Verification method and device for satellite bidirectional comparison precision and electronic equipment

Abstract

The invention discloses a satellite bidirectional comparison precision verification method and device and electronic equipment, and the method comprises the steps: collecting first satellite bidirectional comparison time difference data and first global satellite navigation system data of two ground stations, and obtaining first time difference data of the two ground stations under the same epoch; calculating a calibration value of a satellite bidirectional link according to the first satellite bidirectional comparison time difference data and the first time difference data; calibrating the satellite bidirectional link according to the calibration value; for the calibrated satellite bidirectional link, the second satellite bidirectional comparison time difference data and the second global satellite navigation system data, obtaining second time difference data of the two ground stations under the same epoch; and verifying the satellite bidirectional comparison uncertainty according to the second satellite bidirectional comparison time difference data and the second time difference data. The technical problems of high error and low accuracy when the satellite bidirectional comparison precision is verified in the prior art are solved, and the technical effects of reducing the verification error and improving the accuracy are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of time and frequency measurement, and in particular to a method, device and electronic equipment for verifying satellite two-way comparison accuracy. Background Art

[0002] Long-distance time and frequency transfer is a key research direction in the field of modern time and frequency measurement. At present, the commonly used long-distance high-precision time transfer methods include Global Navigation Satellite System (GNSS) common view, Two-Way Satellite Time and Frequency Transfer (TWSTFT), Global Positioning System (GPS) carrier phase, optical fiber time transfer, etc.

[0003] Among them, satellite two-way time and frequency transmission technology is a method for two ground stations to compare time using satellite forwarding as a medium. The ground station sends a time signal to the satellite, and the signal is then forwarded to another ground station through a satellite transponder. At the same time, the time signal forwarded by the satellite from the other station is received. The time signals received by the two ground stations are exchanged and the difference is obtained to obtain the clock difference between the two places. The accuracy of satellite two-way comparison technology can reach 1ns, which is one of the most accurate time transmission technologies in the world.

[0004] Time comparison link calibration is a prerequisite for time and frequency transmission. The accuracy of the comparison link restricts the time comparison result. Therefore, the analysis and verification of the accuracy of the comparison link is particularly important. However, the existing technology for verifying the accuracy of satellite two-way comparison has problems such as large errors and poor accuracy. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the technical problems of high error and low accuracy in verifying the accuracy of satellite two-way comparison in the prior art, thereby providing a method, device and electronic equipment for verifying the accuracy of satellite two-way comparison.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a method for verifying the accuracy of satellite two-way comparison, comprising: step S102: collecting first satellite two-way comparison time difference data and first global satellite navigation system data of two ground stations, and obtaining the first time difference data of the two ground stations at the same epoch according to the first global satellite navigation system data; step S104: calculating the calibration value of the satellite two-way link according to the first satellite two-way comparison time difference data and the first time difference data; step S106: calibrating the satellite two-way link according to the calibration value to obtain the calibrated satellite two-way link; step S108: for the calibrated satellite two-way link, collecting second satellite two-way comparison time difference data and second global satellite navigation system data of the two ground stations, and obtaining the second time difference data of the two ground stations at the same epoch according to the second global satellite navigation system data; step S110: verifying the satellite two-way comparison uncertainty according to the second satellite two-way comparison time difference data and the second time difference data to determine whether the satellite two-way time comparison accuracy meets the requirements.

[0008] Furthermore, first time difference data of the two ground stations at the same epoch are obtained based on the above-mentioned first global satellite navigation system data, including: using precise single-point positioning technology to process the above-mentioned first global satellite navigation system data to obtain time difference data between the two ground stations and the global satellite navigation system respectively; obtaining the relative delay deviation between the time transfer receivers corresponding to the two ground stations; and calculating the above-mentioned first time difference data based on the time difference data between the two ground stations and the navigation system and the above-mentioned relative delay deviation.

[0009] Furthermore, the first global satellite navigation system data is processed using precise single-point positioning technology to obtain time difference data between the two ground stations and the global satellite navigation system, including: performing gross error detection and elimination, cycle slip detection and repair, carrier phase smoothing pseudorange, dual-frequency elimination of ionospheric delay, precise error correction and interpolation parameter estimation and solution on the first global satellite navigation system data in turn to obtain time difference data between the two ground stations and the global satellite navigation system.

