PPP-AR time transfer method and system considering satellite hardware delay time variation

Abstract

The invention discloses a PPP-AR time transfer method and system considering satellite hardware delay time varying, and the method comprises the steps: extracting pseudo-range observation data according to obtained global observation station network data, constructing a differential code deviation estimation equation, and estimating a group of differential code deviation products at preset time intervals; according to the obtained global observation station network data, based on ionosphere-free combination PPP combined with HMW combination and non-difference non-combination PPP, wide-lane ambiguity and narrow-lane ambiguity are obtained through calculation, an equation is established based on the obtained ambiguity, and a group of phase decimal deviation products are estimated every preset time; according to the obtained observation data of the precision product and the two observation station receivers, and in combination with the estimated differential code deviation product and the phase decimal deviation product, carrying out PPP-AR calculation to obtain the clock error of the two observation station receivers; and obtaining the time transfer quantity between the two observation stations according to the clock difference of the receivers of the two observation stations.

Description

Technical Field

[0001] The present invention relates to a PPP-AR time transfer method and system taking into account satellite hardware delay time variation. Background Art

[0002] As one of the most basic physical quantities, accurate time transmission is of great significance to scientific research, network communications, financial transactions, smart grids, etc. in modern society. GNSS is widely used in time transmission due to its unique advantages. Time transmission based on GNSS precise single-point positioning technology is currently a hot research topic in high-precision time transmission technology, and this technology is used by the International Bureau of Weights and Measures as an important means of time transmission.

[0003] PPP-AR time transfer relies on high-precision satellite product correction. Satellite hardware delay bias, as an important error term in the PPP-AR process, must be accurately corrected, otherwise it will affect the convergence speed and positioning accuracy of PPP-AR and thus affect the performance of time transfer. Satellite hardware delay bias includes pseudorange hardware delay bias DCB and phase hardware delay bias UPD. DCB and UPD usually have a small amplitude over time within a day and can be regarded as a stable constant, but relevant studies have shown that when the Beidou elastic power is turned on, DCB and UPD will vary greatly with time. In this case, conventional products cannot accurately correct DCB and UPD. For this reason, it is necessary to consider the time-varying characteristics of hardware delay in PPP-AR time transfer to ensure the high accuracy of time transfer. Summary of the invention

[0004] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a PPP-AR time transfer method and system taking into account the time variation of satellite hardware delay, and obtains satellite hardware delay products through high-speed DCB and UPD estimation, thereby solving the problem that the daily constant of traditional satellite hardware delay products in PPP-AR time transfer is inaccurate in expressing the time variation of hardware delay.

[0005] According to one aspect of the present invention, a PPP-AR time transfer method taking into account satellite hardware delay variation is provided, comprising: Based on the acquired global station network data, the pseudo-range observation data is extracted to construct the differential code bias estimation equation, and a set of differential code bias products is estimated at preset time intervals; According to the acquired global station network data, based on the ionosphere-free combined PPP combined with the HMW combination, the non-differenced non-combined PPP is used to calculate the wide lane ambiguity and the narrow lane ambiguity respectively. Based on the obtained ambiguity, an equation is established to estimate a set of phase fractional deviation products at preset intervals. Based on the acquired precision products and the observation data of the two station receivers, combined with the estimated differential code deviation products and phase fractional deviation products, PPP-AR solution is performed to obtain the clock differences of the two station receivers. Based on the clock difference between the receivers of the two stations, the time transfer between the two stations is obtained.

[0006] As a further technical solution, after obtaining the time transfer amount between the two measuring stations, it also includes: controlling the clock of the station to be transferred according to the time transfer amount to complete the transfer of time from the reference station clock to the station clock to be transferred.

[0007] As a further technical solution, based on the acquired global station network data, the pseudo-range observation data is extracted to construct a differential code bias estimation equation, and a set of differential code bias products is estimated at preset intervals, including: Extract the dual-frequency pseudo-range observation data of each station, smooth the extracted pseudo-range observation data and make a difference to obtain the geometrically independent combination of pseudo-range observation data; Based on the pseudorange observation data after geometrically independent combination processing, the differential code bias estimation equation is constructed, and a set of differential code bias products is estimated every 10 minutes.

