Relative time synchronization method and device based on dynamic-to-dynamic, and medium

Abstract

The invention provides a relative time synchronization method and device based on dynamic-to-dynamic and a medium, and relates to the technical field of satellite navigation time service, and the method comprises the following steps: S1, a mobile station receiver obtains differential data sent by a base station; s2, the mobile station receiver carries out observed quantity calculation and clock correction by taking epoch time of the mobile station receiver as a reference moment; s3, the mobile station constructs a double-difference observed quantity according to the first pseudo-range observed quantity and the second pseudo-range observed quantity and performs Kalman filtering solution to obtain a position coordinate of the current mobile station relative to the base station; and S4, the mobile station determines the signal emission moment correction of each satellite frequency point by aligning the first corrected epoch time and the second corrected epoch time, and calculates the clock skew of the current mobile station relative to the base station according to the signal emission moment correction of each satellite frequency point, the first signal emission moment and the second signal emission moment. And adjusting the clock of the current mobile station receiver according to the clock skew.

Description

Technical Field

[0001] The invention relates to the technical field of satellite navigation timing, and in particular to a relative time synchronization method, device and medium based on dynamic-to-dynamic synchronization. Background Art

[0002] With the continuous development of information technology fields such as national defense, communication systems, and unmanned driving, the requirements for time accuracy are getting higher and higher. High-precision time synchronization technology has become an important national strategic development demand. The timing technology based on the Global Navigation Satellite System (GNSS) has the advantages of high-precision time synchronization, high stability, and constant multi-node time performance, and has become one of the most widely used timing methods.

[0003] For some specific scenarios, such as dynamic-to-dynamic multi-target collaboration, higher timing accuracy and synchronization stability are often required compared to conventional absolute and relative positioning. Therefore, the present invention proposes a timing method that can meet absolute timing accuracy and relative time synchronization accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a relative time synchronization method, device and medium based on dynamic-to-dynamic. The method mainly sends the signal transmission time, corrected epoch time and pseudo-range observation value obtained by the base station receiver as differential data to the mobile station. The mobile station can calculate the clock deviation of the current mobile station relative to the base station through the epoch time difference and signal transmission time difference between itself and the base station. The present invention can meet the requirements of real-time high-precision timing and time synchronization under dynamic-to-dynamic multi-target coordination, and can also achieve relative positioning.

[0005] In order to solve the above technical problems, the present invention adopts the following solutions:

[0006] A relative time synchronization method based on dynamic to dynamic, the method comprising the following steps:

[0007] S1. The mobile station receiver obtains differential data sent by the reference station, wherein the differential data includes the first signal transmission time, the first pseudorange observation value, and the first corrected epoch time of each satellite frequency point obtained after the reference station receiver performs observation calculation and clock error correction based on its own epoch time as the reference time;

[0008] S2, the mobile station receiver uses its own epoch time as the reference time to perform observation calculation and clock error correction, and obtains the second signal transmission time, the second pseudorange observation value, and the second corrected epoch time of each satellite frequency point;

[0009] S3, the mobile station constructs a double difference observation quantity according to the first pseudorange observation quantity and the second pseudorange observation quantity and performs Kalman filter solution to obtain the current position coordinates of the mobile station relative to the reference station;

[0010] S4. The mobile station determines the signal transmission time correction of each satellite frequency point by aligning the first corrected epoch time and the second corrected epoch time, calculates the clock deviation of the current mobile station relative to the reference station according to the signal transmission time correction of each satellite frequency point, the first signal transmission time and the second signal transmission time, and adjusts the clock of the current mobile station receiver according to the clock deviation.

[0011] Furthermore, in S1, the process of the base station receiver calculating the observation amount and correcting the clock error using its own epoch time as the reference time includes the following steps:

[0012] SA1. The base station receiver uses its own epoch time as the reference time and obtains the first signal transmission time of each satellite frequency point to calculate the first pseudo-range observation value of each satellite frequency point;

[0013] SA2, obtain the satellite position and satellite clock error calculated by B1C and L1I broadcast ephemeris, correct the satellite position and satellite clock error according to the B2b message, and obtain the corrected satellite position and satellite clock error;

[0014] SA3, establishing a pseudorange observation equation according to the first pseudorange observation value, the corrected satellite position and the satellite clock error, and performing a least squares solution on the pseudorange observation equation to obtain a first receiver clock error;

[0015] SA4. Perform clock error correction on the own epoch time according to the first receiver clock error to obtain a first corrected epoch time.