[0010] Furthermore, the relative delay deviation between the time transfer receivers corresponding to the two ground stations is obtained, including: obtaining the time difference between the second pulse time of the time transfer receivers corresponding to the two ground stations and the international global satellite positioning navigation service time; aligning the time difference of the time transfer receivers corresponding to the two ground stations with the epoch and then calculating the difference to obtain the delay data between the time transfer receivers corresponding to the two ground stations; averaging the above delay data to obtain the relative delay deviation between the time transfer receivers corresponding to the two ground stations.

[0011] Furthermore, based on the time difference data between the two ground stations and the global satellite navigation system and the relative delay deviation, the first time difference data of the two ground stations in the same epoch is calculated, including: aligning the time difference data between the two ground stations and the global satellite navigation system and then calculating the difference to obtain the time difference data difference; calculating the difference between the time difference data difference and the relative delay deviation to obtain the first time difference data.

[0012] Furthermore, based on the above-mentioned first satellite two-way comparison time difference data and the above-mentioned first time difference data, a calibration value of the satellite two-way link is calculated, including: aligning the above-mentioned first satellite two-way comparison time difference data and the above-mentioned first time difference data in epoch and then calculating the difference to obtain the calibration value of the above-mentioned satellite two-way link.

[0013] Furthermore, the satellite two-way comparison uncertainty is verified according to the above-mentioned second satellite two-way comparison time difference data and the above-mentioned second time difference data to determine whether the satellite two-way time comparison accuracy meets the requirements, including: determining the absolute value of the difference between the above-mentioned second satellite two-way comparison time difference data and the above-mentioned second time difference data; obtaining the time transfer uncertainty of the precise single-point positioning and the satellite two-way comparison uncertainty to be verified, squaring the time transfer uncertainty of the precise single-point positioning and the satellite two-way comparison uncertainty to be verified respectively, adding all the results obtained by the square operation, and performing a square root operation on the result after the addition to obtain a square root operation result; comparing the above-mentioned difference absolute value with the above-mentioned square root operation result; if the above-mentioned difference absolute value is less than or equal to the above-mentioned square root operation result, the satellite two-way time comparison accuracy meets the requirements; if the above-mentioned difference absolute value is greater than the above-mentioned square root operation result, the satellite two-way time comparison accuracy does not meet the requirements.

[0014] In a second aspect, the present invention provides a device for verifying the accuracy of satellite two-way comparison, comprising: a first processing module, used to collect first satellite two-way comparison time difference data and first global satellite navigation system data of two ground stations, and obtain the first time difference data of the two ground stations at the same epoch based on the above-mentioned first global satellite navigation system data; a second processing module, used to calculate the calibration value of the satellite two-way link based on the above-mentioned first satellite two-way comparison time difference data and the above-mentioned first time difference data; a third processing module, used to calibrate the above-mentioned satellite two-way link according to the above-mentioned calibration value to obtain the calibrated satellite two-way link; a fourth processing module, used to collect second satellite two-way comparison time difference data and second global satellite navigation system data of the two ground stations for the calibrated satellite two-way link, and obtain the second time difference data of the two ground stations at the same epoch based on the above-mentioned second global satellite navigation system data; a fifth processing module, used to verify the satellite two-way comparison uncertainty based on the above-mentioned second satellite two-way comparison time difference data and the above-mentioned second time difference data, and determine whether the satellite two-way time comparison accuracy meets the requirements.

[0015] In a third aspect, the present invention provides an electronic device, comprising: a processor, and a memory for storing a program, wherein the program comprises instructions, and when the instructions are executed by the processor, the processor executes the method for verifying the accuracy of satellite two-way comparison described in the first aspect of the embodiment of the present invention.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method for verifying the accuracy of a satellite two-way comparison described in the first aspect of an embodiment of the present invention.