[0008] As a further technical solution, based on the acquired global station network data, the wide lane ambiguity and narrow lane ambiguity are calculated based on the ionosphere-free combined PPP and HMW combination, and the non-differenced non-combined PPP are respectively calculated. Based on the obtained ambiguity, an equation is established to estimate a set of phase fractional deviation products at preset intervals, including: Using the ionosphere-free combined PPP and HMW combination, the non-differenced non-combined PPP is used to calculate the wide lane ambiguity and the ionosphere-free combined ambiguity respectively, and the narrow lane ambiguity is calculated based on the obtained wide lane ambiguity and ionosphere-free combined ambiguity. According to the wide lane ambiguity and narrow lane ambiguity, a phase fractional deviation estimation equation is established, and a set of phase fractional deviation products is estimated every 10 minutes.

[0009] As a further technical solution, the ionosphere-free combined PPP is combined with the HMW combination, and the non-difference non-combined PPP is used to calculate and obtain the wide lane ambiguity and the ionosphere-free combined ambiguity respectively, and the narrow lane ambiguity is calculated based on the obtained wide lane ambiguity and ionosphere-free combined ambiguity, including: Perform ionosphere-free combined PPP solution for each station and calculate HMW combination at the same time to obtain ionosphere-free combined ambiguity and wide-lane ambiguity respectively, and calculate narrow-lane ambiguity based on the obtained ionosphere-free combined ambiguity and wide-lane ambiguity; Perform non-difference non-combined PPP solution on each station to obtain wide-lane ambiguity and ionosphere-free combined ambiguity, and calculate narrow-lane ambiguity based on the obtained wide-lane ambiguity and ionosphere-free combined ambiguity; The phase fractional deviation estimation equation is established by combining the wide lane ambiguity and narrow lane ambiguity obtained together, and a set of phase fractional deviation products is estimated every 10 minutes by adding a constraint benchmark.

[0010] As a further technical solution, before obtaining the observation data of the two station receivers, it also includes: Determine the base station and the station to be transferred, set up receivers at the base station and the station to be transferred respectively, and introduce the time and frequency signals of the atomic clocks at the two locations into the receivers respectively.

[0011] According to one aspect of the present invention, a PPP-AR time transfer system taking into account satellite hardware delay variation is provided, comprising: The first main module is used to extract pseudo-range observation data based on the acquired global station network data to construct a differential code deviation estimation equation, and estimate a set of differential code deviation products at preset intervals; The second main module is used to calculate the wide lane ambiguity and the narrow lane ambiguity respectively based on the acquired global station network data, the ionosphere-free combined PPP combined with the HMW combination, and the non-differenced non-combined PPP, establish equations based on the obtained ambiguities, and estimate a group of phase fractional deviation products at preset time intervals; The third main module is used to perform PPP-AR solution based on the acquired precision products and the observation data of the two station receivers, combined with the estimated differential code deviation products and phase fractional deviation products, to obtain the clock differences of the two station receivers; The fourth main module is used to obtain the time transfer amount between the two measuring stations according to the clock difference of the receivers of the two measuring stations.

[0012] As a further technical solution, it also includes: a fifth main module, which is used to control the clock of the station to be transferred according to the time transfer amount, and complete the transfer of time from the reference station clock to the station clock to be transferred.

[0013] According to one aspect of the present invention, there is provided a PPP-AR time transfer device that takes into account the time variation of satellite hardware delay, including a memory and a processor, wherein the memory stores program instructions executed by the processor, and the processor calls the program instructions to execute the steps of a PPP-AR time transfer method that takes into account the time variation of satellite hardware delay.

[0014] According to one aspect of the present specification, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute the steps of a PPP-AR time transfer method that takes into account satellite hardware delay variations.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention proposes a PPP-AR time transfer method that takes into account the time-varying satellite hardware delay. The method introduces time-varying hardware delay, estimates DCB and UPD as a constant product set every 10 minutes, and replaces traditional DCB and UPD products for application in PPP-AR time transfer. The robustness of the hardware delay estimation result and the time-varying characteristics of the hardware delay are taken into account through the estimation setting every 10 minutes.

[0016] 2. The high-speed satellite hardware delay estimation product provided by the present invention can effectively respond to the large time variations of satellite hardware delays under conditions such as elastic power, achieve accurate correction of satellite hardware delays, and ensure the accuracy and stability of PPP-AR time transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings used in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A flowchart of a PPP-AR time transfer method taking into account satellite hardware delay variations is provided in an embodiment of the present invention.