[0016] Furthermore, the step S2 includes the following steps:

[0017] S21, the mobile station receiver uses its own epoch time as a reference time to calculate the second pseudorange observation value of each satellite frequency point by acquiring the second signal transmission time of each satellite frequency point;

[0018] S22, obtaining the satellite position and satellite clock error calculated by the B1C and L1I broadcast ephemeris, and correcting the satellite position and satellite clock error according to the B2b message to obtain the corrected satellite position and satellite clock error;

[0019] S23, establishing a pseudorange observation equation according to the second pseudorange observation value, the corrected satellite position and the satellite clock error, and performing a least squares solution on the pseudorange observation equation to obtain a second receiver clock error;

[0020] S24. Correct the clock error of the local epoch time according to the second receiver clock error to obtain a second corrected epoch time.

[0021] Furthermore, the B2b message includes an orbit correction number and a clock correction number. The satellite position is corrected according to the orbit correction number in the B2b message to obtain a corrected satellite position; the satellite clock error is corrected according to the clock correction number in the B2b message to obtain a corrected satellite clock error.

[0022] Furthermore, the S4 includes the following steps:

[0023] S41, aligning the first corrected epoch time with the second corrected epoch time to obtain an epoch time difference between the first corrected epoch time and the second corrected epoch time, performing Doppler frequency shift calculation on each satellite frequency point according to the epoch time difference, and obtaining a signal transmission time correction value of each satellite frequency point;

[0024] S42, calculating the clock difference according to the signal transmission time correction value of each satellite frequency point, the first signal transmission time and the second signal transmission time, to obtain the clock deviation of the current mobile station relative to the reference station.

[0025] Furthermore, the step S42 includes the following steps:

[0026] S421, calculating the difference in signal transmission time of each satellite frequency point between the mobile station and the reference station according to the signal transmission time correction amount of each satellite frequency point, the first signal transmission time and the second signal transmission time;

[0027] S422, calculating a receiver clock difference between the mobile station and the reference station according to the signal transmission time difference of each satellite frequency point, the first receiver clock difference and the second receiver clock difference;

[0028] S423: Calculate an average value according to the receiver clock difference between the mobile station and the reference station, and use the average value as the clock deviation of the current mobile station relative to the reference station.

[0029] Furthermore, in S4, the process of adjusting the clock of the current mobile station receiver according to the clock deviation is:

[0030] By calibrating the current mobile station receiver in advance, the constant deviation of the current mobile station receiver can be obtained, and then the difference between the constant deviation and the clock deviation of the current mobile station relative to the reference station is calculated, and the clock of the current mobile station receiver is adjusted according to the difference.

[0031] A relative time synchronization device based on dynamic-to-dynamic, comprising:

[0032] a memory for non-transitory storage of computer readable instructions;

[0033] A processor is used to execute the computer-readable instructions, and the computer-readable instructions, when executed by the processor, implement the dynamic-to-dynamic relative time synchronization method.

[0034] A non-transitory computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the method for relative time synchronization based on dynamic-to-dynamic is implemented.

[0035] Beneficial effects of the present invention:

[0036] The present invention provides a relative time synchronization method, device and medium based on dynamic-to-dynamic. The method mainly uses the current epoch time as the reference time for the base station receiver to obtain the signal transmission time of the GPS / BDS satellite frequency point, the corrected epoch time and the pseudo-range observation value and sends them to the mobile station as differential data. The mobile station can calculate the clock deviation of the current mobile station relative to the base station through the epoch time difference and the signal transmission time difference between itself and the base station. The present invention can meet the requirements of real-time high-precision timing and time synchronization under the dynamic-to-dynamic multi-target coordination, and can also realize relative positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the steps of a dynamic-to-dynamic relative time synchronization method in Embodiment 1 of the present invention;

[0038] Figure 2 It is a flowchart of a relative time synchronization method based on dynamic to dynamic in Example 1 of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0041] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0042] Additionally, descriptions of well-known structures, functions, and configurations may be omitted for clarity and conciseness.One of ordinary skill in the art will recognize that various changes and modifications may be made to the examples described herein without departing from the spirit and scope of the present disclosure.

