cloud service end through a communication system; The satellite observation data is acquired through a mobile receiver, and a mobile receiver clock error model is fitted. According to the mobile receiver clock error model, the pseudorange measurement values ​​of the mobile receiver to the satellites corresponding to the two ends of the leaky cable in the tunnel are calculated, and the mobile clock error of the mobile receiver is determined according to the pseudorange correction value of the fixed receiver obtained from the cloud service end; According to the mobile clock difference, the calibration clock data of the mobile receiver is determined to perform satellite timing based on the calibration clock data.

2. The method according to claim 1, characterized in that The method of acquiring satellite observation data by using a fixed receiver, fitting a fixed receiver clock error model according to the satellite observation data, and calculating a pseudorange correction value of the fixed receiver includes: Acquiring the satellite observation data in the satellite ephemeris service unit of the cloud service end through the communication system, wherein the fixed receiver is connected to the communication system; Fitting the fixed receiver clock error model in the fixed receiver according to the satellite observation data, estimating the clock error of the fixed receiver according to the fixed receiver clock error model, and calculating the pseudorange between the fixed receiver and the satellite; A pseudorange correction value of the fixed receiver is determined according to the pseudorange between the fixed receiver and the satellite.

3. The method according to claim 1, characterized in that The calculating of the pseudo-range measurement values ​​from the mobile receiver to the satellites corresponding to the two ends of the leaky cable in the tunnel comprises: When the tunnel is a double-exit tunnel and the satellite signals inputted at the two ends of the leaky cable are signals of different satellites, the pseudo-ranges from the mobile receiver to the corresponding satellites at the two ends of the leaky cable are respectively calculated and used as the pseudo-range measurement values; When the tunnel is a double-exit tunnel and the satellite signals input at both ends of the leaky cable are dual-frequency satellite signals of the same satellite, the pseudoranges from the mobile receiver to the corresponding satellites at both ends of the leaky cable are calculated based on the dual-frequency satellite signals and used as the pseudorange measurement values.

4. The method according to claim 1, characterized in that: The step of calculating the pseudo-range measurement values ​​from the mobile receiver to the satellites corresponding to the two ends of the leaky cable in the tunnel also includes: When the tunnel is a single-exit tunnel, and the satellite signals inputted at the proximal end of the leaky cable are signals of different satellites, a first satellite signal is inputted into the mobile receiver through a leaky cable system at the proximal end of the leaky cable, and a second satellite signal is inputted into the mobile receiver through an optical fiber system through a distal end of the leaky cable, wherein the communication system includes the leaky cable system and / or the optical fiber system, and the signals of different satellites include the first satellite signal and the second satellite signal; Calculating the pseudoranges from the mobile receiver to the satellites corresponding to the near end of the leaky cable and the far end of the leaky cable respectively, and using them as the pseudorange measurement values; When the tunnel is a single-exit tunnel and the satellite signal input at the near end of the leaky cable is a dual-frequency satellite signal of the same satellite, the pseudoranges from the mobile receiver to the satellites corresponding to the near end and the far end of the leaky cable are calculated based on the dual-frequency satellite signals and used as the pseudorange measurement values.

5. The method according to claim 1, characterized in that The determining the mobile clock error of the mobile receiver according to the pseudorange correction amount of the fixed receiver obtained from the cloud service end includes: Acquire the pseudorange correction value reported by the cloud service end and the pseudorange correction value of the fixed receiver in the pull-down service unit through the communication system; The mobile clock error of the mobile receiver is calculated according to the pseudorange correction of the fixed receiver, the pseudorange measurement values ​​from the mobile receiver to the corresponding satellites at both ends of the leaky cable, and the length of the leaky cable.

6. The method according to claim 1, characterized in that The step of determining calibration clock data of the mobile receiver according to the mobile clock difference comprises: Local clock data is acquired through the mobile receiver, and the difference between the local clock data and the mobile clock difference is determined as the calibration clock data of the mobile receiver.

7. The method according to claim 1, characterized in that Before acquiring satellite observation data by using a fixed receiver and fitting a fixed receiver clock error model according to the satellite observation data, the method includes: The satellite signal received by the satellite receiving antenna outside the tunnel is received by the satellite signal processing unit, and inputted into the combiner; The satellite signal and the received communication signal are combined and processed by the combiner, and the combined satellite signal and the communication signal are input into the communication system.

8. A satellite timing device, characterized in that: The device comprises: A fitting module is used to obtain satellite observation data using a fixed receiver, fit a fixed receiver clock error model according to the satellite observation data, calculate a pseudorange correction of the fixed receiver, and report the pseudorange correction of the fixed receiver to a cloud service end through a communication system; A determination module, configured to obtain the satellite observation data through a mobile receiver and fit a mobile receiver clock error model, calculate the pseudorange measurement values ​​of the mobile receiver to the corresponding satellites at both ends of the leaky cable in the tunnel according to the mobile receiver clock error model, and determine the mobile clock error of the mobile receiver according to the pseudorange correction value of the fixed receiver obtained from the cloud service end; The calibration module is used to determine the calibration clock data of the mobile receiver according to the mobile clock difference, so as to perform satellite timing based on the calibration clock data.

9. An electronic device, characterized in that: It comprises a processor and a memory electrically connected to the processor, the memory stores a computer program, and the processor is used to call and execute the computer program from the memory to implement a satellite timing method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The storage medium is used to store a computer program, and the computer program can be executed by a processor to implement a satellite timing method as described in any one of claims 1-7.

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