[0017] In an embodiment of the present invention, first satellite two-way comparison time difference data and first global satellite navigation system data of two ground stations are collected, and first time difference data of the two ground stations at the same epoch are obtained according to the first global satellite navigation system data; a calibration value of the satellite two-way link is calculated according to the first satellite two-way comparison time difference data and the first time difference data; the satellite two-way link is calibrated according to the calibration value to obtain a calibrated satellite two-way link; for the calibrated satellite two-way link, second satellite two-way comparison time difference data and second global satellite navigation system data of the two ground stations are collected, and second time difference data of the two ground stations at the same epoch are obtained according to the second global satellite navigation system data; the satellite two-way comparison uncertainty is verified according to the second satellite two-way comparison time difference data and the second time difference data to determine whether the satellite two-way time comparison accuracy meets the requirements, thereby solving the technical problem of large error and poor accuracy in verifying the satellite two-way comparison accuracy in the prior art, and achieving the technical effect of reducing error and improving accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of a flow chart of a method for verifying satellite two-way comparison accuracy provided by an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a remote long baseline satellite two-way timing accuracy verification test provided by an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of a process flow of precise point positioning data processing provided by an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of the measurement principle of relative delay of a time transfer receiver provided by an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of a process flow for uncertainty verification of a satellite two-way comparison link provided by an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of the structure of a satellite two-way comparison accuracy verification device provided by an embodiment of the present invention;

[0025] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the embodiments of the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided to provide a more thorough and complete understanding of the embodiments of the present invention. It should be understood that the drawings and embodiments of the embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the embodiments of the present invention.

[0027] Example 1

[0028] Figure 1 A flowchart of a method for verifying satellite two-way comparison accuracy provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the embodiment of the present invention provides a method for verifying the accuracy of satellite two-way comparison, including the following steps:

[0029] Step S102, collecting first satellite two-way comparison time difference data and first global satellite navigation system data of two ground stations, and obtaining first time difference data of the two ground stations at the same epoch according to the first global satellite navigation system data;

[0030] Step S104, calculating a calibration value of a satellite two-way link according to the first satellite two-way comparison time difference data and the first time difference data;

[0031] Step S106, calibrating the satellite bidirectional link according to the calibration value to obtain a calibrated satellite bidirectional link;

[0032] Step S108, for the calibrated satellite two-way link, collecting second satellite two-way comparison time difference data and second global satellite navigation system data of the two ground stations, and obtaining second time difference data of the two ground stations at the same epoch according to the second global satellite navigation system data;

[0033] Step S110, verifying the satellite two-way comparison uncertainty according to the second satellite two-way comparison time difference data and the second time difference data, to determine whether the satellite two-way time comparison accuracy meets the requirements.

[0034] In an embodiment of the present invention, first satellite two-way comparison time difference data and first global satellite navigation system data of two ground stations are collected, and first time difference data of the two ground stations at the same epoch are obtained according to the first global satellite navigation system data; a calibration value of the satellite two-way link is calculated according to the first satellite two-way comparison time difference data and the first time difference data; the satellite two-way link is calibrated according to the calibration value to obtain a calibrated satellite two-way link; for the calibrated satellite two-way link, second satellite two-way comparison time difference data and second global satellite navigation system data of the two ground stations are collected, and second time difference data of the two ground stations at the same epoch are obtained according to the second global satellite navigation system data; the satellite two-way comparison uncertainty is verified according to the second satellite two-way comparison time difference data and the second time difference data to determine whether the satellite two-way time comparison accuracy meets the requirements, thereby solving the technical problem of large error and poor accuracy in verifying the satellite two-way comparison accuracy in the prior art, and achieving the technical effect of reducing error and improving accuracy.

[0035] Figure 2 A schematic diagram of a remote long baseline satellite two-way timing accuracy verification test provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown in the figure, the timekeeping systems of station A and station B are both running stably and outputting time and frequency signals stably. The homologous 10MHz and 1PPS signals generated by the timekeeping systems of each station are connected to the satellite two-way time comparison terminal and time transfer receiver of each station respectively. The two-way satellite comparison link between A and B is connected to the GNSS comparison link. The coordinate parameters of the two stations are configured, and the satellite two-way time comparison time difference data and the time transfer receiver RINEX file are collected through the data acquisition software.

[0036] The 1PPS time signal output by the timekeeping system of stations A and B is modulated by a modem using a pseudo-code spread spectrum method, and then amplified and forwarded by a transparent repeater on the satellite. Stations B / A receive the time signal of stations A / B forwarded by the satellite respectively, demodulate it and compare it with the local 1PPS signal to obtain the signal transmission delay from AB to BA. The two stations obtain high-precision time difference data of the two ground stations through data exchange.

