A PPP-AR Time Transfer Method and System Considering the Time-Varying Satellite Hardware Delay

Abstract

The present invention discloses a PPP-AR time transfer method and system considering the time-varying satellite hardware delay. The method includes: extracting pseudorange observation data according to the obtained global station network data to construct a differential code bias estimation equation, and estimating a set of differential code bias products every preset time; based on the obtained global station network data, calculating the wide-lane ambiguity and narrow-lane ambiguity respectively through the ionosphere-free combination PPP combined with the HMW combination and the non-differential and non-combination PPP, establishing an equation based on the obtained ambiguities, and estimating a set of phase fractional bias products every preset time; performing PPP-AR solution according to the obtained precise products and the observation data of the two station receivers, combining the estimated differential code bias products and phase fractional bias products, to obtain the clock differences of the two station receivers; and obtaining the time transfer amount between the two stations according to the clock differences of the two station receivers.

Description

Technical Field

[0001] The present invention relates to a PPP-AR time transfer method and system considering the time-varying satellite hardware delay. Background Art

[0002] As one of the most fundamental physical quantities, the accurate transfer of time is of great significance to scientific research, network communication, financial transactions, smart power grids, etc. in modern society. Due to the unique advantages of the GNSS system, it is widely used in time transfer. Time transfer based on GNSS precise point positioning technology is currently a research hotspot of high-precision time transfer technology, and this technology is regarded as an important means of time transfer by the International Bureau of Weights and Measures.

[0003] PPP-AR time transfer depends on high-precision satellite product calibration. As an important error term in the PPP-AR process, the satellite hardware delay deviation must be accurately calibrated, otherwise it will affect the convergence speed and positioning accuracy of PPP-AR and further affect the performance of time transfer. The satellite hardware delay deviation includes the pseudorange hardware delay deviation DCB and the phase hardware delay deviation UPD. Usually, the amplitudes of DCB and UPD vary little with time within a day and can be regarded as a stable constant. However, relevant research shows that in the case of Beidou elastic power on, for example, DCB and UPD will have large time variations. In this case, conventional products cannot accurately calibrate DCB and UPD. Therefore, it is necessary to consider the time-varying characteristics of hardware delay in PPP-AR time transfer to ensure the high precision of time transfer. Summary of the Invention

[0004] To overcome the deficiencies of the above prior art, the present invention provides a PPP-AR time transfer method and system considering the time-varying satellite hardware delay, and obtains satellite hardware delay products through high-rate DCB and UPD estimation, solving the problem that the within-day 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 specification of the present invention, a PPP-AR time transfer method considering the time-varying satellite hardware delay is provided, including:

[0006] According to the obtained global station network data, extract pseudorange observation data to construct a differential code bias estimation equation, and estimate a set of differential code bias products at preset intervals;

[0007] According to the obtained global station network data, based on the ionosphere-free combination PPP combined with the HMW combination, non-differential and non-combined PPP are respectively calculated to obtain wide-lane ambiguities and narrow-lane ambiguities, and an equation is established based on the obtained ambiguities, and a set of phase fractional bias products is estimated at preset intervals;

[0008] Based on the obtained precise products and the observation data of the two station receivers, combined with the estimated differential code bias products and phase fractional bias products, perform PPP-AR solution to obtain the clock biases of the two station receivers;

[0009] Based on the clock biases of the two station receivers, obtain the time transfer quantity between the two stations.

[0010] As a further technical solution, after obtaining the time transfer quantity between the two stations, it further includes: controlling the clock of the station to be transferred according to the time transfer quantity to complete the transfer of time from the reference station clock to the clock of the station to be transferred.

[0011] As a further technical solution, according to the obtained global station network data, extract the pseudorange observation data to construct a differential code bias estimation equation, and estimate a set of differential code bias products every preset time, including:

[0012] Extract the dual-frequency pseudorange observation data of each station, smooth the extracted pseudorange observation data and then take the difference to obtain the geometry-independent combination of the pseudorange observation data;

[0013] Based on the geometry-independent combination processed pseudorange observation data, construct a differential code bias estimation equation, and estimate a set of differential code bias products every 10 minutes.

[0014] As a further technical solution, according to the obtained global station network data, based on the ionosphere-free combination PPP combined with the HMW combination, non-differential and non-combination PPP are respectively used to calculate the wide-lane ambiguity and narrow-lane ambiguity, and an equation is established based on the obtained ambiguities to estimate a set of phase fractional bias products every preset time, including:

[0015] Use the ionosphere-free combination PPP combined with the HMW combination, non-differential and non-combination PPP to calculate and obtain the wide-lane ambiguity and ionosphere-free combination ambiguity respectively, and calculate the narrow-lane ambiguity according to the obtained wide-lane ambiguity and ionosphere-free combination ambiguity;

[0016] Based on the wide-lane ambiguity and narrow-lane ambiguity, establish a phase fractional bias estimation equation, and estimate a set of phase fractional bias products every 10 minutes.