[0043] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0044] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0045] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments:

[0046] Example 1

[0047] In this embodiment, if Figure 1 As shown, a relative time synchronization method based on dynamic to dynamic is proposed, and the method comprises the following steps:

[0048] S1. The mobile station receiver obtains differential data sent by the reference station, wherein the differential data includes the first signal transmission time, the first pseudorange observation value, and the first corrected epoch time of each satellite frequency point obtained after the reference station receiver performs observation calculation and clock error correction based on its own epoch time as the reference time;

[0049] S2, the mobile station receiver uses its own epoch time as the reference time to perform observation calculation and clock error correction, and obtains the second signal transmission time, the second pseudorange observation value, and the second corrected epoch time of each satellite frequency point;

[0050] S3, the mobile station constructs a double difference observation quantity according to the first pseudorange observation quantity and the second pseudorange observation quantity and performs Kalman filter solution to obtain the current position coordinates of the mobile station relative to the reference station;

[0051] S4. The mobile station determines the signal transmission time correction of each satellite frequency point by aligning the first corrected epoch time and the second corrected epoch time, calculates the clock deviation of the current mobile station relative to the reference station according to the signal transmission time correction of each satellite frequency point, the first signal transmission time and the second signal transmission time, and adjusts the clock of the current mobile station receiver according to the clock deviation.

[0052] Preferably, in S1, the process of the reference station receiver calculating the observation amount and correcting the clock error using its own epoch time as the reference time comprises the following steps:

[0053] SA1. The base station receiver uses its own epoch time as the reference time and obtains the first signal transmission time of each satellite frequency point to calculate the first pseudo-range observation value of each satellite frequency point;

[0054] SA2, obtain the satellite position and satellite clock error calculated by B1C and L1I broadcast ephemeris, correct the satellite position and satellite clock error according to the B2b message, and obtain the corrected satellite position and satellite clock error;

[0055] SA3, establishing a pseudorange observation equation according to the first pseudorange observation value, the corrected satellite position and the satellite clock error, and performing a least squares solution on the pseudorange observation equation to obtain a first receiver clock error;

[0056] SA4. Perform clock error correction on the own epoch time according to the first receiver clock error to obtain a first corrected epoch time.

[0057] Preferably, step S2 includes the following steps:

[0058] S21, the mobile station receiver uses its own epoch time as a reference time to calculate the second pseudorange observation value of each satellite frequency point by acquiring the second signal transmission time of each satellite frequency point;

[0059] S22, obtaining the satellite position and satellite clock error calculated by the B1C and L1I broadcast ephemeris, and correcting the satellite position and satellite clock error according to the B2b message to obtain the corrected satellite position and satellite clock error;

[0060] S23, establishing a pseudorange observation equation according to the second pseudorange observation value, the corrected satellite position and the satellite clock error, and performing a least squares solution on the pseudorange observation equation to obtain a second receiver clock error;

[0061] S24. Correct the clock error of the local epoch time according to the second receiver clock error to obtain a second corrected epoch time.

[0062] Preferably, the B2b message includes an orbit correction number and a clock correction number. The satellite position is corrected according to the orbit correction number in the B2b message to obtain a corrected satellite position; the satellite clock error is corrected according to the clock correction number in the B2b message to obtain a corrected satellite clock error.

[0063] Preferably, S4 includes the following steps:

[0064] S41, aligning the first corrected epoch time with the second corrected epoch time to obtain an epoch time difference between the first corrected epoch time and the second corrected epoch time, performing Doppler frequency shift calculation on each satellite frequency point according to the epoch time difference, and obtaining a signal transmission time correction value of each satellite frequency point;

[0065] S42, calculating the clock difference according to the signal transmission time correction value of each satellite frequency point, the first signal transmission time and the second signal transmission time, to obtain the clock deviation of the current mobile station relative to the reference station.