[0037] It should be noted that the satellite two-way comparison time difference data and the global satellite navigation system data of the two ground stations are collected for no less than 24 hours, and then the satellite two-way comparison time difference data and the global satellite navigation system data of the two ground stations are summarized for data post-processing.

[0038] As an optional embodiment, first time difference data of two ground stations at the same epoch are obtained based on first global satellite navigation system data, including: using precise single-point positioning technology to process the first global satellite navigation system data to obtain time difference data between the two ground stations and the global satellite navigation system respectively; obtaining the relative delay deviation between the time transfer receivers corresponding to the two ground stations; and calculating the first time difference data based on the time difference data and relative delay deviation between the two ground stations and the navigation system respectively.

[0039] Furthermore, the GNSS data is post-processed using the Precise Point Positioning (PPP) technology. Specifically, the RINEX files collected by the time transfer receivers at the two stations, and the fast ephemeris / star clock data are downloaded from the IGS Data Analysis Center at the same time, and then the Canadian Precise Point Positioning data processing software CSRS-PPP is used to solve the time difference between stations A and B respectively. Among them, the sampling interval of the original data of the time transfer receiver RINEX is 30s, and the interval for the CSRS-PPP software to generate the solution result is 5min. The time difference result generated by the software is the time difference T between the local time of the two stations and the International Global Satellite Positioning and Navigation Service (International GNSS Service, IGS) reference time IGST during the experiment. A 、T B ,

[0040] T A =UTC(A)–T IGST (1)

[0041] T B =UTC(B)–T IGST (2)

[0042] Among them, UTC(A) is the time kept by the local timekeeping system of station A, UTC(B) is the time kept by the local timekeeping system of station B, T IGST It is the IGS reference time.

[0043] As an optional embodiment, the first global satellite navigation system data is processed using precise single-point positioning technology to obtain time difference data between the two ground stations and the global satellite navigation system, including: performing gross error detection and elimination, cycle slip detection and repair, carrier phase smoothing pseudorange, dual-frequency elimination of ionospheric delay, precise error correction and interpolation parameter estimation and solution on the first global satellite navigation system data in sequence to obtain time difference data between the two ground stations and the global satellite navigation system.

[0044] Figure 3 A flowchart of a precise point positioning data processing provided by an embodiment of the present invention is as follows: Figure 3As shown, the GNSS data is post-processed using the precise single-point positioning technology to obtain the time difference data between the local and global satellite navigation systems; wherein the post-processing includes but is not limited to gross error detection and elimination, cycle slip detection and repair, carrier phase smoothing pseudorange, dual-frequency elimination of ionospheric delay, precise error correction, and parameter estimation solution after interpolation.

[0045] It should be noted that gross error detection and elimination is used to identify and remove outliers or gross errors in observed data to improve the accuracy and reliability of subsequent data processing.

[0046] Cycle slip detection and repair: Cycle slip refers to the sudden change of carrier phase during satellite signal reception due to various reasons (such as multipath interference, signal blocking, etc.). Cycle slip detection and repair is the process of identifying and correcting these phase mutations to ensure the continuity and accuracy of phase observation data.

[0047] Carrier phase smoothed pseudorange: By combining high-precision carrier phase observation data with integer ambiguity with low-precision pseudorange observation data without ambiguity, the accuracy and stability of positioning solution can be improved.

[0048] Dual-frequency ionospheric delay elimination: The ionosphere has a certain influence on the propagation speed of satellite signals, which will cause positioning errors. Dual-frequency ionospheric delay elimination refers to the use of two different frequency signals transmitted by GPS or other satellite navigation systems to estimate and eliminate the influence of the ionosphere on signal propagation, thereby improving positioning accuracy.

[0049] Precision error correction: A method of reducing positioning errors by performing detailed analysis and modeling of observation data, considering various possible error sources (such as satellite orbit error, receiver clock error, atmospheric delay, etc.), and applying corresponding correction models and parameters.

[0050] Parameter estimation after interpolation: In some cases, because the sampling rate or time interval of the observation data does not meet the solution requirements, it is necessary to estimate the missing data points through interpolation. Parameter estimation after interpolation refers to the process of estimating and solving the positioning parameters (such as position, speed, time, etc.) after data interpolation. This method can improve the flexibility and adaptability of data processing, especially when processing non-continuous or irregular sampling data.