[0019] Figure 2 A schematic diagram of the structure of a PPP-AR time transfer system that takes into account the time-varying satellite hardware delay provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] It should be noted that: GNSS: Global Navigation Satellite System.

[0021] PPP-AR: Precise Point Positioning with Ambiguity Resolution, precise point positioning with fixed ambiguity.

[0022] IGS: International GPS service for Geodynamics, International Geodynamics Service.

[0023] BDS: Beidou Navigation Satellite System.

[0024] DCB: Differential Code Bias, differential code bias.

[0025] UPD: Uncalibrated Phase Delay, fractional phase deviation.

[0026] WL ambiguity: Wide Lane ambiguity.

[0027] IF ambiguity: ionospheric-free combined ambiguity.

[0028] NL ambiguity: Narrow Lane ambiguity.

[0029] GF combination: geometry-free, geometry-independent combination.

[0030] In order to solve the problem that DCB and UPD vary greatly in time when elastic power is turned on, and conventional products cannot accurately correct DCB and UPD, the present invention considers the time-varying characteristics of hardware delay in PPP-AR time transfer, and obtains satellite hardware delay products through high-speed DCB and UPD estimation, thereby ensuring high accuracy of time transfer.

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in 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. In addition, the technical features in the various embodiments or single embodiments provided by the present invention are arbitrarily combined with each other to form a new technical solution. This combination is not restricted by the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in this field to achieve. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that this combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0032] The embodiment of the present invention provides a PPP-AR time transfer method that takes into account the time-varying satellite hardware delay, such as Figure 1 As shown, the following steps are included: Step 1: Obtain global station network data, precision products, and observation data from station receivers.

[0033] Obtaining observation data from the station receiver includes: setting up receivers A and B near high-precision atomic clocks at two locations, where A is the base station and B is the station to be transferred. Introducing the time and frequency signals of the atomic clocks at the two locations into receivers A and B respectively. After the installation is completed, obtaining GNSS observation data from the two receivers.

[0034] Obtain global station network data, including downloading network data of about 180 globally evenly distributed IGS stations, requiring all stations to provide BDS B1I frequency point and B3I frequency point observation data.

[0035] Obtain precision products, including: obtaining corresponding precision satellite orbits, clocks, antenna phase center correction products and other products from Wuhan IGS Data Center.

[0036] Step 2: Based on the acquired global station network data, extract pseudorange observation data to construct a DCB estimation equation, and estimate a set of DCB products at preset intervals.

[0037] Specifically, according to the global station network data obtained in step 1, the dual-frequency pseudorange observation data of each station is extracted, and the pseudorange data is smoothed and then differenced to obtain the GF combination of pseudorange observation values. Then, the DCB estimation equation is constructed. The DCB constraint adopts the reference satellite constraint, and a set of satellite DCBs is estimated by least squares estimation of every 10 minutes of data.

[0038] Step 3: Based on the acquired global station network data, the wide lane ambiguity and narrow lane ambiguity are calculated based on the ionosphere-free combined PPP and HMW combination, and the non-differenced non-combined PPP are respectively calculated. Based on the obtained ambiguity, an equation is established to estimate a set of UPD products at preset intervals.

[0039] Specifically, step 3 further includes: Step 3.1: Based on the global station network data obtained in step 1, perform ionosphere-free combined PPP solution on each station to obtain the IF ambiguity, and calculate the HMW combination to obtain the WL ambiguity. Then, the NL ambiguity can be calculated based on the obtained IF ambiguity and WL ambiguity.

[0040] Step 3.2, according to the global station network data obtained in step 1, perform non-difference non-combined PPP solution on the station to obtain WL ambiguity and IF ambiguity, and then, the NL ambiguity can be calculated based on the obtained IF ambiguity and WL ambiguity.

[0041] Step 3.3, the WL ambiguity and NL ambiguity obtained in step 1 and step 2 are combined to establish the UPD estimation equation, and the constraint benchmark is added to solve a set of UPD products every 10 minutes through least squares estimation.

[0042] Step 4: Based on the acquired precision products and the observation data of the two station receivers, combined with the estimated DCB products and UPD products, PPP-AR solution is performed to obtain the clock differences of the two station receivers.

[0043] Specifically, based on the observation data in step 1 and the precise orbit and clock products, as well as the high-rate DCB products and UPD products estimated in steps 2 and 3, PPP-AR solutions are performed on stations A and B respectively to obtain the receiver clock differences C of stations A and B. A , C B .