[0066] Preferably, the step S42 includes the following steps:

[0067] S421, calculating the difference in signal transmission time of each satellite frequency point between the mobile station and the reference station according to the signal transmission time correction amount of each satellite frequency point, the first signal transmission time and the second signal transmission time;

[0068] S422, calculating a receiver clock difference between the mobile station and the reference station according to the signal transmission time difference of each satellite frequency point, the first receiver clock difference and the second receiver clock difference;

[0069] S423: Calculate an average value according to the receiver clock difference between the mobile station and the reference station, and use the average value as the clock deviation of the current mobile station relative to the reference station.

[0070] Preferably, in S4, the process of adjusting the clock of the current mobile station receiver according to the clock deviation is:

[0071] By calibrating the current mobile station receiver in advance, the constant deviation of the current mobile station receiver can be obtained, and then the difference between the constant deviation and the clock deviation of the current mobile station relative to the reference station is calculated, and the clock of the current mobile station receiver is adjusted according to the difference.

[0072] Based on the above principles, the present invention is further described:

[0073] In this embodiment, the dynamic-to-dynamic refers to the base station to the mobile station. In order to achieve real-time high-precision relative positioning and time synchronization between the base station and the mobile station, a relative time synchronization method based on dynamic-to-dynamic is proposed, which is mainly used to calculate the clock deviation of the mobile station relative to the base station. Therefore, the clock of the current mobile station receiver can be adjusted in real time through the clock deviation.

[0074] Before calculating the clock deviation of the mobile station relative to the reference station, the signal transmission time, corrected epoch time and pseudo-range observation value obtained by the reference station receiver must first be sent to the mobile station as differential data. The mobile station can then calculate the clock deviation of the current mobile station relative to the reference station through the epoch time difference and signal transmission time difference between itself and the reference station. Then, both the reference station and the mobile station must use the current epoch time as the reference time to perform observation calculation and clock error correction to obtain the corresponding signal transmission time, corrected epoch time and pseudo-range observation value. Since the reference station and the mobile station have their own clocks, The current epoch time under their respective clocks is different. The base station and the mobile station use the current epoch time of their own clocks as the reference time, that is, use their own historical time as the reference time, so that the base station and the mobile station use their own historical time as the reference time to obtain the signal transmission time of each satellite frequency point of the GPS / BDS satellite system, calculate the pseudo-range observation amount according to the signal transmission time of each satellite frequency point, and use the B2b telegram correction information to correct the satellite position and satellite clock error. Then, perform conventional single-point positioning solution to obtain the corresponding receiver clock error in the GPS / BDS satellite system, and then correct their own epoch time.

[0075] According to the above-mentioned relative time synchronization method based on dynamic to dynamic, combined with Figure 2 The process of this method is described in detail, and the actual operation process of this method is described in detail as follows:

[0076] Step 1-1: The base station receiver uses the current epoch time EpochTime as the base time, and calculates the pseudo-range observation value of each satellite frequency point at the current base time by obtaining the signal transmission time Ts of each frequency point of the GPS / BDS satellite signal. The calculation method is as follows:

[0077]

[0078] Where P represents the calculated pseudorange observation, EpochTime is the epoch time, Ts is the signal transmission time, c represents the speed of light, the superscript s represents the satellite number, the subscripts k and fre represent an epoch and a satellite frequency respectively, and the satellite frequencies represented by fre include B1I, B3I, B1C, L1I, L2C, etc.