[0017] As a further technical solution, use the ionosphere-free combination PPP combined with the HMW combination, non-differential and non-combination PPP to calculate and obtain the wide-lane ambiguity and ionosphere-free combination ambiguity respectively, and calculate the narrow-lane ambiguity according to the obtained wide-lane ambiguity and ionosphere-free combination ambiguity, including:

[0018] Perform ionosphere-free combination PPP solution on each station respectively, and calculate the HMW combination at the same time, obtain the ionosphere-free combination ambiguity and wide-lane ambiguity respectively, and calculate the narrow-lane ambiguity based on the obtained ionosphere-free combination ambiguity and wide-lane ambiguity;

[0019] Perform undifferenced and uncombined PPP solutions for each station to obtain wide-lane ambiguities and ionosphere-free combined ambiguities, and calculate narrow-lane ambiguities based on the obtained wide-lane ambiguities and ionosphere-free combined ambiguities;

[0020] Establish a fractional phase bias estimation equation by combining the obtained wide-lane ambiguities and narrow-lane ambiguities, add a constraint reference, and estimate a set of fractional phase bias products every 10 minutes.

[0021] As a further technical solution, before obtaining the observation data of the receivers at two stations, it further includes:

[0022] Determine the reference station and the station to be transferred, install receivers at the reference station and the station to be transferred respectively, and introduce the time-frequency signals of the atomic clocks at the two places into the receivers respectively.

[0023] According to one aspect of the specification of the present invention, there is provided a PPP-AR time transfer system considering the time-varying satellite hardware delay, including:

[0024] A first main module for extracting pseudorange observation data according to the obtained global station network data to construct a differential code bias estimation equation, and estimating a set of differential code bias products every preset time;

[0025] A second main module for calculating wide-lane ambiguities and narrow-lane ambiguities respectively based on the ionosphere-free combined PPP combined with the HMW combination and the undifferenced and uncombined PPP according to the obtained global station network data, and establishing an equation based on the obtained ambiguities, and estimating a set of fractional phase bias products every preset time;

[0026] A third main module for performing PPP-AR solutions according to the obtained precise products and the observation data of the receivers at two stations, combining the estimated differential code bias products and fractional phase bias products, and obtaining the clock differences of the receivers at the two stations;

[0027] A fourth main module for obtaining the time transfer amount between the two stations according to the clock differences of the receivers at the two stations.

[0028] As a further technical solution, it further includes: a fifth main module for 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 to be transferred clock.

[0029] According to one aspect of the specification of the present invention, there is provided a PPP-AR time transfer device considering the time-varying satellite hardware delay, including a memory and a processor, the memory stores program instructions executed by the processor, and the processor calls the program instructions to execute the steps of the above-mentioned PPP-AR time transfer method considering the time-varying satellite hardware delay.

[0030] According to one aspect of the specification of the present invention, a non-transitory computer-readable storage medium is provided. The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the steps of the PPP-AR time transfer method considering the time-varying satellite hardware delay.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] 1. The present invention proposes a PPP-AR time transfer method considering the time-varying satellite hardware delay. This method introduces the time-varying hardware delay, estimates the DCB and UPD as constant products in groups of every 10 minutes, and applies them to the PPP-AR time transfer instead of the traditional DCB and UPD products. By setting the estimation every 10 minutes, the robustness of the hardware delay estimation result and the time-varying characteristics of the hardware delay are taken into account.

[0033] 2. The high-rate satellite hardware delay estimation product provided by the present invention can effectively reflect the large time variation of the satellite hardware delay in cases such as elastic power, realize the accurate correction of the satellite hardware delay, and ensure the accuracy and stability of the PPP-AR time transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic flowchart of a PPP-AR time transfer method considering the time-varying satellite hardware delay provided by an embodiment of the present invention.

[0036] Figure 2 It is a schematic structural diagram of a PPP-AR time transfer system considering the time-varying satellite hardware delay provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] It should be noted that:

[0038] GNSS: Global Navigation Satellite System, Global Navigation Satellite System.

[0039] PPP-AR: Precise Point Positioning with Ambiguity Resolution, Precise Point Positioning with Ambiguity Resolution.

[0040] IGS: International GPS service for Geodynamics, the International Geodynamics Service.

[0041] BDS: Beidou Navigation Satellite System, the Beidou Satellite Navigation System.

[0042] DCB: Differential Code Bias, differential code bias.