[0044] Step 5: Obtain the time transfer between the two stations based on the clock difference of the receivers of the two stations.

[0045] Specifically, the time transfer between the stations is obtained by subtracting the two clock differences obtained in step 4, that is, C A , C B The time transfer amount C=C is obtained by subtracting A -C B .

[0046] Furthermore, based on the time transfer amount C obtained in step 5, the clock of receiver B is controlled and adjusted to complete the time transfer from the clock of station A to the clock of station B.

[0047] It should be noted that clock steering refers to a method of improving clock accuracy, stability and other performance by reducing the frequency and phase deviation of the controlled clock relative to the reference clock.

[0048] The implementation basis of each embodiment of the present invention is to implement programmed processing through a device with a processor function. Therefore, in engineering practice, the technical solutions and functions of each embodiment of the present invention are encapsulated into various modules. Based on this reality, on the basis of the above embodiments, an embodiment of the present invention provides a PPP-AR time transfer system that takes into account the time-varying satellite hardware delay, and the system is used to execute a PPP-AR time transfer method that takes into account the time-varying satellite hardware delay in the above method embodiment.

[0049] See also Figure 2 The system includes: a first main module, which is used to extract pseudo-range observation data according to the acquired global station network data to construct a differential code deviation estimation equation, and estimate a group of differential code deviation products at preset time intervals; a second main module, which is used to calculate wide lane ambiguity and narrow lane ambiguity respectively based on the ionosphere-free combination PPP and HMW combination, and non-difference non-combination PPP according to the acquired global station network data, establish equations based on the obtained ambiguity, and estimate a group of phase fractional deviation products at preset time intervals; a third main module, which is used to perform PPP-AR solution based on the acquired precision products and the observation data of the two station receivers, combined with the estimated differential code deviation products and phase fractional deviation products, to obtain the clock difference of the two station receivers; a fourth main module, which is used to obtain the time transfer amount between the two stations according to the clock difference of the two station receivers.

[0050] The embodiment of the present invention provides a PPP-AR time transfer system that takes into account the time variation of satellite hardware delay. The system aims to solve the problem that the daily constant of the traditional satellite hardware delay product in PPP-AR time transfer cannot accurately express the time variation of hardware delay. Figure 2 Several modules in the PPP-AR time transfer are used to obtain satellite hardware delay products through high-speed DCB and UPD estimation, which solves the problem that the daily constants of traditional satellite hardware delay products in PPP-AR time transfer are inaccurate in expressing the time-varying hardware delay.

[0051] It should be noted that the system embodiment provided by the present invention is used to implement the methods in the above method embodiment as well as the methods in other method embodiments provided by the present invention. The only difference is that the corresponding functional modules are set. The principle is basically the same as the principle of the above system embodiment provided by the present invention. As long as the technical personnel in this field refer to the specific technical solutions in other method embodiments on the basis of the above system embodiment, obtain the corresponding technical means and the technical solutions composed of these technical means by combining the technical features, and on the premise of ensuring the practicality of the technical solutions, improve the modules in the above system embodiment to obtain the corresponding system class embodiments, which are used to implement the methods in other method class embodiments. For example: Based on the content of the above system embodiment, as a preferred embodiment, a PPP-AR time transfer system taking into account the time-varying satellite hardware delay is provided in the embodiment of the present invention, and further includes: The fifth main module is used to control the clock of the station to be transferred according to the time transfer amount, so as to complete the transfer of time from the reference station clock to the station clock to be transferred.

[0052] Based on the content of the above system embodiment, as a preferred embodiment, in the embodiment of the present invention, a PPP-AR time transfer system taking into account the time-varying satellite hardware delay is provided, wherein the first main module is further used to execute the following instructions: Extract the dual-frequency pseudo-range observation data of each station, smooth the extracted pseudo-range observation data and make a difference to obtain the geometrically independent combination of pseudo-range observation data; Based on the pseudorange observation data after geometrically independent combination processing, the differential code bias estimation equation is constructed, and a set of differential code bias products is estimated every 10 minutes.

[0053] Based on the content of the above system embodiment, as a preferred embodiment, in the embodiment of the present invention, a PPP-AR time transfer system taking into account the time-varying satellite hardware delay is provided, wherein the second main module is further used to execute the following instructions: Using the ionosphere-free combined PPP and HMW combination, the non-differenced non-combined PPP is used to calculate the wide lane ambiguity and the ionosphere-free combined ambiguity respectively, and the narrow lane ambiguity is calculated based on the obtained wide lane ambiguity and ionosphere-free combined ambiguity. According to the wide lane ambiguity and narrow lane ambiguity, a phase fractional deviation estimation equation is established, and a set of phase fractional deviation products is estimated every 10 minutes.