[0079] Step 1-2: According to the B2b message, the satellite position and satellite clock error calculated by B1C and L1I broadcast ephemeris are corrected, that is, orbit correction and clock correction. Among them, the B2b message is used to correct the CNAV1 message of BDS and the LNAV navigation message of GPS. Therefore, for the satellite position and satellite clock error calculated by B1C and L1I broadcast ephemeris, the orbit and clock correction numbers in the B2b message are used for correction, and the others are not corrected:

[0080] The orbit correction is calculated as:

[0081] X orbit =X broadcast -δX;

[0082] Among them, X orbit is the corrected satellite position, X broadcast is the satellite position calculated by broadcast ephemeris, δX is the orbit correction number;

[0083] The orbit correction number δX is calculated as follows:

[0084]

[0085]

[0086] e along =e cross ×e radial ;

[0087] δX=[e radial e along e cross ]·δο;

[0088] Where r represents the broadcast ephemeris satellite position vector, represents the broadcast ephemeris satellite velocity vector, e i is the direction unit vector, i = {radial, along, cross} corresponds to radial, tangential, and normal directions respectively; δο is the orbit correction vector in the three directions in the B2b message;

[0089] The calculation method of the clock error correction is:

[0090]

[0091] Among them, t satellite is the corrected satellite clock error, t broadcast is the satellite clock error calculated from the broadcast ephemeris, c is the speed of light, and C0 is the clock error correction number in the B2b message.

[0092] Step 1-3: Establish a pseudorange residual model based on the pseudorange observation equation, perform conventional least squares calculation, and solve the receiver clock error. The specific process is as follows:

[0093]

[0094] Among them, Z is the pseudorange residual, P is the pseudorange observation, r is the satellite-to-ground distance, δt u and δt sThey represent the receiver clock error and satellite clock error respectively, Iono and Trop represent the ionospheric delay and the tracking delay respectively;

[0095] The covariance matrix R is constructed as follows:

[0096] R i =sqrt(fact 2 *(a 2 +a 2 / (sin(e)))*3 2 +vtrop+vari+vare+var orbit +var clk );

[0097] Among them, vtrop is the tropospheric error term, vari is the ionospheric error term, vare is the clock error term, and var orbit is the orbit correction error term, var clk is the satellite clock correction error term, fact and a are empirical constants, and e is the satellite altitude angle;

[0098] The geometry matrix H is:

[0099]

[0100] Among them, the direction vector I xyz For: I xyz =[e x e y e z 1] T ;

[0101] The least squares equation is solved as follows:

[0102] Δx=((H / R)′*(H / R)) -1 *(H / R)'*(Z / R);

[0103] Where: Δx = [xyz clk gps clk bds ], where x, y, z are position parameters, clk gps ,clk bds are the GPS and BDS receiver clock error parameters respectively.

[0104] Step 1-4: Correct the current epoch time based on the calculated receiver clock error. The calculation method is as follows:

[0105]

[0106] Step 1-5: Use the corrected EpochTime as the reference time for calculating the pseudorange observations of the next epoch. The calculation formula is as follows:

[0107] Step 1-6: Use the corrected EpochTime as the observation time, and customize the signal transmission time Ts of each satellite frequency point according to the standard RTCM protocol format, and broadcast it as differential data through 4G.

[0108] Step 2: Follow the above steps 1-1 to 1-6 to correct the observation quantity of the mobile station and obtain the receiver clock error.

[0109] Step 3: Perform conventional Kalman filter solution, where the Kalman filter algorithm state equation and observation equation can be expressed as:

[0110]

[0111] Among them, X and Y are the state vector and observation vector respectively, V and W are the observation noise and process noise respectively, Φ is the state transfer matrix, Γ is the input relationship matrix, and H is the relationship matrix between the observation quantity and the system state.

[0112] Furthermore, in Kalman filtering, it is usually assumed that the observation noise V k and system process noise W k-1 are independent and uncorrelated, and they all conform to the statistical characteristics of Gaussian white noise, which can be expressed as:

[0113]

[0114] Among them, R k is the covariance matrix of the observation noise, Q k is the covariance matrix of the system process noise, δ kj The matrix expression is:

[0115]

[0116] The Kalman filter recursive process is as follows:

[0117] (1) Calculate the predicted value of the state vector for epoch k:

[0118]

[0119] (2) Calculate the state mean square error matrix:

[0120]

[0121] (3) Calculate the Kalman filter gain:

[0122]

[0123] (4) Perform state estimation:

[0124]

[0125] (5) Calculate the estimated mean square error matrix:

[0126] P k =(IK k H k ) k,k-1 ;

[0127] Where, “^” represents the estimated value, I is the unit matrix, is the predicted value of the state vector, P k,k-1 is the corresponding state mean square error matrix, K k is the Kalman filter gain, is the filter estimate, P k is the corresponding estimated mean square error matrix.