[0051] As an optional embodiment, the relative delay deviation between time transfer receivers corresponding to two ground stations is obtained, including: obtaining the time difference between the second pulse time of the time transfer receivers corresponding to the two ground stations and the international global satellite positioning navigation service time; aligning the time difference of the time transfer receivers corresponding to the two ground stations with the epoch and then calculating the difference to obtain the delay data between the time transfer receivers corresponding to the two ground stations; averaging the delay data to obtain the relative delay deviation between the time transfer receivers corresponding to the two ground stations.

[0052] Furthermore, the remote long baseline satellite two-way time comparison accuracy verification uses two sets of time transfer receivers to collect data to evaluate the satellite two-way time comparison accuracy. As measurement equipment, the two sets of time transfer receivers need to be calibrated for relative delay before verification.

[0053] Figure 4 A time transfer receiver relative delay measurement principle diagram provided by an embodiment of the present invention, such as Figure 4 As shown, the local timekeeping system generates the same 10MHz and 1PPS signals to access two time transfer receivers. The receiver uses the 10MHz signal as the frequency reference and the 1PPS signal as the trigger input. The GNSS antenna is input into the receiver through a power divider, and the original observation data of the navigation satellite for 3 days is collected and stored as a standard RINEX 2.10 format file. The fast ephemeris / star clock product released by IGS is used to solve it through the PPP data post-processing software to obtain the time difference between the 1PPS time input by each set of equipment and the IGST. After aligning the two time differences with the epoch and calculating the difference, the relative delay of the two sets of equipment can be obtained. The delay data is averaged to obtain the relative delay deviation Δt of the two sets of time transfer receivers. 相对 .

[0054] As an optional embodiment, the first time difference data of the two ground stations at the same epoch is calculated based on the time difference data and relative delay deviation between the two ground stations and the global satellite navigation system, including: aligning the time difference data of the two ground stations with the global satellite navigation system and then taking the difference to obtain the time difference data difference; taking the difference between the time difference data difference and the relative delay deviation to obtain the first time difference data.

[0055] Furthermore, the single-station time difference data obtained by the two ground stations are aligned to the epoch and then the difference is calculated. Then, the asymmetric delay introduced by the two sets of time transfer receivers is deducted to obtain the first time difference data T for precise point positioning calculation. PPP .

[0056] T PPP =T A –T B –Δt 相对 (3)

[0057] As an optional embodiment, the calibration value of the satellite bidirectional link is calculated based on the first satellite bidirectional comparison time difference data and the first time difference data, including: aligning the first satellite bidirectional comparison time difference data and the first time difference data at the epoch and then calculating the difference to obtain the calibration value of the satellite bidirectional link.

[0058] Furthermore, the GPS PPP link and the TWSTFT link use the same source signal and are measured independently. The GPSPPP link measures the first time difference data T between UTC(A) and UTC(B) based on the PPP principle. PPP The sampling interval of the time difference data is 5 minutes. The TWSTFT link is based on the principle of satellite two-way time transfer. After using the GEP (Geostationary) satellite to measure the unilateral data, the observation data after two fittings are exchanged through the data transmission network to obtain the first satellite two-way comparison time difference data T between UTC (A) and UTC (B). TWSTFT , the data sampling interval is 1s. In order to match the satellite two-way time difference with the precise single-point positioning time difference, it is necessary to extract the satellite two-way time difference data of the 5-minute epoch.

[0059] Furthermore, the difference between the two after aligning the epochs is the calibration value of the satellite bidirectional link, denoted as C = T PPP –T TWSTFT In order to weaken the impact of the diurnal effect of the satellite two-way time transfer and improve the accuracy of the calibration value, it is necessary to save at least 7 days of continuous measurement data.

[0060] As an optional embodiment, the satellite two-way comparison uncertainty is verified according to the second satellite two-way comparison time difference data and the second time difference data to determine whether the satellite two-way time comparison accuracy meets the requirements, including: determining the absolute value of the difference between the second satellite two-way comparison time difference data and the second time difference data; obtaining the time transfer uncertainty of the precise single-point positioning and the satellite two-way comparison uncertainty to be verified, squaring the time transfer uncertainty of the precise single-point positioning and the satellite two-way comparison uncertainty to be verified respectively, adding all the results obtained by the square operation, and performing a square root operation on the added results to obtain a square root operation result; comparing the absolute value of the difference with the square root operation result; if the absolute value of the difference is less than or equal to the square root operation result, the satellite two-way time comparison accuracy meets the requirements; if the absolute value of the difference is greater than the square root operation result, the satellite two-way time comparison accuracy does not meet the requirements.