[0054] Based on the content of the above system embodiment, as a preferred embodiment, in the embodiment of the present invention, a PPP-AR time transfer system taking into account the time-varying satellite hardware delay is provided, wherein the second main module is further used to execute the following instructions: Perform ionosphere-free combined PPP solution for each station and calculate HMW combination at the same time to obtain ionosphere-free combined ambiguity and wide-lane ambiguity respectively, and calculate narrow-lane ambiguity based on the obtained ionosphere-free combined ambiguity and wide-lane ambiguity; Perform non-difference non-combined PPP solution on each station to obtain wide-lane ambiguity and ionosphere-free combined ambiguity, and calculate narrow-lane ambiguity based on the obtained wide-lane ambiguity and ionosphere-free combined ambiguity; The phase fractional deviation estimation equation is established by combining the wide lane ambiguity and narrow lane ambiguity obtained together, and a set of phase fractional deviation products is estimated every 10 minutes by adding a constraint benchmark.

[0055] Based on the same inventive concept as the above-mentioned embodiment, an embodiment of the present invention also provides a PPP-AR time transfer device that takes into account the time variation of satellite hardware delay, including a memory and a processor, the memory storing program instructions executed by the processor, and the processor calling the program instructions to execute the steps of the PPP-AR time transfer method that takes into account the time variation of satellite hardware delay.

[0056] In an embodiment of the present invention, the memory may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or a volatile memory (volatile memory), such as a random-access memory (RAM). The memory is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in an embodiment of the present invention may also be a circuit or any other device that can implement a storage function, for storing program instructions and / or data.

[0057] In the embodiments of the present invention, the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiments of the present invention may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0058] Based on the same inventive concept as the above-mentioned embodiment, an embodiment of the present invention also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions enable the computer to execute the steps of the PPP-AR time transfer method that takes into account the time-varying satellite hardware delay.

[0059] In summary, the present invention has the following advantages: 1. The present invention takes into account the time-varying characteristics of satellite hardware delay and uses a high-speed satellite hardware delay estimation method to obtain a more accurate hardware delay correction product.

[0060] 2. The present invention uses high-speed satellite hardware delay products for PPP-AR time transfer, thereby avoiding the adverse effects of the time variation of satellite hardware delay on the convergence rate and accuracy of PPP-AR time transfer.

[0061] 3. The high-rate satellite hardware delay product generated by the present invention can also be applied to other high-precision usage scenarios.

[0062] It should be noted that the above technologies are well known in the art unless otherwise specified.

[0063] The terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions, for example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to the steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0064] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. The flowcharts shown in the accompanying drawings are merely exemplary and do not necessarily include all the contents and operations / steps, nor do they necessarily have to be executed in the order described. For example, some operations / steps may be further decomposed, while some operations / steps may be combined or partially combined, so the actual execution order may change according to the actual situation.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A PPP-AR time transfer method taking into account the time-varying satellite hardware delay, characterized in that: include: Based on the acquired global station network data, the pseudo-range observation data is extracted to construct the differential code bias estimation equation, and a set of differential code bias products is estimated at preset time intervals; According to the acquired global station network data, based on the ionosphere-free combined PPP combined with the HMW combination, the non-differenced non-combined PPP is used to calculate the wide lane ambiguity and the narrow lane ambiguity respectively. Based on the obtained ambiguity, an equation is established to estimate a set of phase fractional deviation products at preset intervals. Based on the acquired precision products and the observation data of the two station receivers, combined with the estimated differential code deviation products and phase fractional deviation products, PPP-AR solution is performed to obtain the clock differences of the two station receivers. Based on the clock difference between the receivers of the two stations, the time transfer between the two stations is obtained.

2. A PPP-AR time transfer method taking into account satellite hardware delay variation according to claim 1, characterized in that: After the time transfer amount between the two measuring stations is obtained, the method further includes: controlling the clock of the station to be transferred according to the time transfer amount to complete the time transfer from the reference station clock to the station clock to be transferred.