[0043] UPD: Uncalibrated Phase Delay, fractional phase bias.

[0044] WL ambiguity: wide-lane ambiguity.

[0045] IF ambiguity: ionosphere-free combination ambiguity.

[0046] NL ambiguity: narrow-lane ambiguity.

[0047] GF combination: geometry-free, geometry-independent combination.

[0048] Aiming at the problem that conventional products cannot accurately correct DCB and UPD when DCB and UPD have large time variations in cases such as elastic power-on, the present invention considers the time-varying characteristics of hardware delays in PPP-AR time transfer, and obtains satellite hardware delay products through high-rate DCB and UPD estimation, thereby ensuring the high precision of time transfer.

[0049] To make the objectives, 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 with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention. In addition, the technical features in each embodiment or a single embodiment provided by the present invention can be combined with each other arbitrarily to form a new technical solution. Such combination is not restricted by the order of steps and / or the mode of structural composition, but must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0050] An embodiment of the present invention provides a PPP-AR time transfer method considering the time variation of satellite hardware delays, as Figure 1 shown, including the following steps:

[0051] Step 1: Obtain the global station network data, precise products, and the observation data of the station receivers.

[0052] Obtain the observation data of the station receivers, including: Install receivers A and B near the high-precision atomic clocks at two locations, where A is the reference station and B is the station to be transferred. Introduce the time-frequency signals of the atomic clocks at the two locations into receivers A and B respectively. After the setup is completed, obtain the GNSS observation data of the two receivers.

[0053] Obtain the global station network data, including: Download the network data of about 180 globally distributed and evenly spaced IGS stations, requiring that all stations can provide the observation data of BDS B1I frequency band and B3I frequency band.

[0054] Obtain the precise products, including: Obtain corresponding precise satellite orbits, clocks, antenna phase center correction products, etc. from the Wuhan IGS data center.

[0055] Step 2: According to the obtained global station network data, extract the pseudorange observation data to construct the DCB estimation equation, and estimate a set of DCB products every preset time.

[0056] Specifically, according to the global station network data obtained in Step 1, extract the dual-frequency pseudorange observation data of each station, smooth the pseudorange data and then take the difference to obtain the GF combination of the pseudorange observations. Then construct the DCB estimation equation, and use the reference satellite constraint for the DCB constraint. Estimate a set of satellite DCBs every 10 minutes through least squares estimation.

[0057] Step 3: According to the obtained global station network data, calculate the wide-lane ambiguity and narrow-lane ambiguity respectively based on the ionosphere-free combination PPP combined with the HMW combination and the non-differential and non-combination PPP, and establish an equation based on the obtained ambiguities to estimate a set of UPD products every preset time.

[0058] Specifically, Step 3 further includes:

[0059] Step 3.1: According to the global station network data obtained in Step 1, perform ionosphere-free combination PPP solution for each station to obtain the IF ambiguity, and at the same time calculate the HMW combination to obtain the WL ambiguity. Then, based on the obtained IF ambiguity and WL ambiguity, the NL ambiguity can be calculated.

[0060] Step 3.2: According to the global station network data obtained in Step 1, perform non-differential and non-combination PPP solution for the stations to obtain the WL ambiguity and IF ambiguity. Then, based on the obtained IF ambiguity and WL ambiguity, the NL ambiguity can be calculated.

[0061] Step 3.3, establish an UPD estimation equation by combining the WL ambiguity and NL ambiguity obtained in Step 1 and Step 2, add a constraint reference, and solve a set of UPD products every 10 minutes through least squares estimation.

[0062] Step 4, based on the obtained precise products and the observation data of the receivers at the two stations, combine the estimated DCB products and UPD products, and perform PPP-AR solution to obtain the clock biases of the receivers at the two stations.

[0063] Specifically, based on the observation data in Step 1 and products such as precise orbits and clocks, and the high-rate DCB products and UPD products estimated in Step 2 and Step 3, perform PPP-AR solution on Stations A and B respectively to obtain the receiver clock biases C A 、C B 。

[0064] Step 5, obtain the time transfer quantity between the two stations according to the clock biases of the receivers at the two stations.

[0065] Specifically, the time transfer quantity between the stations is obtained by taking the difference between the two clock biases obtained in Step 4, that is, taking the difference between C A 、C B to obtain the time transfer quantity C = C A -C B 。

[0066] Furthermore, based on the time transfer quantity C obtained in Step 5, control and adjust the clock of Receiver B to complete the transfer of time from the clock of Station A to the clock of Station B.

[0067] It should be noted that clock control refers to a method of improving the performance of clock accuracy, stability, etc. by reducing the frequency and phase deviation of the controlled clock relative to the reference clock.