[0061] Furthermore, after completing the calibration of the two-way link between the two satellites, the original RINEX data of the navigation satellite and the two-way comparison time difference data of the satellite are continuously collected; the RINEX data collected by the two stations are post-processed using the precise point positioning technology (PPP) to obtain the second time difference data T' PPP, the second satellite two-way comparison time difference data T' under the same epoch TWSTFT .

[0062] Furthermore, the calibrated GPS PPP link is used as a higher level standard, and the TWSTFT satellite two-way comparison link is used as the verification object to verify the rationality of the Class A uncertainty of the satellite two-way comparison link. The verification expression used is as follows:

[0063]

[0064] Among them, U0 is the time transfer uncertainty of precise point positioning (GPS PPP), which is generally within 1ns. The GPS PPP international time comparison accuracy calculated by the International Bureau of Weights and Measures is about 0.3ns; U is the satellite two-way comparison uncertainty to be verified.

[0065] If the double difference of the same epoch satisfies the verification expression, the satellite two-way time comparison accuracy meets the requirements and the verification is completed.

[0066] It should be noted that the embodiment of the present invention takes the GPS PPP comparison link as a reference, and evaluates the Class A uncertainty of the satellite two-way comparison link by calculating the RMS value of the satellite two-way comparison result relative to the GPS PPP comparison result, the delay standard deviation of a single measurement result, and the time variance.

[0067] Figure 5 A flowchart of satellite two-way comparison link uncertainty verification provided by an embodiment of the present invention is as follows: Figure 5 As shown in the figure, firstly, the relative delay of the two sets of time transfer receivers used in the test is calibrated, and then the time difference of the two-way satellite time comparison is collected. At the same time, GNSS observation data is collected through the time transfer receivers respectively, and then the GNSS data is post-processed using the Precise Point Positioning (PPP) technology to obtain the time difference between the two stations and the GNSS, and then the time difference between the two stations is obtained. Then, the inter-station time difference result obtained by the PPP method is used to deduct the various inter-station asymmetric delay errors to calibrate the satellite bidirectional link. Finally, the GPS PPP post-processed time difference data is used as a reference to evaluate the Class A uncertainty of the satellite bidirectional comparison link, thereby verifying the accuracy of the satellite bidirectional time comparison.

[0068] Example 2

[0069] The present invention provides a device for verifying the accuracy of satellite two-way comparison. Figure 6 As shown, it includes: a first processing module 602, a second processing module 604, a third processing module 606, a fourth processing module 608 and a fifth processing module 610. The verification device for the satellite two-way comparison accuracy is described in detail below.

[0070] The first processing module 602 is used to collect first satellite two-way comparison time difference data and first global satellite navigation system data of two ground stations, and obtain first time difference data of the two ground stations at the same epoch according to the first global satellite navigation system data;

[0071] The second processing module 604 is connected to the first processing module 602, and is used to calculate a calibration value of the satellite two-way link according to the first satellite two-way comparison time difference data and the first time difference data;

[0072] A third processing module 606, connected to the second processing module 604, is used to calibrate the satellite bidirectional link according to the calibration value to obtain a calibrated satellite bidirectional link;

[0073] a fourth processing module 608, connected to the third processing module 606, for collecting second satellite two-way comparison time difference data and second global satellite navigation system data of two ground stations for the calibrated satellite two-way link, and obtaining second time difference data of the two ground stations at the same epoch according to the second global satellite navigation system data;

[0074] The fifth processing module 610 is connected to the fourth processing module 608, and is used to verify the satellite two-way comparison uncertainty according to the second satellite two-way comparison time difference data and the second time difference data, and determine whether the satellite two-way time comparison accuracy meets the requirements.