3. According to claim 1, a PPP-AR time transfer method taking into account satellite hardware delay variation is characterized in that: Based on the acquired global station network data, the pseudorange observation data is extracted to construct the differential code bias estimation equation, and a set of differential code bias products is estimated at preset intervals, including: Extract the dual-frequency pseudo-range observation data of each station, smooth the extracted pseudo-range observation data and make a difference to obtain the geometrically independent combination of pseudo-range observation data; Based on the pseudorange observation data after geometrically independent combination processing, the differential code bias estimation equation is constructed, and a set of differential code bias products is estimated every 10 minutes.

4. According to claim 1, a PPP-AR time transfer method taking into account satellite hardware delay time variation is characterized in that: According to the acquired global station network data, based on the ionosphere-free combined PPP and HMW combination, the non-differenced non-combined PPP is used to calculate the wide lane ambiguity and narrow lane ambiguity respectively. Based on the obtained ambiguity, an equation is established to estimate a set of phase fractional deviation products at preset intervals, including: Using the ionosphere-free combined PPP and HMW combination, the non-differenced non-combined PPP is used to calculate the wide lane ambiguity and the ionosphere-free combined ambiguity respectively, and the narrow lane ambiguity is calculated based on the obtained wide lane ambiguity and ionosphere-free combined ambiguity. According to the wide lane ambiguity and narrow lane ambiguity, a phase fractional deviation estimation equation is established, and a set of phase fractional deviation products is estimated every 10 minutes.

5. According to claim 4, a PPP-AR time transfer method taking into account satellite hardware delay variation is characterized in that: Using the ionosphere-free combined PPP and HMW combination, the non-differenced non-combined PPP is used to calculate the wide lane ambiguity and the ionosphere-free combined ambiguity respectively, and the narrow lane ambiguity is calculated based on the obtained wide lane ambiguity and ionosphere-free combined ambiguity, including: Perform ionosphere-free combined PPP solution for each station and calculate HMW combination at the same time to obtain ionosphere-free combined ambiguity and wide-lane ambiguity respectively, and calculate narrow-lane ambiguity based on the obtained ionosphere-free combined ambiguity and wide-lane ambiguity; Perform non-difference non-combined PPP solution on each station to obtain wide-lane ambiguity and ionosphere-free combined ambiguity, and calculate narrow-lane ambiguity based on the obtained wide-lane ambiguity and ionosphere-free combined ambiguity; The phase fractional deviation estimation equation is established by combining the wide lane ambiguity and narrow lane ambiguity obtained together, and a set of phase fractional deviation products is estimated every 10 minutes by adding a constraint benchmark.

6. The PPP-AR time transfer method according to claim 1, characterized in that: Before obtaining the observation data of the two station receivers, it also includes: Determine the base station and the station to be transferred, set up receivers at the base station and the station to be transferred respectively, and introduce the time and frequency signals of the atomic clocks at the two locations into the receivers respectively.

7. A PPP-AR time transfer system taking into account the time-varying satellite hardware delay, characterized in that: include: The first main module is used to extract pseudo-range observation data based on the acquired global station network data to construct a differential code deviation estimation equation, and estimate a set of differential code deviation products at preset intervals; The second main module is used to calculate the wide lane ambiguity and the narrow lane ambiguity respectively based on the acquired global station network data, the ionosphere-free combined PPP combined with the HMW combination, and the non-differenced non-combined PPP, establish equations based on the obtained ambiguities, and estimate a group of phase fractional deviation products at preset time intervals; The third main module is used to perform PPP-AR solution based on the acquired precision products and the observation data of the two station receivers, combined with the estimated differential code deviation products and phase fractional deviation products, to obtain the clock differences of the two station receivers; The fourth main module is used to obtain the time transfer amount between the two measuring stations according to the clock difference of the receivers of the two measuring stations.

8. A PPP-AR time transfer system taking into account satellite hardware delay variation according to claim 7, characterized in that: Also includes: The fifth main module is used to control the clock of the station to be transferred according to the time transfer amount, so as to complete the transfer of time from the reference station clock to the station clock to be transferred.

9. A PPP-AR time transfer device that takes into account the time variation of satellite hardware delay, characterized in that: It includes a memory and a processor, wherein the memory stores program instructions executed by the processor, and the processor calls the program instructions to execute the steps of a PPP-AR time transfer method that takes into account the satellite hardware delay variation as described in any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, which enable the computer to execute the steps of the PPP-AR time transfer method taking into account the satellite hardware delay time variation as described in any one of claims 1 to 6.

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