[0128] The optimal solution is obtained by the Kalman filter, and the position coordinates of the receiver between the base station and the mobile station are obtained, which can achieve centimeter-level positioning accuracy.

[0129] Step 4-1: Calculate and obtain the epoch time difference between the first corrected epoch time and the corresponding second corrected epoch time, that is, calculate the epoch time difference EpochDiff between the mobile station and the reference station, as follows:

[0130]

[0131] Among them, i represents the BDS and GPS satellite systems, the subscripts rover and base represent the mobile station and the base station respectively, and k is the epoch time.

[0132] Step 4-2: Select the B1I and L1I frequency points of the BDS and GPS satellite systems respectively, and use the Doppler frequency shift to calculate the time correction CorrTs:

[0133]

[0134] Where frq represents the B1I and L1I frequencies, and Doppler represents the Doppler shift in the observed value.

[0135] Step 4-3: After correcting the epoch time, you can start calculating the difference between the mobile station and the base station receiver clock errors. The process is as follows:

[0136] (1) Calculate the difference in Ts of each satellite between the mobile station and the base station:

[0137]

[0138] (2) According to the observation equation of each satellite, calculate the difference between the receiver clock errors of the mobile station and the base station:

[0139]

[0140] (3) The average value is the clock deviation of the mobile station relative to the reference station in this epoch:

[0141]

[0142] Step 4-3: Due to the delay between different hardware, there will be a constant deviation between the clock differences of the two receivers. Therefore, the device needs to be calibrated before use to solve the constant deviation:

[0143] BiasClk k =(ClkDiff1′+ClkDiff2′+…+ClkDiff n ′) / n;

[0144] At this time, the deviation of the real receiver clock error of the mobile station relative to the reference station at each epoch is:

[0145] ClkDiff k = ClkDiff k ′-BiasClk k ;

[0146] Finally, the receiver clock is adjusted in real time according to the calculated deviation value.

[0147] Example 2

[0148] A relative time synchronization device based on dynamic-to-dynamic, comprising:

[0149] a memory for non-transitory storage of computer readable instructions;

[0150] A processor is used to execute the computer-readable instructions, and the computer-readable instructions, when executed by the processor, implement the dynamic-to-dynamic relative time synchronization method.

[0151] A non-transitory computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the relative time synchronization method based on dynamic-to-dynamic is implemented.

[0152] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. According to the technical essence of the present invention, within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the present invention.

Claims

1. A relative time synchronization method based on dynamic to dynamic, characterized in that: The method comprises the following steps: S1. The mobile station receiver obtains differential data sent by the reference station, wherein the differential data includes the first signal transmission time, the first pseudorange observation value, and the first corrected epoch time of each satellite frequency point obtained after the reference station receiver performs observation calculation and clock error correction based on its own epoch time as the reference time; S2, the mobile station receiver uses its own epoch time as the reference time to perform observation calculation and clock error correction, and obtains the second signal transmission time, the second pseudorange observation value, and the second corrected epoch time of each satellite frequency point; S3, the mobile station constructs a double difference observation quantity according to the first pseudorange observation quantity and the second pseudorange observation quantity and performs Kalman filter solution to obtain the current position coordinates of the mobile station relative to the reference station; S4. The mobile station determines the signal transmission time correction of each satellite frequency point by aligning the first corrected epoch time and the second corrected epoch time, calculates the clock deviation of the current mobile station relative to the reference station according to the signal transmission time correction of each satellite frequency point, the first signal transmission time and the second signal transmission time, and adjusts the clock of the current mobile station receiver according to the clock deviation.