[0075] In an embodiment of the present invention, the device for verifying the accuracy of satellite two-way comparison adopts the method of collecting first satellite two-way comparison time difference data and first global satellite navigation system data of two ground stations, and obtaining first time difference data of the two ground stations at the same epoch according to the first global satellite navigation system data; calculating a calibration value of the satellite two-way link according to the first satellite two-way comparison time difference data and the first time difference data; calibrating the satellite two-way link according to the calibration value to obtain a calibrated satellite two-way link; for the calibrated satellite two-way link, collecting second satellite two-way comparison time difference data and second global satellite navigation system data of the two ground stations, and obtaining second time difference data of the two ground stations at the same epoch according to the second global satellite navigation system data; verifying the uncertainty of the satellite two-way comparison according to the second satellite two-way comparison time difference data and the second time difference data, and determining whether the accuracy of the satellite two-way time comparison meets the requirements, thereby solving the technical problem of large error and poor accuracy in verifying the accuracy of the satellite two-way comparison in the prior art, and achieving the technical effect of reducing error and improving accuracy.

[0076] It should be noted here that the above-mentioned first processing module 602, second processing module 604, third processing module 606, fourth processing module 608 and fifth processing module 610 correspond to steps S102 to S110 in the method embodiment, and the examples and application scenarios implemented by the above-mentioned modules are the same as those of the corresponding steps, but are not limited to the contents disclosed in the above-mentioned method embodiment.

[0077] Example 3

[0078] The present invention provides an electronic device, comprising: a processor, and a memory for storing a program, wherein the program comprises instructions, and when the instructions are executed by the processor, the processor executes the method for verifying the accuracy of a two-way satellite comparison described in Example 1.

[0079] refer to Figure 7 , a block diagram of an electronic device that can be used as a server or client of an embodiment of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0080] like Figure 7 As shown, the electronic device includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0081] Multiple components in the electronic device are connected to the I / O interface 705, including: an input unit 706, an output unit 707, a storage unit 708, and a communication unit 709. The input unit 706 can be any type of device that can input information to the electronic device, and the input unit 706 can receive input digital or character information, and generate key signal input related to user settings and / or function control of the electronic device. The output unit 707 can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 708 can include but is not limited to a disk, an optical disk. The communication unit 709 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0082] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a CPU, a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 701 performs the various methods and processes described above. For example, in some embodiments, the method embodiments of the present invention may be implemented as a computer program, which is tangibly contained in a machine-readable medium, such as a storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via a ROM 702 and / or a communication unit 709. In some embodiments, the computing unit 701 may be configured to perform the method described above in Example 1 by any other appropriate means (e.g., by means of firmware).

[0083] Example 4

[0084] The present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the satellite two-way comparison accuracy verification method described in Example 1.

[0085] The embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to make the computer execute a relative positioning method of embodiment 1. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FlashMemory), a hard disk (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0086] It should be noted that the term "including" and its variations used in the embodiments of the present invention are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "multiple" mentioned in the embodiments of the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more".

[0087] The various steps described in the method implementation methods provided in the embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method implementation methods may include additional steps and / or omit the steps shown. The scope of protection of the present invention is not limited in this respect.

[0088] The term "embodiment" in this specification refers to specific features, structures or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. The various embodiments in this specification are described in a related manner, and the same or similar parts between the various embodiments refer to each other. In particular, for the device, equipment, and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts refer to the partial description of the method embodiment.

[0089] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the attached claims.

Claims

1. A method for verifying the accuracy of satellite two-way comparison, characterized in that: The steps include: Step S102: collecting first satellite two-way comparison time difference data and first global satellite navigation system data of two ground stations, and acquiring first time difference data of the two ground stations at the same epoch according to the first global satellite navigation system data; Step S104: calculating a calibration value of a satellite two-way link according to the first satellite two-way comparison time difference data and the first time difference data; Step S106: calibrating the satellite bidirectional link according to the calibration value to obtain a calibrated satellite bidirectional link; Step S108: for the calibrated satellite two-way link, collecting second satellite two-way comparison time difference data and second global satellite navigation system data of the two ground stations, and acquiring second time difference data of the two ground stations at the same epoch according to the second global satellite navigation system data; Step S110: verifying the satellite two-way comparison uncertainty according to the second satellite two-way comparison time difference data and the second time difference data to determine whether the satellite two-way time comparison accuracy meets the requirements.