[0068] The implementation basis of each embodiment of the present invention is achieved through programmed processing by a device with processor functions. Therefore, in engineering practice, the technical solutions and functions of each embodiment of the present invention are encapsulated into various modules. Based on this actual situation, on the basis of the above embodiments, an embodiment of the present invention provides a PPP-AR time transfer system considering the time-varying satellite hardware delay, which is used to execute a PPP-AR time transfer method considering the time-varying satellite hardware delay in the above method embodiments.

[0069] See Figure 2, the system includes: a first main module, which is used to extract pseudorange observation data according to the obtained global station network data to construct a differential code bias estimation equation, and estimate a set of differential code bias products every preset time; a second main module, which is used to calculate and obtain wide-lane ambiguities and narrow-lane ambiguities respectively based on the ionosphere-free combination PPP combined with the HMW combination and the non-differential and non-combination PPP according to the obtained global station network data, establish an equation based on the obtained ambiguities, and estimate a set of phase fraction bias products every preset time; a third main module, which is used to perform PPP-AR solution according to the obtained precise products and the observation data of two station receivers, combined with the estimated differential code bias products and phase fraction bias products, to obtain the clock differences 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 differences of the two station receivers.

[0070] A PPP-AR time transfer system considering the time-varying satellite hardware delay provided by an embodiment of the present invention aims at the problem that the intra-day constant of the traditional satellite hardware delay product in PPP-AR time transfer is inaccurate in expressing the time-varying hardware delay, and adopts Figure 2 several modules in it to obtain satellite hardware delay products through high-rate DCB and UPD estimation, and solves the problem that the intra-day constant of the traditional satellite hardware delay product in PPP-AR time transfer is inaccurate in expressing the time-varying hardware delay.

[0071] It should be noted that the system embodiment provided by the present invention, in addition to being used to implement the method in the above method embodiment, is also used to implement the methods in other method embodiments provided by the present invention. The difference is only in setting corresponding functional modules, and its principle is basically the same as that of the above system embodiment provided by the present invention. As long as those skilled in the art, based on the above system embodiment, refer to the specific technical solutions in other method embodiments, obtain corresponding technical means by combining technical features, and the technical solutions constituted by these technical means, and on the premise of ensuring the practicability of the technical solutions, improve the modules in the above system embodiment to obtain corresponding system-like embodiments for implementing the methods in other method-like embodiments. For example:

[0072] Based on the content of the above system embodiment, as a preferred embodiment, a PPP-AR time transfer system considering the time-varying satellite hardware delay provided by an embodiment of the present invention further includes:

[0073] A fifth main module, which is used to control 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 clock of the station to be transferred.

[0074] 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, wherein the first main module is further used to execute the following instructions:

[0075] 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;

[0076] 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.

[0077] 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:

[0078] 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.

[0079] 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.

[0080] 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:

[0081] 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;

[0082] 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;

[0083] 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.

[0084] Based on the same inventive concept as the above embodiments, an embodiment of the present invention further provides a PPP-AR time transfer device that takes into account the time-varying satellite hardware delay, including a memory and a processor. The memory stores program instructions executed by the processor, and the processor calls the program instructions to execute the steps of the PPP-AR time transfer method that takes into account the time-varying satellite hardware delay.

[0085] In the embodiment of the present invention, the memory can be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or can also be a 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 the embodiment of the present invention can also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0086] In the embodiment of the present invention, the processor can be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0087] Based on the same inventive concept as the above embodiments, an embodiment of the present invention further provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the steps of the PPP-AR time transfer method that takes into account the time-varying satellite hardware delay.

[0088] In summary of the above embodiments, the present invention has the following advantages:

[0089] 1. The present invention takes into account the time-varying characteristics of satellite hardware delay and uses a high-rate satellite hardware delay estimation method to obtain a more accurate hardware delay correction product.

[0090] 2. The present invention uses the high-rate satellite hardware delay product for PPP-AR time transfer, avoiding the adverse effects of the time-varying satellite hardware delay on the convergence rate and accuracy of PPP-AR time transfer.

[0091] 3. The high-rate satellite hardware delay products generated by the present invention can also be applied to other high-precision usage scenarios.

[0092] It should be noted that the above technologies are all well-known technologies in the field if not otherwise specified.

[0093] The terms "including" and "having" in the specification, claims and above-mentioned drawings of the present invention, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0094] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, 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 drawings are only illustrative and do not necessarily include all the content and operations / steps, nor do they have to be executed in the order described. For example, some operations / steps can be decomposed, while some operations / steps can be combined or partially combined, so the actual execution order may change according to the actual situation.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate 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. The PPP-AR time transfer method according to claim 1, 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.

Images