2. A relative time synchronization method based on dynamic to dynamic according to claim 1, characterized in that: In S1, the process of the base station receiver calculating the observation quantity and correcting the clock error using its own epoch time as the reference time includes the following steps: SA1. The base station receiver uses its own epoch time as the reference time and obtains the first signal transmission time of each satellite frequency point to calculate the first pseudo-range observation value of each satellite frequency point; SA2, obtain the satellite position and satellite clock error calculated by B1C and L1I broadcast ephemeris, correct the satellite position and satellite clock error according to the B2b message, and obtain the corrected satellite position and satellite clock error; SA3, establishing a pseudorange observation equation according to the first pseudorange observation value, the corrected satellite position and the satellite clock error, and performing a least squares solution on the pseudorange observation equation to obtain a first receiver clock error; SA4. Perform clock error correction on the own epoch time according to the first receiver clock error to obtain a first corrected epoch time.

3. The method for relative time synchronization based on dynamic to dynamic according to claim 1, characterized in that: The step S2 includes the following steps: S21, the mobile station receiver uses its own epoch time as a reference time to calculate the second pseudorange observation value of each satellite frequency point by acquiring the second signal transmission time of each satellite frequency point; S22, obtaining the satellite position and satellite clock error calculated by the B1C and L1I broadcast ephemeris, and correcting the satellite position and satellite clock error according to the B2b message to obtain the corrected satellite position and satellite clock error; S23, establishing a pseudorange observation equation according to the second pseudorange observation value, the corrected satellite position and the satellite clock error, and performing a least squares solution on the pseudorange observation equation to obtain a second receiver clock error; S24. Correct the clock error of the local epoch time according to the second receiver clock error to obtain a second corrected epoch time.

4. A method for relative time synchronization based on dynamic to dynamic according to claim 2 or 3, characterized in that: The B2b message includes an orbit correction number and a clock correction number. The satellite position is corrected according to the orbit correction number in the B2b message to obtain a corrected satellite position. The satellite clock error is corrected according to the clock error correction number in the B2b message to obtain the corrected satellite clock error.

5. The method for relative time synchronization based on dynamic to dynamic according to claim 1, characterized in that: The S4 includes the following steps: S41, aligning the first corrected epoch time with the second corrected epoch time to obtain an epoch time difference between the first corrected epoch time and the second corrected epoch time, performing Doppler frequency shift calculation on each satellite frequency point according to the epoch time difference, and obtaining a signal transmission time correction value of each satellite frequency point; S42, calculating the clock difference according to the signal transmission time correction value of each satellite frequency point, the first signal transmission time and the second signal transmission time, to obtain the clock deviation of the current mobile station relative to the reference station.

6. A relative time synchronization method based on dynamic to dynamic according to claim 5, characterized in that: The step S42 includes the following steps: S421, calculating the difference in signal transmission time of each satellite frequency point between the mobile station and the reference station according to the signal transmission time correction amount of each satellite frequency point, the first signal transmission time and the second signal transmission time; S422, calculating a receiver clock difference between the mobile station and the reference station according to the signal transmission time difference of each satellite frequency point, the first receiver clock difference and the second receiver clock difference; S423: Calculate an average value according to the receiver clock difference between the mobile station and the reference station, and use the average value as the clock deviation of the current mobile station relative to the reference station.

7. The method for relative time synchronization based on dynamic to dynamic according to claim 1, characterized in that: In S4, the process of adjusting the clock of the current mobile station receiver according to the clock deviation is: By calibrating the current mobile station receiver in advance, the constant deviation of the current mobile station receiver can be obtained, and then the difference between the constant deviation and the clock deviation of the current mobile station relative to the reference station is calculated, and the clock of the current mobile station receiver is adjusted according to the difference.

8. A relative time synchronization device based on dynamic to dynamic, characterized in that: include: a memory for non-transitory storage of computer readable instructions; A processor is used to execute the computer-readable instructions, wherein the computer-readable instructions, when executed by the processor, implement a dynamic-to-dynamic relative time synchronization method as described in any one of claims 1 to 7.

9. A non-transitory computer-readable storage medium, wherein: The non-transitory computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the method for relative time synchronization based on dynamic-to-dynamic synchronization described in any one of claims 1 to 7 is implemented.

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