2. The method according to claim 1, characterized in that Acquiring first time difference data of two ground stations at the same epoch according to the first global satellite navigation system data comprises the following steps: Processing the first global satellite navigation system data using precise point positioning technology to obtain time difference data between the two ground stations and the global satellite navigation system respectively; Obtaining a relative delay deviation between time transfer receivers corresponding to the two ground stations; The first time difference data is calculated based on the time difference data between the two ground stations and the navigation system and the relative delay deviation.

3. The method according to claim 2, characterized in that The first global satellite navigation system data is processed by using the precise single point positioning technology to obtain the time difference data between the two ground stations and the global satellite navigation system, including the following steps: The first global satellite navigation system data is subjected to gross error detection and elimination, cycle slip detection and repair, carrier phase pseudorange smoothing, dual-frequency ionospheric delay elimination, precise error correction and parameter estimation and solution after interpolation in sequence to obtain time difference data between the two ground stations and the global satellite navigation system.

4. The method according to claim 2, characterized in that: Obtaining the relative delay deviation between the time transfer receivers corresponding to the two ground stations comprises the following steps: Obtaining the time difference between the second pulse time of the time transfer receivers corresponding to the two ground stations and the international global satellite positioning and navigation service time; Align the time difference of the time transfer receivers corresponding to the two ground stations with the epoch and then calculate the difference to obtain the time delay data between the time transfer receivers corresponding to the two ground stations; The time delay data are averaged to obtain a relative delay deviation between the time transfer receivers corresponding to the two ground stations.

5. The method according to claim 2, characterized in that: Calculating the first time difference data of the two ground stations at the same epoch according to the time difference data of the two ground stations and the global satellite navigation system respectively and the relative delay deviation comprises the following steps: Align the time difference data of the two ground stations with the global satellite navigation system respectively and then calculate the difference to obtain the time difference data difference value; The time difference data difference and the relative delay deviation are subtracted to obtain the first time difference data.

6. The method according to claim 1, characterized in that The method comprises the following steps: calculating a calibration value of a satellite two-way link according to the first satellite two-way comparison time difference data and the first time difference data; The first satellite two-way comparison time difference data and the first time difference data are aligned with the epoch and then the difference is calculated to obtain the calibration value of the satellite two-way link.

7. The method according to any one of claims 1 to 6, characterized in that: Verifying the satellite two-way comparison uncertainty according to the second satellite two-way comparison time difference data and the second time difference data to determine whether the satellite two-way time comparison accuracy meets the requirements includes the following steps: Determine an absolute value of a difference between the second satellite two-way comparison time difference data and the second time difference data; Obtaining the time transfer uncertainty of the precise single point positioning and the uncertainty of the satellite two-way comparison to be verified, respectively performing square operations on the time transfer uncertainty of the precise single point positioning and the uncertainty of the satellite two-way comparison to be verified, adding all the results obtained by the square operations, and performing square root operations on the results after the addition to obtain the square root operation results; Comparing the absolute value of the difference with the square root operation result; If the absolute value of the difference is less than or equal to the square root calculation result, the satellite two-way time comparison accuracy meets the requirement; If the absolute value of the difference is greater than the square root calculation result, the satellite two-way time comparison accuracy does not meet the requirements.

8. A device for verifying the accuracy of satellite two-way comparison, characterized in that: include: A first processing module (602) is used to collect first satellite two-way comparison time difference data and first global satellite navigation system data of two ground stations, and obtain first time difference data of the two ground stations at the same epoch according to the first global satellite navigation system data; A second processing module (604) is used to calculate a calibration value of a satellite two-way link according to the first satellite two-way comparison time difference data and the first time difference data; A third processing module (606) is used to calibrate the satellite bidirectional link according to the calibration value to obtain a calibrated satellite bidirectional link; A fourth processing module (608) is used to collect second satellite two-way comparison time difference data and second global satellite navigation system data of the two ground stations for the calibrated satellite two-way link, and obtain second time difference data of the two ground stations at the same epoch according to the second global satellite navigation system data; The fifth processing module (610) is used to verify the satellite two-way comparison uncertainty based on the second satellite two-way comparison time difference data and the second time difference data, and determine whether the satellite two-way time comparison accuracy meets the requirements.

9. An electronic device, comprising: A processor, and a memory storing a program, wherein the program includes instructions, and when the instructions are executed by the processor, the processor executes a method for verifying the accuracy of a satellite two-way comparison as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method for verifying the accuracy of satellite two-way comparison as described in any one of claims 1 to 7.

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